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<div class="title">LBKPIECE1.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/planners/kpiece/LBKPIECE1.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/base/GoalSampleableRegion.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <cassert></span>
<a name="l00041"></a>00041
<a name="l00042"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a06220eee58f4cdcdea6343e364230b61">00042</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a06220eee58f4cdcdea6343e364230b61" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">ompl::geometric::LBKPIECE1::setup</a>(<span class="keywordtype">void</span>)
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a06220eee58f4cdcdea6343e364230b61" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">Planner::setup</a>();
<a name="l00045"></a>00045 <a class="code" href="classompl_1_1SelfConfig.html" title="This class contains methods that automatically configure various parameters for motion planning...">SelfConfig</a> sc(<a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>, <a class="code" href="classompl_1_1base_1_1Planner.html#a79bac96f3b6f6e07c24f4b407054f8a3" title="Get the name of the planner.">getName</a>());
<a name="l00046"></a>00046 sc.<a class="code" href="classompl_1_1SelfConfig.html#ad2b1dc5899d8fab0744bacab31bc1661" title="If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...">configureProjectionEvaluator</a>(<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0aa6ba979bea06453f4fee03e1159556" title="The employed projection evaluator.">projectionEvaluator_</a>);
<a name="l00047"></a>00047 sc.<a class="code" href="classompl_1_1SelfConfig.html#a86d0c4b1dc9a9a25bd53a6820a6b973c" title="Compute what a good length for motion segments is.">configurePlannerRange</a>(<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0d2971f710e5e969955bca7fd81136b2" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>);
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a2232185fbc0d75b6848e10cc08913299" title="When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion.">minValidPathFraction_</a> < std::numeric_limits<double>::epsilon() || <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a2232185fbc0d75b6848e10cc08913299" title="When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion.">minValidPathFraction_</a> > 1.0)
<a name="l00050"></a>00050 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"The minimum valid path fraction must be in the range (0,1]"</span>);
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aeced0b4215221d09d1469b378b96c971" title="The start tree.">dStart_</a>.setDimension(<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0aa6ba979bea06453f4fee03e1159556" title="The employed projection evaluator.">projectionEvaluator_</a>->getDimension());
<a name="l00053"></a>00053 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#afb985c691eff1d1e0dafc816c4278549" title="The goal tree.">dGoal_</a>.setDimension(<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0aa6ba979bea06453f4fee03e1159556" title="The employed projection evaluator.">projectionEvaluator_</a>->getDimension());
<a name="l00054"></a>00054 }
<a name="l00055"></a>00055
<a name="l00056"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a5d689bbf5aa6dfa1e448cf926a786344">00056</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a5d689bbf5aa6dfa1e448cf926a786344" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">ompl::geometric::LBKPIECE1::solve</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerTerminationCondition.html" title="Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...">base::PlannerTerminationCondition</a> &ptc)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 checkValidity();
<a name="l00059"></a>00059 <a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html" title="Abstract definition of a goal region that can be sampled.">base::GoalSampleableRegion</a> *goal = <span class="keyword">dynamic_cast<</span><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html" title="Abstract definition of a goal region that can be sampled.">base::GoalSampleableRegion</a>*<span class="keyword">></span>(pdef_->getGoal().get());
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="keywordflow">if</span> (!goal)
<a name="l00062"></a>00062 {
<a name="l00063"></a>00063 msg_.error(<span class="stringliteral">"Unknown type of goal (or goal undefined)"</span>);
