37 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
38 #define OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/base/StateSamplerArray.h"
42 #include "ompl/datastructures/NearestNeighbors.h"
43 #include <boost/thread/mutex.hpp>
79 virtual void clear(
void);
108 maxDistance_ = distance;
120 unsigned int getThreadCount(
void)
const
126 template<
template<
typename T>
class NN>
129 nn_.reset(
new NN<Motion*>());
132 virtual void setup(
void);
140 Motion(
void) : state(NULL), parent(NULL)
166 void freeMemory(
void);
168 double distanceFunction(
const Motion* a,
const Motion* b)
const
170 return si_->distance(a->state, b->state);
174 boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
175 boost::mutex nnLock_;
177 unsigned int threadCount_;