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<div class="title">RRTConnect.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/RRTConnect.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/datastructures/NearestNeighborsGNAT.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/base/GoalSampleableRegion.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span>
<a name="l00041"></a>00041
<a name="l00042"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a860d8f7ab5c9b791dac4bf4aaaf305e6">00042</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a860d8f7ab5c9b791dac4bf4aaaf305e6" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">ompl::geometric::RRTConnect::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_1RRTConnect.html#a860d8f7ab5c9b791dac4bf4aaaf305e6" 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#a86d0c4b1dc9a9a25bd53a6820a6b973c" title="Compute what a good length for motion segments is.">configurePlannerRange</a>(<a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a299caf818f757d96793d1bc092a665b3" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>);
<a name="l00047"></a>00047
<a name="l00048"></a>00048 <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a91ce4e34b670b36588fdcc7030fe692d" title="The start tree.">tStart_</a>)
<a name="l00049"></a>00049 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a91ce4e34b670b36588fdcc7030fe692d" title="The start tree.">tStart_</a>.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">NearestNeighborsGNAT<Motion*></a>());
<a name="l00050"></a>00050 <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#aeeb74200ede46e3d1eef584325ec1484" title="The goal tree.">tGoal_</a>)
<a name="l00051"></a>00051 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#aeeb74200ede46e3d1eef584325ec1484" title="The goal tree.">tGoal_</a>.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">NearestNeighborsGNAT<Motion*></a>());
<a name="l00052"></a>00052 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a91ce4e34b670b36588fdcc7030fe692d" title="The start tree.">tStart_</a>->setDistanceFunction(boost::bind(&<a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a96e7a7a8ed32a88c490204fcb8847fb5" title="Compute distance between motions (actually distance between contained states)">RRTConnect::distanceFunction</a>, <span class="keyword">this</span>, _1, _2));
<a name="l00053"></a>00053 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#aeeb74200ede46e3d1eef584325ec1484" title="The goal tree.">tGoal_</a>->setDistanceFunction(boost::bind(&<a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a96e7a7a8ed32a88c490204fcb8847fb5" title="Compute distance between motions (actually distance between contained states)">RRTConnect::distanceFunction</a>, <span class="keyword">this</span>, _1, _2));
<a name="l00054"></a>00054 }
<a name="l00055"></a>00055
<a name="l00056"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a9d0cee3c86dff92db60fe02806f5a27c">00056</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a9d0cee3c86dff92db60fe02806f5a27c" title="Free the memory allocated by this planner.">ompl::geometric::RRTConnect::freeMemory</a>(<span class="keywordtype">void</span>)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 std::vector<Motion*> motions;
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="keywordflow">if</span> (tStart_)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 tStart_->list(motions);
<a name="l00063"></a>00063 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065 <span class="keywordflow">if</span> (motions[i]->state)
<a name="l00066"></a>00066 si_->freeState(motions[i]->state);
<a name="l00067"></a>00067 <span class="keyword">delete</span> motions[i];
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <span class="keywordflow">if</span> (tGoal_)
<a name="l00072"></a>00072 {
<a name="l00073"></a>00073 tGoal_->list(motions);
<a name="l00074"></a>00074 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 <span class="keywordflow">if</span> (motions[i]->state)
<a name="l00077"></a>00077 si_->freeState(motions[i]->state);
<a name="l00078"></a>00078 <span class="keyword">delete</span> motions[i];
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081 }
<a name="l00082"></a>00082
<a name="l00083"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a326036b610e5499a9a670ea4710e8836">00083</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a326036b610e5499a9a670ea4710e8836" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">ompl::geometric::RRTConnect::clear</a>(<span class="keywordtype">void</span>)
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 Planner::clear();
<a name="l00086"></a>00086 sampler_.reset();
<a name="l00087"></a>00087 freeMemory();
<a name="l00088"></a>00088 <span class="keywordflow">if</span> (tStart_)
