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<div class="title">LazyRRT.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/rrt/LazyRRT.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/datastructures/NearestNeighborsSqrtApprox.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <cassert></span>
<a name="l00042"></a>00042
<a name="l00043"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#aa4450cc175b9dc5d69982d62167ca21f">00043</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#aa4450cc175b9dc5d69982d62167ca21f" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">ompl::geometric::LazyRRT::setup</a>(<span class="keywordtype">void</span>)
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#aa4450cc175b9dc5d69982d62167ca21f" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">Planner::setup</a>();
<a name="l00046"></a>00046 <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="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_1LazyRRT.html#a612432cabf814516d250b47fb5e0d62a" 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_1LazyRRT.html#a1ae555b97d79c365ad4c2f83a92cb3b1" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>)
<a name="l00050"></a>00050 <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a1ae555b97d79c365ad4c2f83a92cb3b1" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1NearestNeighborsSqrtApprox.html" title="A nearest neighbors datastructure that uses linear search. The linear search is done over sqrt(n) ele...">NearestNeighborsSqrtApprox<Motion*></a>());
<a name="l00051"></a>00051 <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a1ae555b97d79c365ad4c2f83a92cb3b1" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>->setDistanceFunction(boost::bind(&<a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#aba8dc49513af11bcb4c9d4d819a59a55" title="Compute distance between motions (actually distance between contained states)">LazyRRT::distanceFunction</a>, <span class="keyword">this</span>, _1, _2));
<a name="l00052"></a>00052 }
<a name="l00053"></a>00053
<a name="l00054"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a317cca896afd2f10cc258ae0bc12c40f">00054</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a317cca896afd2f10cc258ae0bc12c40f" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">ompl::geometric::LazyRRT::clear</a>(<span class="keywordtype">void</span>)
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 Planner::clear();
<a name="l00057"></a>00057 sampler_.reset();
<a name="l00058"></a>00058 freeMemory();
<a name="l00059"></a>00059 <span class="keywordflow">if</span> (nn_)
<a name="l00060"></a>00060 nn_->clear();
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062
<a name="l00063"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a21ce9a20731d24c7222375897bed6e10">00063</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a21ce9a20731d24c7222375897bed6e10" title="Free the memory allocated by this planner.">ompl::geometric::LazyRRT::freeMemory</a>(<span class="keywordtype">void</span>)
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065 <span class="keywordflow">if</span> (nn_)
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 std::vector<Motion*> motions;
<a name="l00068"></a>00068 nn_->list(motions);
<a name="l00069"></a>00069 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 <span class="keywordflow">if</span> (motions[i]->state)
<a name="l00072"></a>00072 si_->freeState(motions[i]->state);
<a name="l00073"></a>00073 <span class="keyword">delete</span> motions[i];
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075 }
<a name="l00076"></a>00076 }
<a name="l00077"></a>00077
<a name="l00078"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a89e32e1117a14b0b92cb572d6782a338">00078</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a89e32e1117a14b0b92cb572d6782a338" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">ompl::geometric::LazyRRT::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="l00079"></a>00079 {
<a name="l00080"></a>00080 checkValidity();
<a name="l00081"></a>00081 <a class="code" href="classompl_1_1base_1_1Goal.html" title="Abstract definition of goals. Will contain solutions, if found.">base::Goal</a> *goal = pdef_->getGoal().get();
<a name="l00082"></a>00082 <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_s = <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>(goal);
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <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="l00085"></a>00085 {
<a name="l00086"></a>00086 <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(si_);
<a name="l00087"></a>00087 si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>, st);
<a name="l00088"></a>00088 motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abfb04aece324f8c752b1070cf03247de" title="Flag indicating whether this motion has been validated.">valid</a> = <span class="keyword">true</span>;
<a name="l00089"></a>00089 nn_->add(motion);
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="keywordflow">if</span> (nn_->size() == 0)
<a name="l00093"></a>00093 {
<a name="l00094"></a>00094 msg_.error(<span class="stringliteral">"There are no valid initial states!"</span>);
<a name="l00095"></a>00095 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00096"></a>00096 }
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="keywordflow">if</span> (!sampler_)
<a name="l00099"></a>00099 sampler_ = si_->allocStateSampler();
