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<div class="title">HCIK.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2008, Willow Garage, Inc.</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Willow Garage nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include "ompl/geometric/ik/HCIK.h"</span>
<a name="l00038"></a>00038
<a name="l00039"></a><a class="code" href="classompl_1_1geometric_1_1HCIK.html#a2a82e7ac320e75f612c76eb9eb2ccbf6">00039</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1HCIK.html#a2a82e7ac320e75f612c76eb9eb2ccbf6" title="Try to improve a state (reduce distance to goal). The updates are performed by sampling near the stat...">ompl::geometric::HCIK::tryToImprove</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalRegion.html" title="Definition of a goal region.">base::GoalRegion</a> &goal, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keywordtype">double</span> nearDistance, <span class="keywordtype">double</span> *betterGoalDistance)<span class="keyword"> const</span>
<a name="l00040"></a>00040 <span class="keyword"></span>{
<a name="l00041"></a>00041 <span class="keywordtype">double</span> tempDistance;
<a name="l00042"></a>00042 <span class="keywordtype">double</span> initialDistance;
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="keywordtype">bool</span> wasValid = valid(state);
<a name="l00045"></a>00045 <span class="keywordtype">bool</span> wasValidStart = wasValid;
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keywordtype">bool</span> wasSatisfied = goal.<a class="code" href="classompl_1_1base_1_1GoalRegion.html#a63180f3c2e53eb6feedae905cb858f39" title="Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.">isSatisfied</a>(state, &initialDistance);
<a name="l00048"></a>00048 <span class="keywordtype">bool</span> wasSatisfiedStart = wasSatisfied;
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="keywordtype">double</span> bestDist = initialDistance;
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">base::StateSamplerPtr</a> ss = si_->allocStateSampler();
<a name="l00053"></a>00053 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *test = si_->allocState();
<a name="l00054"></a>00054 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> noUpdateSteps = 0;
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; noUpdateSteps < 10 && i < maxImproveSteps_ ; ++i)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keywordtype">bool</span> update = <span class="keyword">false</span>;
<a name="l00059"></a>00059 ss->sampleUniformNear(test, state, nearDistance);
<a name="l00060"></a>00060 <span class="keywordtype">bool</span> isValid = valid(test);
<a name="l00061"></a>00061 <span class="keywordtype">bool</span> isSatisfied = goal.<a class="code" href="classompl_1_1base_1_1GoalRegion.html#a63180f3c2e53eb6feedae905cb858f39" title="Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.">isSatisfied</a>(test, &tempDistance);
<a name="l00062"></a>00062 <span class="keywordflow">if</span> (!wasValid && isValid)
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 si_->copyState(state, test);
<a name="l00065"></a>00065 wasValid = <span class="keyword">true</span>;
<a name="l00066"></a>00066 wasSatisfied = isSatisfied;
<a name="l00067"></a>00067 update = <span class="keyword">true</span>;
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069 <span class="keywordflow">else</span>
<a name="l00070"></a>00070 <span class="keywordflow">if</span> (wasValid == isValid)
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 <span class="keywordflow">if</span> (!wasSatisfied && isSatisfied)
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 si_->copyState(state, test);
<a name="l00075"></a>00075 wasSatisfied = <span class="keyword">true</span>;
<a name="l00076"></a>00076 update = <span class="keyword">true</span>;
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078 <span class="keywordflow">else</span>
<a name="l00079"></a>00079 <span class="keywordflow">if</span> (wasSatisfied == isSatisfied)
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081 <span class="keywordflow">if</span> (tempDistance < bestDist)
<a name="l00082"></a>00082 {
<a name="l00083"></a>00083 si_->copyState(state, test);
<a name="l00084"></a>00084 bestDist = tempDistance;
<a name="l00085"></a>00085 update = <span class="keyword">true</span>;
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089 <span class="keywordflow">if</span> (update)
<a name="l00090"></a>00090 noUpdateSteps = 0;
<a name="l00091"></a>00091 <span class="keywordflow">else</span>
<a name="l00092"></a>00092 noUpdateSteps++;
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094 si_->freeState(test);
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="keywordflow">if</span> (betterGoalDistance)
<a name="l00097"></a>00097 *betterGoalDistance = bestDist;
<a name="l00098"></a>00098 <span class="keywordflow">return</span> (bestDist < initialDistance) || (!wasSatisfiedStart && wasSatisfied) || (!wasValidStart && wasValid);
<a name="l00099"></a>00099 }
</pre></div></div>
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