<a name="l00089"></a>00089 tStart_->clear();
<a name="l00090"></a>00090 <span class="keywordflow">if</span> (tGoal_)
<a name="l00091"></a>00091 tGoal_->clear();
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093
<a name="l00094"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a140a2bf524fe7c39dfbe1e8d5f55fe80">00094</a> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4b" title="The state of the tree after an attempt to extend it.">ompl::geometric::RRTConnect::GrowState</a> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a140a2bf524fe7c39dfbe1e8d5f55fe80" title="Grow a tree towards a random state.">ompl::geometric::RRTConnect::growTree</a>(<a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a605e6a7c713167b8655d06a8a30b91ef" title="A nearest-neighbor datastructure representing a tree of motions.">TreeData</a> &tree, <a class="code" href="structompl_1_1geometric_1_1RRTConnect_1_1TreeGrowingInfo.html" title="Information attached to growing a tree of motions (used internally)">TreeGrowingInfo</a> &tgi, <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a> *rmotion)
<a name="l00095"></a>00095 {
<a name="l00096"></a>00096 <span class="comment">/* find closest state in the tree */</span>
<a name="l00097"></a>00097 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a> *nmotion = tree->nearest(rmotion);
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="comment">/* assume we can reach the state we go towards */</span>
<a name="l00100"></a>00100 <span class="keywordtype">bool</span> reach = <span class="keyword">true</span>;
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="comment">/* find state to add */</span>
<a name="l00103"></a>00103 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *dstate = rmotion->state;
<a name="l00104"></a>00104 <span class="keywordtype">double</span> d = si_->distance(nmotion->state, rmotion->state);
<a name="l00105"></a>00105 <span class="keywordflow">if</span> (d > maxDistance_)
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 si_->getStateSpace()->interpolate(nmotion->state, rmotion->state, maxDistance_ / d, tgi.xstate);
<a name="l00108"></a>00108 dstate = tgi.xstate;
<a name="l00109"></a>00109 reach = <span class="keyword">false</span>;
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="keywordflow">if</span> (si_->checkMotion(nmotion->state, dstate))
<a name="l00113"></a>00113 {
<a name="l00114"></a>00114 <span class="comment">/* create a motion */</span>
<a name="l00115"></a>00115 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>(si_);
<a name="l00116"></a>00116 si_->copyState(motion->state, dstate);
<a name="l00117"></a>00117 motion->parent = nmotion;
<a name="l00118"></a>00118 motion->root = nmotion->root;
<a name="l00119"></a>00119 tgi.xmotion = motion;
<a name="l00120"></a>00120
<a name="l00121"></a>00121 tree->add(motion);
<a name="l00122"></a>00122 <span class="keywordflow">if</span> (reach)
<a name="l00123"></a>00123 <span class="keywordflow">return</span> REACHED;
<a name="l00124"></a>00124 <span class="keywordflow">else</span>
<a name="l00125"></a>00125 <span class="keywordflow">return</span> ADVANCED;
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127 <span class="keywordflow">else</span>
<a name="l00128"></a>00128 <span class="keywordflow">return</span> TRAPPED;
<a name="l00129"></a>00129 }
<a name="l00130"></a>00130
<a name="l00131"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#ad092b4c369524ec515a0e034ca0841a8">00131</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#ad092b4c369524ec515a0e034ca0841a8" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">ompl::geometric::RRTConnect::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="l00132"></a>00132 {
<a name="l00133"></a>00133 checkValidity();
<a name="l00134"></a>00134 <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="l00135"></a>00135
<a name="l00136"></a>00136 <span class="keywordflow">if</span> (!goal)
<a name="l00137"></a>00137 {
<a name="l00138"></a>00138 msg_.error(<span class="stringliteral">"Unknown type of goal (or goal undefined)"</span>);
<a name="l00139"></a>00139 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00140"></a>00140 }
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <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="l00143"></a>00143 {
<a name="l00144"></a>00144 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>(si_);
<a name="l00145"></a>00145 si_->copyState(motion->state, st);
<a name="l00146"></a>00146 motion->root = motion->state;
<a name="l00147"></a>00147 tStart_->add(motion);
<a name="l00148"></a>00148 }
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="keywordflow">if</span> (tStart_->size() == 0)
<a name="l00151"></a>00151 {