<a name="l00100"></a>00100
<a name="l00101"></a>00101 msg_.inform(<span class="stringliteral">"Starting with %u states"</span>, nn_->size());
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *solution = NULL;
<a name="l00104"></a>00104 <span class="keywordtype">double</span> distsol = -1.0;
<a name="l00105"></a>00105 <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *rmotion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(si_);
<a name="l00106"></a>00106 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *rstate = rmotion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>;
<a name="l00107"></a>00107 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *xstate = si_->allocState();
<a name="l00108"></a>00108
<a name="l00109"></a>00109 RETRY:
<a name="l00110"></a>00110
<a name="l00111"></a>00111 <span class="keywordflow">while</span> (ptc() == <span class="keyword">false</span>)
<a name="l00112"></a>00112 {
<a name="l00113"></a>00113 <span class="comment">/* sample random state (with goal biasing) */</span>
<a name="l00114"></a>00114 <span class="keywordflow">if</span> (goal_s && rng_.uniform01() < goalBias_ && goal_s-><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="l00115"></a>00115 goal_s-><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html#a11c9d2c4d9d5ddbeb8c30e531d1efc5f" title="Sample a state in the goal region.">sampleGoal</a>(rstate);
<a name="l00116"></a>00116 <span class="keywordflow">else</span>
<a name="l00117"></a>00117 sampler_->sampleUniform(rstate);
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="comment">/* find closest state in the tree */</span>
<a name="l00120"></a>00120 <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *nmotion = nn_->nearest(rmotion);
<a name="l00121"></a>00121 assert(nmotion != rmotion);
<a name="l00122"></a>00122 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *dstate = rstate;
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment">/* find state to add */</span>
<a name="l00125"></a>00125 <span class="keywordtype">double</span> d = si_->distance(nmotion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>, rstate);
<a name="l00126"></a>00126 <span class="keywordflow">if</span> (d > maxDistance_)
<a name="l00127"></a>00127 {
<a name="l00128"></a>00128 si_->getStateSpace()->interpolate(nmotion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>, rstate, maxDistance_ / d, xstate);
<a name="l00129"></a>00129 dstate = xstate;
<a name="l00130"></a>00130 }
<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_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(si_);
<a name="l00134"></a>00134 si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>, dstate);
<a name="l00135"></a>00135 motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be" title="The parent motion in the exploration tree.">parent</a> = nmotion;
<a name="l00136"></a>00136 nmotion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#aede9f2698536438cb1e651537f6c9abb" title="The set of motions that descend from this one.">children</a>.push_back(motion);
<a name="l00137"></a>00137 nn_->add(motion);
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <span class="keywordtype">double</span> dist = 0.0;
<a name="l00140"></a>00140 <span class="keywordflow">if</span> (goal-><a class="code" href="classompl_1_1base_1_1Goal.html#a02ba4ba487714cd4e8f67c9d4164d0ec" title="Return true if the state satisfies the goal constraints.">isSatisfied</a>(motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>, &dist))
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 distsol = dist;
<a name="l00143"></a>00143 solution = motion;
<a name="l00144"></a>00144 <span class="keywordflow">break</span>;
<a name="l00145"></a>00145 }
<a name="l00146"></a>00146 }
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="keywordflow">if</span> (solution != NULL)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 <span class="comment">/* construct the solution path */</span>
<a name="l00151"></a>00151 std::vector<Motion*> mpath;
<a name="l00152"></a>00152 <span class="keywordflow">while</span> (solution != NULL)
<a name="l00153"></a>00153 {
<a name="l00154"></a>00154 mpath.push_back(solution);
<a name="l00155"></a>00155 solution = solution-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="comment">/* check the path */</span>
<a name="l00159"></a>00159 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath.size() - 1 ; i >= 0 ; --i)
<a name="l00160"></a>00160 <span class="keywordflow">if</span> (!mpath[i]->valid)
<a name="l00161"></a>00161 {
<a name="l00162"></a>00162 <span class="keywordflow">if</span> (si_->checkMotion(mpath[i]->parent->state, mpath[i]->state))
<a name="l00163"></a>00163 mpath[i]->valid = <span class="keyword">true</span>;
<a name="l00164"></a>00164 <span class="keywordflow">else</span>
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166 removeMotion(mpath[i]);
<a name="l00167"></a>00167 <span class="keywordflow">goto</span> RETRY;
<a name="l00168"></a>00168 }
<a name="l00169"></a>00169 }
<a name="l00170"></a>00170
<a name="l00171"></a>00171 <span class="comment">/* set the solution path */</span>
<a name="l00172"></a>00172 <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="l00173"></a>00173 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath.size() - 1 ; i >= 0 ; --i)
<a name="l00174"></a>00174 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(mpath[i]->state));
<a name="l00175"></a>00175
