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LazyRRT.h
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35 
36 /* Author: Ioan Sucan */
37 
38 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_
39 #define OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_
40 
41 #include "ompl/geometric/planners/PlannerIncludes.h"
42 #include "ompl/datastructures/NearestNeighbors.h"
43 #include <vector>
44 
45 namespace ompl
46 {
47 
48  namespace geometric
49  {
50 
78  class LazyRRT : public base::Planner
79  {
80  public:
81 
84 
85  virtual ~LazyRRT(void);
86 
87  virtual void getPlannerData(base::PlannerData &data) const;
88 
90 
91  virtual void clear(void);
92 
102  void setGoalBias(double goalBias)
103  {
104  goalBias_ = goalBias;
105  }
106 
108  double getGoalBias(void) const
109  {
110  return goalBias_;
111  }
112 
118  void setRange(double distance)
119  {
120  maxDistance_ = distance;
121  }
122 
124  double getRange(void) const
125  {
126  return maxDistance_;
127  }
128 
130  template<template<typename T> class NN>
132  {
133  nn_.reset(new NN<Motion*>());
134  }
135 
136  virtual void setup(void);
137 
138  protected:
139 
141  class Motion
142  {
143  public:
144 
145  Motion(void) : state(NULL), parent(NULL), valid(false)
146  {
147  }
148 
150  Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL), valid(false)
151  {
152  }
153 
154  ~Motion(void)
155  {
156  }
157 
160 
163 
165  bool valid;
166 
168  std::vector<Motion*> children;
169  };
170 
172  void freeMemory(void);
173 
175  void removeMotion(Motion *motion);
176 
178  double distanceFunction(const Motion* a, const Motion* b) const
179  {
180  return si_->distance(a->state, b->state);
181  }
182 
185 
187  boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
188 
190  double goalBias_;
191 
193  double maxDistance_;
194 
197 
200 
201  };
202 
203  }
204 }
205 
206 #endif