<a name="l00152"></a>00152 msg_.error(<span class="stringliteral">"Motion planning start tree could not be initialized!"</span>);
<a name="l00153"></a>00153 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00154"></a>00154 }
<a name="l00155"></a>00155
<a name="l00156"></a>00156 <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="l00157"></a>00157 {
<a name="l00158"></a>00158 msg_.error(<span class="stringliteral">"Insufficient states in sampleable goal region"</span>);
<a name="l00159"></a>00159 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00160"></a>00160 }
<a name="l00161"></a>00161
<a name="l00162"></a>00162 <span class="keywordflow">if</span> (!sampler_)
<a name="l00163"></a>00163 sampler_ = si_->allocStateSampler();
<a name="l00164"></a>00164
<a name="l00165"></a>00165 msg_.inform(<span class="stringliteral">"Starting with %d states"</span>, (<span class="keywordtype">int</span>)(tStart_->size() + tGoal_->size()));
<a name="l00166"></a>00166
<a name="l00167"></a>00167 <a class="code" href="structompl_1_1geometric_1_1RRTConnect_1_1TreeGrowingInfo.html" title="Information attached to growing a tree of motions (used internally)">TreeGrowingInfo</a> tgi;
<a name="l00168"></a>00168 tgi.xstate = si_->allocState();
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a> *rmotion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>(si_);
<a name="l00171"></a>00171 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *rstate = rmotion->state;
<a name="l00172"></a>00172 <span class="keywordtype">bool</span> startTree = <span class="keyword">true</span>;
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <span class="keywordflow">while</span> (ptc() == <span class="keyword">false</span>)
<a name="l00175"></a>00175 {
<a name="l00176"></a>00176 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a605e6a7c713167b8655d06a8a30b91ef" title="A nearest-neighbor datastructure representing a tree of motions.">TreeData</a> &tree = startTree ? tStart_ : tGoal_;
<a name="l00177"></a>00177 startTree = !startTree;
<a name="l00178"></a>00178 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a605e6a7c713167b8655d06a8a30b91ef" title="A nearest-neighbor datastructure representing a tree of motions.">TreeData</a> &otherTree = startTree ? tStart_ : tGoal_;
<a name="l00179"></a>00179
<a name="l00180"></a>00180 <span class="keywordflow">if</span> (tGoal_->size() == 0 || pis_.getSampledGoalsCount() < tGoal_->size() / 2)
<a name="l00181"></a>00181 {
<a name="l00182"></a>00182 <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 = tGoal_->size() == 0 ? pis_.nextGoal(ptc) : pis_.nextGoal();
<a name="l00183"></a>00183 <span class="keywordflow">if</span> (st)
<a name="l00184"></a>00184 {
<a name="l00185"></a>00185 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>* motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>(si_);
<a name="l00186"></a>00186 si_->copyState(motion->state, st);
<a name="l00187"></a>00187 motion->root = motion->state;
<a name="l00188"></a>00188 tGoal_->add(motion);
<a name="l00189"></a>00189 }
<a name="l00190"></a>00190
<a name="l00191"></a>00191 <span class="keywordflow">if</span> (tGoal_->size() == 0)
<a name="l00192"></a>00192 {
<a name="l00193"></a>00193 msg_.error(<span class="stringliteral">"Unable to sample any valid states for goal tree"</span>);
<a name="l00194"></a>00194 <span class="keywordflow">break</span>;
<a name="l00195"></a>00195 }
<a name="l00196"></a>00196 }
<a name="l00197"></a>00197
<a name="l00198"></a>00198 <span class="comment">/* sample random state */</span>
<a name="l00199"></a>00199 sampler_->sampleUniform(rstate);
<a name="l00200"></a>00200
<a name="l00201"></a>00201 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4b" title="The state of the tree after an attempt to extend it.">GrowState</a> gs = growTree(tree, tgi, rmotion);
<a name="l00202"></a>00202
<a name="l00203"></a>00203 <span class="keywordflow">if</span> (gs != TRAPPED)
<a name="l00204"></a>00204 {
<a name="l00205"></a>00205 <span class="comment">/* remember which motion was just added */</span>
<a name="l00206"></a>00206 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a> *addedMotion = tgi.xmotion;
<a name="l00207"></a>00207
<a name="l00208"></a>00208 <span class="comment">/* attempt to connect trees */</span>
<a name="l00209"></a>00209
<a name="l00210"></a>00210 <span class="comment">/* if reached, it means we used rstate directly, no need top copy again */</span>
<a name="l00211"></a>00211 <span class="keywordflow">if</span> (gs != REACHED)
<a name="l00212"></a>00212 si_->copyState(rstate, tgi.xstate);
<a name="l00213"></a>00213
<a name="l00214"></a>00214 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4b" title="The state of the tree after an attempt to extend it.">GrowState</a> gsc = ADVANCED;
