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<div class="title">BKPIECE1.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, Rice University,</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 Rice University 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/BKPIECE1.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_1BKPIECE1.html#a65a7fce6f697fa96ffaf93126f2796f6">00042</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a65a7fce6f697fa96ffaf93126f2796f6" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">ompl::geometric::BKPIECE1::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_1BKPIECE1.html#a65a7fce6f697fa96ffaf93126f2796f6" 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_1BKPIECE1.html#ac4b29de63c1a79e5ab2b819b182e230f" 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_1BKPIECE1.html#a15a290a36bac34264d12f0ca3c3dc46d" 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_1BKPIECE1.html#a5f67febd07173b94f73337009b23f08e" title="When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...">badScoreFactor_</a> < std::numeric_limits<double>::epsilon() || <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a5f67febd07173b94f73337009b23f08e" title="When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...">badScoreFactor_</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">"Bad cell score factor must be in the range (0,1]"</span>);
<a name="l00051"></a>00051 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#af37f1c448a18b763debbb7c146abbcb1" title="When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...">goodScoreFactor_</a> < std::numeric_limits<double>::epsilon() || <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#af37f1c448a18b763debbb7c146abbcb1" title="When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...">goodScoreFactor_</a> > 1.0)
<a name="l00052"></a>00052 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Good cell score factor must be in the range (0,1]"</span>);
<a name="l00053"></a>00053 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#aa0962644ccc8c2cf71dd42ca0bac3ff3" 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_1BKPIECE1.html#aa0962644ccc8c2cf71dd42ca0bac3ff3" 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="l00054"></a>00054 <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="l00055"></a>00055
<a name="l00056"></a>00056 <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#aa70b018d82b7bf967b7ed5ade3c51a81" title="The start tree.">dStart_</a>.setDimension(<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ac4b29de63c1a79e5ab2b819b182e230f" title="The employed projection evaluator.">projectionEvaluator_</a>->getDimension());
<a name="l00057"></a>00057 <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a6083e1178d64a2064b8403a6e4d7f5be" title="The goal tree.">dGoal_</a>.setDimension(<a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ac4b29de63c1a79e5ab2b819b182e230f" title="The employed projection evaluator.">projectionEvaluator_</a>->getDimension());
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00060"></a><a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a41192852cfc32f0db883e18cb8dee94a">00060</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a41192852cfc32f0db883e18cb8dee94a" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">ompl::geometric::BKPIECE1::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="l00061"></a>00061 {
<a name="l00062"></a>00062 checkValidity();
<a name="l00063"></a>00063 <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="l00064"></a>00064
<a name="l00065"></a>00065 <span class="keywordflow">if</span> (!goal)
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 msg_.error(<span class="stringliteral">"Unknown type of goal (or goal undefined)"</span>);
<a name="l00068"></a>00068 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00069"></a>00069 }
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <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="l00072"></a>00072
<a name="l00073"></a>00073 <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="l00074"></a>00074 {
<a name="l00075"></a>00075 <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_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_1BKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(si_);
<a name="l00076"></a>00076 si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>, st);
<a name="l00077"></a>00077 motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6" title="The root state (start state) that leads to this motion.">root</a> = motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>;
<a name="l00078"></a>00078 projectionEvaluator_->computeCoordinates(motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>, xcoord);
<a name="l00079"></a>00079 dStart_.addMotion(motion, xcoord);
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081
<a name="l00082"></a>00082 <span class="keywordflow">if</span> (dStart_.getMotionCount() == 0)
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 msg_.error(<span class="stringliteral">"Motion planning start tree could not be initialized!"</span>);
<a name="l00085"></a>00085 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <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="l00089"></a>00089 {
<a name="l00090"></a>00090 msg_.error(<span class="stringliteral">"Insufficient states in sampleable goal region"</span>);
<a name="l00091"></a>00091 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="keywordflow">if</span> (!sampler_)
<a name="l00095"></a>00095 sampler_ = si_->allocValidStateSampler();
<a name="l00096"></a>00096
<a name="l00097"></a>00097 msg_.inform(<span class="stringliteral">"Starting with %d states"</span>, (<span class="keywordtype">int</span>)(dStart_.getMotionCount() + dGoal_.getMotionCount()));