<a name="l00064"></a>00064 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066
<a name="l00067"></a>00067 <a class="code" href="classompl_1_1geometric_1_1Discretization.html#a685f1b61176111a7a248f20350f421e7" title="The datatype for the maintained grid coordinates.">Discretization<Motion>::Coord</a> xcoord;
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="keywordflow">while</span> (<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *st = pis_.nextStart())
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(si_);
<a name="l00072"></a>00072 si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, st);
<a name="l00073"></a>00073 motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a> = st;
<a name="l00074"></a>00074 motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aed3e73c089b6bf639c95d3eded41346d" title="Flag indicating whether this motion has been checked for validity.">valid</a> = <span class="keyword">true</span>;
<a name="l00075"></a>00075 projectionEvaluator_->computeCoordinates(motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, xcoord);
<a name="l00076"></a>00076 dStart_.addMotion(motion, xcoord);
<a name="l00077"></a>00077 }
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="keywordflow">if</span> (dStart_.getMotionCount() == 0)
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081 msg_.error(<span class="stringliteral">"Motion planning start tree could not be initialized!"</span>);
<a name="l00082"></a>00082 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00083"></a>00083 }
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keywordflow">if</span> (!goal-><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html#a60329b89ea7217a7550197e5866c28c7" title="Return true of maxSampleCount() > 0, since in this case samples can certainly be produced.">canSample</a>())
<a name="l00086"></a>00086 {
<a name="l00087"></a>00087 msg_.error(<span class="stringliteral">"Insufficient states in sampleable goal region"</span>);
<a name="l00088"></a>00088 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00089"></a>00089 }
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="keywordflow">if</span> (!sampler_)
<a name="l00092"></a>00092 sampler_ = si_->allocStateSampler();
<a name="l00093"></a>00093
<a name="l00094"></a>00094 msg_.inform(<span class="stringliteral">"Starting with %d states"</span>, (<span class="keywordtype">int</span>)(dStart_.getMotionCount() + dGoal_.getMotionCount()));
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *xstate = si_->allocState();
<a name="l00097"></a>00097 <span class="keywordtype">bool</span> startTree = <span class="keyword">true</span>;
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keywordflow">while</span> (ptc() == <span class="keyword">false</span>)
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101 <a class="code" href="classompl_1_1geometric_1_1Discretization.html" title="One-level discretization used for KPIECE.">Discretization<Motion></a> &disc = startTree ? dStart_ : dGoal_;
<a name="l00102"></a>00102 startTree = !startTree;
<a name="l00103"></a>00103 <a class="code" href="classompl_1_1geometric_1_1Discretization.html" title="One-level discretization used for KPIECE.">Discretization<Motion></a> &otherDisc = startTree ? dStart_ : dGoal_;
<a name="l00104"></a>00104 disc.countIteration();
<a name="l00105"></a>00105
<a name="l00106"></a>00106 <span class="comment">// if we have not sampled too many goals already</span>
<a name="l00107"></a>00107 <span class="keywordflow">if</span> (dGoal_.getMotionCount() == 0 || pis_.getSampledGoalsCount() < dGoal_.getMotionCount() / 2)
<a name="l00108"></a>00108 {
<a name="l00109"></a>00109 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *st = dGoal_.getMotionCount() == 0 ? pis_.nextGoal(ptc) : pis_.nextGoal();
<a name="l00110"></a>00110 <span class="keywordflow">if</span> (st)
<a name="l00111"></a>00111 {
<a name="l00112"></a>00112 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(si_);
<a name="l00113"></a>00113 si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, st);
<a name="l00114"></a>00114 motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a> = motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>;
<a name="l00115"></a>00115 motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aed3e73c089b6bf639c95d3eded41346d" title="Flag indicating whether this motion has been checked for validity.">valid</a> = <span class="keyword">true</span>;