<a name="l00176"></a>00176 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>(distsol);
<a name="l00177"></a>00177 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="l00178"></a>00178
<a name="l00179"></a>00179 }
<a name="l00180"></a>00180
<a name="l00181"></a>00181 si_->freeState(xstate);
<a name="l00182"></a>00182 si_->freeState(rstate);
<a name="l00183"></a>00183 <span class="keyword">delete</span> rmotion;
<a name="l00184"></a>00184
<a name="l00185"></a>00185 msg_.inform(<span class="stringliteral">"Created %u states"</span>, nn_->size());
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <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="l00188"></a>00188 }
<a name="l00189"></a>00189
<a name="l00190"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a52db5160e4d6d95b94fd24ca0e8ed7ed">00190</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a52db5160e4d6d95b94fd24ca0e8ed7ed" title="Remove a motion from the tree datastructure.">ompl::geometric::LazyRRT::removeMotion</a>(<a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *motion)
<a name="l00191"></a>00191 {
<a name="l00192"></a>00192 nn_->remove(motion);
<a name="l00193"></a>00193
<a name="l00194"></a>00194 <span class="comment">/* remove self from parent list */</span>
<a name="l00195"></a>00195
<a name="l00196"></a>00196 <span class="keywordflow">if</span> (motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be" title="The parent motion in the exploration tree.">parent</a>)
<a name="l00197"></a>00197 {
<a name="l00198"></a>00198 <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_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#aede9f2698536438cb1e651537f6c9abb" title="The set of motions that descend from this one.">children</a>.size() ; ++i)
<a name="l00199"></a>00199 <span class="keywordflow">if</span> (motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#aede9f2698536438cb1e651537f6c9abb" title="The set of motions that descend from this one.">children</a>[i] == motion)
<a name="l00200"></a>00200 {
<a name="l00201"></a>00201 motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#aede9f2698536438cb1e651537f6c9abb" title="The set of motions that descend from this one.">children</a>.erase(motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#aede9f2698536438cb1e651537f6c9abb" title="The set of motions that descend from this one.">children</a>.begin() + i);
<a name="l00202"></a>00202 <span class="keywordflow">break</span>;
<a name="l00203"></a>00203 }
<a name="l00204"></a>00204 }
<a name="l00205"></a>00205
<a name="l00206"></a>00206 <span class="comment">/* remove children */</span>
<a name="l00207"></a>00207 <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_1LazyRRT_1_1Motion.html#aede9f2698536438cb1e651537f6c9abb" title="The set of motions that descend from this one.">children</a>.size() ; ++i)
<a name="l00208"></a>00208 {
<a name="l00209"></a>00209 motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#aede9f2698536438cb1e651537f6c9abb" title="The set of motions that descend from this one.">children</a>[i]->parent = NULL;
<a name="l00210"></a>00210 removeMotion(motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#aede9f2698536438cb1e651537f6c9abb" title="The set of motions that descend from this one.">children</a>[i]);
<a name="l00211"></a>00211 }
<a name="l00212"></a>00212
<a name="l00213"></a>00213 <span class="keywordflow">if</span> (motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>)
<a name="l00214"></a>00214 si_->freeState(motion-><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>);
<a name="l00215"></a>00215 <span class="keyword">delete</span> motion;
<a name="l00216"></a>00216 }
<a name="l00217"></a>00217
<a name="l00218"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#ab8a78fadcee41bf3049db08449f03d44">00218</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#ab8a78fadcee41bf3049db08449f03d44" title="Get information about the current run of the motion planner. Repeated calls to this function will upd...">ompl::geometric::LazyRRT::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="l00219"></a>00219 <span class="keyword"></span>{
<a name="l00220"></a>00220 Planner::getPlannerData(data);
<a name="l00221"></a>00221
<a name="l00222"></a>00222 std::vector<Motion*> motions;
<a name="l00223"></a>00223 <span class="keywordflow">if</span> (nn_)
<a name="l00224"></a>00224 nn_->list(motions);
<a name="l00225"></a>00225
<a name="l00226"></a>00226 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00227"></a>00227 {
<a name="l00228"></a>00228 data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#aa11d568e75a53a0fecddbecbc05ca429" title="Record an edge between two states. This function is called by planners to fill states, stateIndex and edges. If the same state/edge is seen multiple times, it is added only once.">recordEdge</a>(motions[i]->parent ? motions[i]->parent->state : NULL, motions[i]->state);
<a name="l00229"></a>00229 <span class="keywordflow">if</span> (motions[i]->valid)
<a name="l00230"></a>00230 data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a8de56c12227187dbb8d2c81af916f146" title="Assign a tag to a state.">tagState</a>(motions[i]->state, 1);
<a name="l00231"></a>00231 }
<a name="l00232"></a>00232 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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<a href="http://www.rice.edu">Rice University</a><br>
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