<a name="l00098"></a>00098
<a name="l00099"></a>00099 std::vector<Motion*> solution;
<a name="l00100"></a>00100 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *xstate = si_->allocState();
<a name="l00101"></a>00101 <span class="keywordtype">bool</span> startTree = <span class="keyword">true</span>;
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="keywordflow">while</span> (ptc() == <span class="keyword">false</span>)
<a name="l00104"></a>00104 {
<a name="l00105"></a>00105 <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="l00106"></a>00106 startTree = !startTree;
<a name="l00107"></a>00107 <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="l00108"></a>00108 disc.countIteration();
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="comment">// if we have not sampled too many goals already</span>
<a name="l00111"></a>00111 <span class="keywordflow">if</span> (dGoal_.getMotionCount() == 0 || pis_.getSampledGoalsCount() < dGoal_.getMotionCount() / 2)
<a name="l00112"></a>00112 {
<a name="l00113"></a>00113 <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="l00114"></a>00114 <span class="keywordflow">if</span> (st)
<a name="l00115"></a>00115 {
<a name="l00116"></a>00116 <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_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_1BKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(si_);
<a name="l00117"></a>00117 si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>, st);
<a name="l00118"></a>00118 motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6" title="The root state (start state) that leads to this motion.">root</a> = motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>;
<a name="l00119"></a>00119 projectionEvaluator_->computeCoordinates(motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>, xcoord);
<a name="l00120"></a>00120 dGoal_.addMotion(motion, xcoord);
<a name="l00121"></a>00121 }
<a name="l00122"></a>00122 <span class="keywordflow">if</span> (dGoal_.getMotionCount() == 0)
<a name="l00123"></a>00123 {
<a name="l00124"></a>00124 msg_.error(<span class="stringliteral">"Unable to sample any valid states for goal tree"</span>);
<a name="l00125"></a>00125 <span class="keywordflow">break</span>;
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127 }
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <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="l00130"></a>00130 <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *existing = NULL;
<a name="l00131"></a>00131 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="l00132"></a>00132 assert(existing);
<a name="l00133"></a>00133 <span class="keywordflow">if</span> (sampler_->sampleNear(xstate, existing-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>, maxDistance_))
<a name="l00134"></a>00134 {
<a name="l00135"></a>00135 std::pair<base::State*, double> fail(xstate, 0.0);
<a name="l00136"></a>00136 <span class="keywordtype">bool</span> keep = si_->checkMotion(existing-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>, xstate, fail);
<a name="l00137"></a>00137 <span class="keywordflow">if</span> (!keep && fail.second > minValidPathFraction_)
<a name="l00138"></a>00138 keep = <span class="keyword">true</span>;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="keywordflow">if</span> (keep)
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 <span class="comment">/* create a motion */</span>
<a name="l00143"></a>00143 <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_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_1BKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(si_);
<a name="l00144"></a>00144 si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>, xstate);
<a name="l00145"></a>00145 motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6" title="The root state (start state) that leads to this motion.">root</a> = existing-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6" title="The root state (start state) that leads to this motion.">root</a>;
<a name="l00146"></a>00146 motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a31d66a709c8a16e44787f019c9fc13b2" title="The parent motion in the exploration tree.">parent</a> = existing;
<a name="l00147"></a>00147
<a name="l00148"></a>00148 projectionEvaluator_->computeCoordinates(motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>, xcoord);
<a name="l00149"></a>00149 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="l00150"></a>00150
<a name="l00151"></a>00151 <a class="code" href="structompl_1_1Grid_1_1Cell.html" title="Definition of a cell in this grid.">Discretization<Motion>::Cell</a>* cellC = otherDisc.getGrid().<a class="code" href="classompl_1_1Grid.html#ae563fea4e6a46c741682b6dcbe93ce54" title="Get the cell at a specified coordinate.">getCell</a>(xcoord);
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keywordflow">if</span> (cellC && !cellC-><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="l00154"></a>00154 {
<a name="l00155"></a>00155 <a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* connectOther = cellC-><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, cellC-><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="l00156"></a>00156
<a name="l00157"></a>00157 <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_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6" title="The root state (start state) that leads to this motion.">root</a> : motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6" title="The root state (start state) that leads to this motion.">root</a>, startTree ? motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6" title="The root state (start state) that leads to this motion.">root</a> : connectOther-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#ab658fee6c2727e70f145252ec4df86c6" title="The root state (start state) that leads to this motion.">root</a>) &&