<a name="l00116"></a>00116 projectionEvaluator_->computeCoordinates(motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, xcoord);
<a name="l00117"></a>00117 dGoal_.addMotion(motion, xcoord);
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 <span class="keywordflow">if</span> (dGoal_.getMotionCount() == 0)
<a name="l00120"></a>00120 {
<a name="l00121"></a>00121 msg_.error(<span class="stringliteral">"Unable to sample any valid states for goal tree"</span>);
<a name="l00122"></a>00122 <span class="keywordflow">break</span>;
<a name="l00123"></a>00123 }
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <a class="code" href="structompl_1_1Grid_1_1Cell.html" title="Definition of a cell in this grid.">Discretization<Motion>::Cell</a> *ecell = NULL;
<a name="l00127"></a>00127 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *existing = NULL;
<a name="l00128"></a>00128 disc.<a class="code" href="classompl_1_1geometric_1_1Discretization.html#a8db183fa4a3231509336ffb7057805df" title="Select a motion and the cell it is part of from the grid of motions. This is where preference is give...">selectMotion</a>(existing, ecell);
<a name="l00129"></a>00129 assert(existing);
<a name="l00130"></a>00130 sampler_->sampleUniformNear(xstate, existing-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, maxDistance_);
<a name="l00131"></a>00131
<a name="l00132"></a>00132 <span class="comment">/* create a motion */</span>
<a name="l00133"></a>00133 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(si_);
<a name="l00134"></a>00134 si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, xstate);
<a name="l00135"></a>00135 motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a> = existing;
<a name="l00136"></a>00136 motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a> = existing-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a>;
<a name="l00137"></a>00137 existing-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>.push_back(motion);
<a name="l00138"></a>00138 projectionEvaluator_->computeCoordinates(motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, xcoord);
<a name="l00139"></a>00139 disc.<a class="code" href="classompl_1_1geometric_1_1Discretization.html#a6ac71e099d8a69dc6c2ee5ff1736a277" title="Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...">addMotion</a>(motion, xcoord);
<a name="l00140"></a>00140
<a name="l00141"></a>00141 <span class="comment">/* attempt to connect trees */</span>
<a name="l00142"></a>00142 <a class="code" href="structompl_1_1Grid_1_1Cell.html" title="Definition of a cell in this grid.">Discretization<Motion>::Cell</a> *ocell = otherDisc.getGrid().<a class="code" href="classompl_1_1Grid.html#ae563fea4e6a46c741682b6dcbe93ce54" title="Get the cell at a specified coordinate.">getCell</a>(xcoord);
<a name="l00143"></a>00143 <span class="keywordflow">if</span> (ocell && !ocell-><a class="code" href="structompl_1_1Grid_1_1Cell.html#a9a32dbce70bab52e6d45b0a4d0106366" title="The data we store in the cell.">data</a>->motions.empty())
<a name="l00144"></a>00144 {
<a name="l00145"></a>00145 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* connectOther = ocell-><a class="code" href="structompl_1_1Grid_1_1Cell.html#a9a32dbce70bab52e6d45b0a4d0106366" title="The data we store in the cell.">data</a>->motions[rng_.uniformInt(0, ocell-><a class="code" href="structompl_1_1Grid_1_1Cell.html#a9a32dbce70bab52e6d45b0a4d0106366" title="The data we store in the cell.">data</a>->motions.size() - 1)];
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="keywordflow">if</span> (goal-><a class="code" href="classompl_1_1base_1_1Goal.html#a5d5285908b7e09d61577279f35e47175" title="Since there can be multiple starting states (and multiple goal states) it is possible certain pairs a...">isStartGoalPairValid</a>(startTree ? connectOther-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a> : motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a>, startTree ? motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a> : connectOther-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a>))
<a name="l00148"></a>00148 {
<a name="l00149"></a>00149 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* connect = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(si_);
<a name="l00150"></a>00150 si_->copyState(connect-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, connectOther-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>);