<a name="l00215"></a>00215 <span class="keywordflow">while</span> (gsc == ADVANCED)
<a name="l00216"></a>00216 gsc = growTree(otherTree, tgi, rmotion);
<a name="l00217"></a>00217
<a name="l00218"></a>00218 <span class="comment">/* if we connected the trees in a valid way (start and goal pair is valid)*/</span>
<a name="l00219"></a>00219 <span class="keywordflow">if</span> (gsc == REACHED && 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 ? tgi.xmotion->root : addedMotion->root,
<a name="l00220"></a>00220 startTree ? addedMotion->root : tgi.xmotion->root))
<a name="l00221"></a>00221 {
<a name="l00222"></a>00222 <span class="comment">/* construct the solution path */</span>
<a name="l00223"></a>00223 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a> *solution = tgi.xmotion;
<a name="l00224"></a>00224 std::vector<Motion*> mpath1;
<a name="l00225"></a>00225 <span class="keywordflow">while</span> (solution != NULL)
<a name="l00226"></a>00226 {
<a name="l00227"></a>00227 mpath1.push_back(solution);
<a name="l00228"></a>00228 solution = solution->parent;
<a name="l00229"></a>00229 }
<a name="l00230"></a>00230
<a name="l00231"></a>00231 solution = addedMotion;
<a name="l00232"></a>00232 std::vector<Motion*> mpath2;
<a name="l00233"></a>00233 <span class="keywordflow">while</span> (solution != NULL)
<a name="l00234"></a>00234 {
<a name="l00235"></a>00235 mpath2.push_back(solution);
<a name="l00236"></a>00236 solution = solution->parent;
<a name="l00237"></a>00237 }
<a name="l00238"></a>00238
<a name="l00239"></a>00239 <span class="keywordflow">if</span> (!startTree)
<a name="l00240"></a>00240 mpath2.swap(mpath1);
<a name="l00241"></a>00241
<a name="l00242"></a>00242 <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="l00243"></a>00243 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="l00244"></a>00244 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath1.size() - 1 ; i >= 0 ; --i)
<a name="l00245"></a>00245 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="l00246"></a>00246 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < mpath2.size() ; ++i)
<a name="l00247"></a>00247 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="l00248"></a>00248
<a name="l00249"></a>00249 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="l00250"></a>00250 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="l00251"></a>00251 <span class="keywordflow">break</span>;
<a name="l00252"></a>00252 }
<a name="l00253"></a>00253 }
<a name="l00254"></a>00254 }
<a name="l00255"></a>00255
<a name="l00256"></a>00256 si_->freeState(tgi.xstate);
<a name="l00257"></a>00257 si_->freeState(rstate);
<a name="l00258"></a>00258 <span class="keyword">delete</span> rmotion;
<a name="l00259"></a>00259
<a name="l00260"></a>00260 msg_.inform(<span class="stringliteral">"Created %u states (%u start + %u goal)"</span>, tStart_->size() + tGoal_->size(), tStart_->size(), tGoal_->size());
<a name="l00261"></a>00261
<a name="l00262"></a>00262 <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="l00263"></a>00263 }
<a name="l00264"></a>00264
<a name="l00265"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a32e3f019f790cb85b1f97a6cacb02e02">00265</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a32e3f019f790cb85b1f97a6cacb02e02" title="Get information about the current run of the motion planner. Repeated calls to this function will upd...">ompl::geometric::RRTConnect::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="l00266"></a>00266 <span class="keyword"></span>{
<a name="l00267"></a>00267 Planner::getPlannerData(data);
<a name="l00268"></a>00268
<a name="l00269"></a>00269 std::vector<Motion*> motions;
<a name="l00270"></a>00270 <span class="keywordflow">if</span> (tStart_)
<a name="l00271"></a>00271 tStart_->list(motions);
<a name="l00272"></a>00272
<a name="l00273"></a>00273 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00274"></a>00274 {
<a name="l00275"></a>00275 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="l00276"></a>00276 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="l00277"></a>00277 }
<a name="l00278"></a>00278
<a name="l00279"></a>00279 motions.clear();
<a name="l00280"></a>00280 <span class="keywordflow">if</span> (tGoal_)
<a name="l00281"></a>00281 tGoal_->list(motions);
<a name="l00282"></a>00282
<a name="l00283"></a>00283 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00284"></a>00284 {
<a name="l00285"></a>00285 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="l00286"></a>00286 data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a8de56c12227187dbb8d2c81af916f146" title="Assign a tag to a state.">tagState</a>(motions[i]->state, 2);
<a name="l00287"></a>00287 }
<a name="l00288"></a>00288 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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