<a name="l00158"></a>00158 si_->checkMotion(motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>, connectOther-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>))
<a name="l00159"></a>00159 {
<a name="l00160"></a>00160 <span class="comment">/* extract the motions and put them in solution vector */</span>
<a name="l00161"></a>00161
<a name="l00162"></a>00162 std::vector<Motion*> mpath1;
<a name="l00163"></a>00163 <span class="keywordflow">while</span> (motion != NULL)
<a name="l00164"></a>00164 {
<a name="l00165"></a>00165 mpath1.push_back(motion);
<a name="l00166"></a>00166 motion = motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a31d66a709c8a16e44787f019c9fc13b2" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00167"></a>00167 }
<a name="l00168"></a>00168
<a name="l00169"></a>00169 std::vector<Motion*> mpath2;
<a name="l00170"></a>00170 <span class="keywordflow">while</span> (connectOther != NULL)
<a name="l00171"></a>00171 {
<a name="l00172"></a>00172 mpath2.push_back(connectOther);
<a name="l00173"></a>00173 connectOther = connectOther-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a31d66a709c8a16e44787f019c9fc13b2" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00174"></a>00174 }
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="keywordflow">if</span> (startTree)
<a name="l00177"></a>00177 mpath1.swap(mpath2);
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <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="l00180"></a>00180 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="l00181"></a>00181 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath1.size() - 1 ; i >= 0 ; --i)
<a name="l00182"></a>00182 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="l00183"></a>00183 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < mpath2.size() ; ++i)
<a name="l00184"></a>00184 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="l00185"></a>00185
<a name="l00186"></a>00186 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="l00187"></a>00187 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="l00188"></a>00188 <span class="keywordflow">break</span>;
<a name="l00189"></a>00189 }
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191
<a name="l00192"></a>00192 ecell-><a class="code" href="structompl_1_1Grid_1_1Cell.html#a9a32dbce70bab52e6d45b0a4d0106366" title="The data we store in the cell.">data</a>->score *= goodScoreFactor_;
<a name="l00193"></a>00193 }
<a name="l00194"></a>00194 <span class="keywordflow">else</span>
<a name="l00195"></a>00195 ecell-><a class="code" href="structompl_1_1Grid_1_1Cell.html#a9a32dbce70bab52e6d45b0a4d0106366" title="The data we store in the cell.">data</a>->score *= badScoreFactor_;
<a name="l00196"></a>00196 }
<a name="l00197"></a>00197 disc.updateCell(ecell);
<a name="l00198"></a>00198 }
<a name="l00199"></a>00199
<a name="l00200"></a>00200 si_->freeState(xstate);
<a name="l00201"></a>00201
<a name="l00202"></a>00202 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="l00203"></a>00203 dStart_.getMotionCount() + dGoal_.getMotionCount(), dStart_.getMotionCount(), dGoal_.getMotionCount(),
<a name="l00204"></a>00204 dStart_.getCellCount() + dGoal_.getCellCount(), dStart_.getCellCount(), dStart_.getGrid().countExternal(),
<a name="l00205"></a>00205 dGoal_.getCellCount(), dGoal_.getGrid().countExternal());
<a name="l00206"></a>00206
<a name="l00207"></a>00207 <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="l00208"></a>00208 }
<a name="l00209"></a>00209
<a name="l00210"></a><a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ae81ac9338565790508efaebbef3d8459">00210</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#ae81ac9338565790508efaebbef3d8459" title="Free the memory for a motion.">ompl::geometric::BKPIECE1::freeMotion</a>(<a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *motion)
<a name="l00211"></a>00211 {
<a name="l00212"></a>00212 <span class="keywordflow">if</span> (motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>)
<a name="l00213"></a>00213 si_->freeState(motion-><a class="code" href="classompl_1_1geometric_1_1BKPIECE1_1_1Motion.html#a4a6799d168bbc9ee73504b56ddc8c34e" title="The state contained by this motion.">state</a>);
<a name="l00214"></a>00214 <span class="keyword">delete</span> motion;
<a name="l00215"></a>00215 }
<a name="l00216"></a>00216
<a name="l00217"></a><a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a4f5bb7c1cbd59e657650a9c4211b989a">00217</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a4f5bb7c1cbd59e657650a9c4211b989a" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">ompl::geometric::BKPIECE1::clear</a>(<span class="keywordtype">void</span>)
<a name="l00218"></a>00218 {
<a name="l00219"></a>00219 Planner::clear();
<a name="l00220"></a>00220
<a name="l00221"></a>00221 sampler_.reset();
<a name="l00222"></a>00222 dStart_.clear();
<a name="l00223"></a>00223 dGoal_.clear();
<a name="l00224"></a>00224 }
<a name="l00225"></a>00225
<a name="l00226"></a><a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a1e43aa6d5965a85004951302954de5d5">00226</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1BKPIECE1.html#a1e43aa6d5965a85004951302954de5d5" title="Get information about the current run of the motion planner. Repeated calls to this function will upd...">ompl::geometric::BKPIECE1::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="l00227"></a>00227 <span class="keyword"></span>{
<a name="l00228"></a>00228 Planner::getPlannerData(data);
<a name="l00229"></a>00229 dStart_.getPlannerData(data, 1);
<a name="l00230"></a>00230 dGoal_.getPlannerData(data, 2);
<a name="l00231"></a>00231 }
</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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