<a name="l00151"></a>00151 connect-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a> = motion;
<a name="l00152"></a>00152 connect-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a> = motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a>;
<a name="l00153"></a>00153 motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>.push_back(connect);
<a name="l00154"></a>00154 projectionEvaluator_->computeCoordinates(connect-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, xcoord);
<a name="l00155"></a>00155 disc.<a class="code" href="classompl_1_1geometric_1_1Discretization.html#a6ac71e099d8a69dc6c2ee5ff1736a277" title="Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...">addMotion</a>(connect, xcoord);
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="keywordflow">if</span> (isPathValid(disc, connect, xstate) && isPathValid(otherDisc, connectOther, xstate))
<a name="l00158"></a>00158 {
<a name="l00159"></a>00159 <span class="comment">/* extract the motions and put them in solution vector */</span>
<a name="l00160"></a>00160
<a name="l00161"></a>00161 std::vector<Motion*> mpath1;
<a name="l00162"></a>00162 <span class="keywordflow">while</span> (motion != NULL)
<a name="l00163"></a>00163 {
<a name="l00164"></a>00164 mpath1.push_back(motion);
<a name="l00165"></a>00165 motion = motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00166"></a>00166 }
<a name="l00167"></a>00167
<a name="l00168"></a>00168 std::vector<Motion*> mpath2;
<a name="l00169"></a>00169 <span class="keywordflow">while</span> (connectOther != NULL)
<a name="l00170"></a>00170 {
<a name="l00171"></a>00171 mpath2.push_back(connectOther);
<a name="l00172"></a>00172 connectOther = connectOther-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00173"></a>00173 }
<a name="l00174"></a>00174
<a name="l00175"></a>00175 <span class="keywordflow">if</span> (startTree)
<a name="l00176"></a>00176 mpath1.swap(mpath2);
<a name="l00177"></a>00177
<a name="l00178"></a>00178 <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> *path = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a>(si_);
<a name="l00179"></a>00179 path-><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.reserve(mpath1.size() + mpath2.size());
<a name="l00180"></a>00180 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath1.size() - 1 ; i >= 0 ; --i)
<a name="l00181"></a>00181 path-><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.push_back(si_->cloneState(mpath1[i]->state));
<a name="l00182"></a>00182 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < mpath2.size() ; ++i)
<a name="l00183"></a>00183 path-><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.push_back(si_->cloneState(mpath2[i]->state));
<a name="l00184"></a>00184
<a name="l00185"></a>00185 goal-><a class="code" href="classompl_1_1base_1_1Goal.html#afbfc02ebac97049ebdd28d040ce44c37" title="Set the difference between the found solution path and the desired solution path.">setDifference</a>(0.0);
<a name="l00186"></a>00186 goal-><a class="code" href="classompl_1_1base_1_1Goal.html#ade528c0fefb9094abc1a2d1518a5f860" title="Update the solution path. If a previous solution path exists, it is deleted.">setSolutionPath</a>(<a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">base::PathPtr</a>(path));
<a name="l00187"></a>00187 <span class="keywordflow">break</span>;
<a name="l00188"></a>00188 }
<a name="l00189"></a>00189 }
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191 }
<a name="l00192"></a>00192
<a name="l00193"></a>00193 si_->freeState(xstate);
<a name="l00194"></a>00194
<a name="l00195"></a>00195 msg_.inform(<span class="stringliteral">"Created %u (%u start + %u goal) states in %u cells (%u start (%u on boundary) + %u goal (%u on boundary))"</span>,
<a name="l00196"></a>00196 dStart_.getMotionCount() + dGoal_.getMotionCount(), dStart_.getMotionCount(), dGoal_.getMotionCount(),
<a name="l00197"></a>00197 dStart_.getCellCount() + dGoal_.getCellCount(), dStart_.getCellCount(), dStart_.getGrid().countExternal(),
<a name="l00198"></a>00198 dGoal_.getCellCount(), dGoal_.getGrid().countExternal());
<a name="l00199"></a>00199
<a name="l00200"></a>00200 <span class="keywordflow">return</span> goal-><a class="code" href="classompl_1_1base_1_1Goal.html#a9a6e44d33f848108d0beeb1cf7a6c1ad" title="Returns true if a solution path has been found (could be approximate)">isAchieved</a>();
<a name="l00201"></a>00201 }
<a name="l00202"></a>00202
<a name="l00203"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aa018c98afa53ab5a27ae60d9336b3d75">00203</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aa018c98afa53ab5a27ae60d9336b3d75" title="Since solutions are computed in a lazy fashion, once trees are connected, the solution found needs to...">ompl::geometric::LBKPIECE1::isPathValid</a>(<a class="code" href="classompl_1_1geometric_1_1Discretization.html" title="One-level discretization used for KPIECE.">Discretization<Motion></a> &disc, <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *motion, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *temp)
<a name="l00204"></a>00204 {
<a name="l00205"></a>00205 std::vector<Motion*> mpath;
<a name="l00206"></a>00206
<a name="l00207"></a>00207 <span class="comment">/* construct the solution path */</span>
<a name="l00208"></a>00208 <span class="keywordflow">while</span> (motion != NULL)
<a name="l00209"></a>00209 {
<a name="l00210"></a>00210 mpath.push_back(motion);
<a name="l00211"></a>00211 motion = motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00212"></a>00212 }
<a name="l00213"></a>00213
<a name="l00214"></a>00214 std::pair<base::State*, double> lastValid;
<a name="l00215"></a>00215 lastValid.first = temp;
<a name="l00216"></a>00216
<a name="l00217"></a>00217 <span class="comment">/* check the path */</span>
<a name="l00218"></a>00218 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath.size() - 1 ; i >= 0 ; --i)
<a name="l00219"></a>00219 <span class="keywordflow">if</span> (!mpath[i]->valid)
<a name="l00220"></a>00220 {
<a name="l00221"></a>00221 <span class="keywordflow">if</span> (si_->checkMotion(mpath[i]->parent->state, mpath[i]->state, lastValid))
<a name="l00222"></a>00222 mpath[i]->valid = <span class="keyword">true</span>;
<a name="l00223"></a>00223 <span class="keywordflow">else</span>
<a name="l00224"></a>00224 {
<a name="l00225"></a>00225 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *parent = mpath[i]-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00226"></a>00226 removeMotion(disc, mpath[i]);
<a name="l00227"></a>00227
<a name="l00228"></a>00228 <span class="comment">// add the valid part of the path, if sufficiently long</span>
<a name="l00229"></a>00229 <span class="keywordflow">if</span> (lastValid.second > minValidPathFraction_)
<a name="l00230"></a>00230 {
<a name="l00231"></a>00231 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* reAdd = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(si_);
<a name="l00232"></a>00232 si_->copyState(reAdd-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, lastValid.first);
<a name="l00233"></a>00233 reAdd-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a> = parent;
<a name="l00234"></a>00234 reAdd-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a> = parent-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a>;
<a name="l00235"></a>00235 parent-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>.push_back(reAdd);
<a name="l00236"></a>00236 reAdd-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aed3e73c089b6bf639c95d3eded41346d" title="Flag indicating whether this motion has been checked for validity.">valid</a> = <span class="keyword">true</span>;
<a name="l00237"></a>00237 <a class="code" href="classompl_1_1geometric_1_1Discretization.html#a685f1b61176111a7a248f20350f421e7" title="The datatype for the maintained grid coordinates.">Discretization<Motion>::Coord</a> coord;
<a name="l00238"></a>00238 projectionEvaluator_->computeCoordinates(reAdd-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, coord);
<a name="l00239"></a>00239 disc.<a class="code" href="classompl_1_1geometric_1_1Discretization.html#a6ac71e099d8a69dc6c2ee5ff1736a277" title="Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...">addMotion</a>(reAdd, coord);
<a name="l00240"></a>00240 }
<a name="l00241"></a>00241
<a name="l00242"></a>00242 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00243"></a>00243 }
<a name="l00244"></a>00244 }
<a name="l00245"></a>00245 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00246"></a>00246 }
<a name="l00247"></a>00247
<a name="l00248"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a17099eefde5f6bbcc95fc9c0492c25af">00248</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a17099eefde5f6bbcc95fc9c0492c25af" title="Remove a motion from a tree of motions.">ompl::geometric::LBKPIECE1::removeMotion</a>(<a class="code" href="classompl_1_1geometric_1_1Discretization.html" title="One-level discretization used for KPIECE.">Discretization<Motion></a> &disc, <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *motion)
<a name="l00249"></a>00249 {
<a name="l00250"></a>00250 <span class="comment">/* remove from grid */</span>
<a name="l00251"></a>00251
<a name="l00252"></a>00252 <a class="code" href="classompl_1_1geometric_1_1Discretization.html#a685f1b61176111a7a248f20350f421e7" title="The datatype for the maintained grid coordinates.">Discretization<Motion>::Coord</a> coord;
<a name="l00253"></a>00253 projectionEvaluator_->computeCoordinates(motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>, coord);
<a name="l00254"></a>00254 disc.removeMotion(motion, coord);
<a name="l00255"></a>00255
<a name="l00256"></a>00256 <span class="comment">/* remove self from parent list */</span>
<a name="l00257"></a>00257
<a name="l00258"></a>00258 <span class="keywordflow">if</span> (motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>)
<a name="l00259"></a>00259 {
<a name="l00260"></a>00260 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>.size() ; ++i)
<a name="l00261"></a>00261 <span class="keywordflow">if</span> (motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>[i] == motion)
<a name="l00262"></a>00262 {
<a name="l00263"></a>00263 motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>.erase(motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>.begin() + i);
<a name="l00264"></a>00264 <span class="keywordflow">break</span>;
<a name="l00265"></a>00265 }
<a name="l00266"></a>00266 }
<a name="l00267"></a>00267
<a name="l00268"></a>00268 <span class="comment">/* remove children */</span>
<a name="l00269"></a>00269 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>.size() ; ++i)
<a name="l00270"></a>00270 {
<a name="l00271"></a>00271 motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>[i]->parent = NULL;
<a name="l00272"></a>00272 removeMotion(disc, motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>[i]);
<a name="l00273"></a>00273 }
<a name="l00274"></a>00274
<a name="l00275"></a>00275 freeMotion(motion);
<a name="l00276"></a>00276 }
<a name="l00277"></a>00277
<a name="l00278"></a>00278
<a name="l00279"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ad0749f58ef83e7c6206646d0b6c22640">00279</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ad0749f58ef83e7c6206646d0b6c22640" title="Free the memory for a motion.">ompl::geometric::LBKPIECE1::freeMotion</a>(<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *motion)
<a name="l00280"></a>00280 {
<a name="l00281"></a>00281 <span class="keywordflow">if</span> (motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>)
<a name="l00282"></a>00282 si_->freeState(motion-><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>);
<a name="l00283"></a>00283 <span class="keyword">delete</span> motion;
<a name="l00284"></a>00284 }
<a name="l00285"></a>00285
<a name="l00286"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aa4685d21273a059d11866f225b92eb71">00286</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aa4685d21273a059d11866f225b92eb71" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">ompl::geometric::LBKPIECE1::clear</a>(<span class="keywordtype">void</span>)
<a name="l00287"></a>00287 {
<a name="l00288"></a>00288 Planner::clear();
<a name="l00289"></a>00289
<a name="l00290"></a>00290 sampler_.reset();
<a name="l00291"></a>00291 dStart_.clear();
<a name="l00292"></a>00292 dGoal_.clear();
<a name="l00293"></a>00293 }
<a name="l00294"></a>00294
<a name="l00295"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aa6e1f100b606a36ebc7fe9f6c9645c44">00295</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aa6e1f100b606a36ebc7fe9f6c9645c44" title="Get information about the current run of the motion planner. Repeated calls to this function will upd...">ompl::geometric::LBKPIECE1::getPlannerData</a>(<a class="code" href="classompl_1_1base_1_1PlannerData.html" title="Datatype holding data a planner can expose for debug purposes.">base::PlannerData</a> &data)<span class="keyword"> const</span>
<a name="l00296"></a>00296 <span class="keyword"></span>{
<a name="l00297"></a>00297 Planner::getPlannerData(data);
<a name="l00298"></a>00298 dStart_.getPlannerData(data, 1);
<a name="l00299"></a>00299 dGoal_.getPlannerData(data, 2);
<a name="l00300"></a>00300 }
</pre></div></div>
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