Sophie

Sophie

distrib > Fedora > 14 > x86_64 > media > updates > by-pkgid > e7618febbb9cbed15bb79e326774c050 > files > 1303

ompl-devel-0.9.5-1.fc14.i686.rpm

<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/>
<title>OMPL: src/ompl/geometric/planners/kpiece/KPIECE1.h Source File</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection">
<link rel="stylesheet" href="../css/print.css" type="text/css" media="print">
<!--[if lt IE 7]>
<script type="text/javascript" src="../js/jquery/jquery.js"></script>
<script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script>
<![endif]-->
<script type="text/javaScript" src="search/search.js"></script>
<script type="text/javascript">
  var _gaq = _gaq || [];
  _gaq.push(['_setAccount', 'UA-9156598-2']);
  _gaq.push(['_trackPageview']);
  (function() {
    var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
    ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
    var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
  })();
</script>
</head>
<body onload='searchBox.OnSelectItem(0);'>
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search API');
--></script>
<div class="navigation" id="top">
  <div class="tabs" id="ompltitle">
    <ul class="tablist">
      <li>The Open Motion Planning Library</li>
      <li id="searchli">
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search API" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)"
               onblur="searchBox.OnSearchFieldFocus(false)"
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>

  <ul id="nav" class="dropdown">
    <li class="first"><a href="index.html">Home</a></li>
    <li><a href="download.html">Download</a></li>
    <li><a href="documentation.html">Documentation</a></li>
    <li><span class="dir">Code API</span>
      <ul>
        <li><a href="api_overview.html">API Overview</a></li>
        <li><a href="namespaces.html">Namespaces</a></li>
        <li><a href="annotated.html">Classes</a></li>
        <li><a href="files.html">Files</a></li>
        <li><a href="dirs.html">Directories</a></li>
      </ul>
    </li>
    <li><span class="dir">Community</span>
      <ul>
        <li><a href="developers.html">Developers</a></li>
        <li><a href="thirdparty.html">Contributions</a></li>
        <li><a href="education.html">Education</a></li>
        <li><a href="gallery.html">Gallery</a></li>
      </ul>
    </li>
    <li><span class="dir">About</span>
      <ul>
        <li><a href="license.html">License</a></li>
        <li><a href="citations.html">Citations</a></li>
        <li><a href="acknowledgements.html">Acknowledgments</a></li>
        <li><a href="contact.html">Contact Us</a></li>
      </ul>
    </li>
  </ul>
</div>

<!--- window showing the filter options -->
<div id="MSearchSelectWindow"
  onmouseover="return searchBox.OnSearchSelectShow()"
  onmouseout="return searchBox.OnSearchSelectHide()"
  onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
  <iframe src="" frameborder="0"name="MSearchResults" id="MSearchResults"></iframe>
</div>

<div class="container">
  <div class="span-22 push-2 first last">
  <div>
<!-- Generated by Doxygen 1.7.4 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
  <div id="nav-path" class="navpath">
    <ul>
      <li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a>      </li>
      <li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a>      </li>
      <li class="navelem"><a class="el" href="dir_09c87af92e12dad9ad42621ff12ca21c.html">geometric</a>      </li>
      <li class="navelem"><a class="el" href="dir_ea5fd944e8f903b1c975832ff4982cc4.html">planners</a>      </li>
      <li class="navelem"><a class="el" href="dir_49b7897943bf914faee6ea202af1bfa1.html">kpiece</a>      </li>
    </ul>
  </div>
</div>
<div class="header">
  <div class="headertitle">
<div class="title">KPIECE1.h</div>  </div>
</div>
<div class="contents">
<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">*  &quot;AS IS&quot; 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">#ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/geometric/planners/PlannerIncludes.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/geometric/planners/kpiece/Discretization.h&quot;</span>
<a name="l00042"></a>00042 
<a name="l00043"></a>00043 <span class="keyword">namespace </span>ompl
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 
<a name="l00046"></a>00046     <span class="keyword">namespace </span>geometric
<a name="l00047"></a>00047     {
<a name="l00048"></a>00048 
<a name="l00049"></a>00049 
<a name="l00076"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html">00076</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html" title="Kinematic Planning by Interior-Exterior Cell Exploration.">KPIECE1</a> : <span class="keyword">public</span> base::Planner
<a name="l00077"></a>00077         {
<a name="l00078"></a>00078         <span class="keyword">public</span>:
<a name="l00079"></a>00079 
<a name="l00081"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a192f8ba0095c91a178fc70c3eb8f0e8e">00081</a>             <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a192f8ba0095c91a178fc70c3eb8f0e8e" title="Constructor.">KPIECE1</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">base::SpaceInformationPtr</a> &amp;si) : base::<a class="code" href="classompl_1_1base_1_1Planner.html#a404c3be95f77983e95a468e3a7032cc9" title="Constructor.">Planner</a>(si, <span class="stringliteral">&quot;KPIECE1&quot;</span>),
<a name="l00082"></a>00082                                                            <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a60d8490911f47565fc085d0b0e5c9f62" title="The tree datastructure and the grid that covers it.">disc_</a>(boost::bind(&amp;<a class="code" href="classompl_1_1geometric_1_1KPIECE1.html" title="Kinematic Planning by Interior-Exterior Cell Exploration.">KPIECE1</a>::<a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aea9ced6e390f478d108e7e8c1a662a54" title="Free the memory for a motion.">freeMotion</a>, this, _1))
<a name="l00083"></a>00083             {
<a name="l00084"></a>00084                 <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365" title="The specifications of the planner (its capabilities)">specs_</a>.approximateSolutions = <span class="keyword">true</span>;
<a name="l00085"></a>00085 
<a name="l00086"></a>00086                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a27013f7e58c20bf7a7ecb16a662358fe" title="The fraction of time the goal is picked as the state to expand towards (if such a state is available)...">goalBias_</a> = 0.05;
<a name="l00087"></a>00087                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ac287294d48e1550593d8ec841fcda978" title="When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...">badScoreFactor_</a> = 0.5;
<a name="l00088"></a>00088                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a0fb6a4b5f86612742508f241f8bbb206" title="When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...">goodScoreFactor_</a> = 0.9;
<a name="l00089"></a>00089                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a8fdf659ed4635fbbefc64fa627ae6ce0" 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> = 0.2;
<a name="l00090"></a>00090                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#af35630c62772c43535d8cdb6f6d87b55" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = 0.0;
<a name="l00091"></a>00091             }
<a name="l00092"></a>00092 
<a name="l00093"></a>00093             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1KPIECE1.html" title="Kinematic Planning by Interior-Exterior Cell Exploration.">KPIECE1</a>(<span class="keywordtype">void</span>)
<a name="l00094"></a>00094             {
<a name="l00095"></a>00095             }
<a name="l00096"></a>00096 
<a name="l00097"></a>00097             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aa24f9d8c15f9cb8bfc022567074fbed7" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">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> &amp;ptc);
<a name="l00098"></a>00098 
<a name="l00099"></a>00099             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a57c1d087462ad4b2438f78b38718f708" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00100"></a>00100 
<a name="l00110"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a8fd941be8060c5c17019887229f062d8">00110</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a8fd941be8060c5c17019887229f062d8" title="Set the goal bias.">setGoalBias</a>(<span class="keywordtype">double</span> goalBias)
<a name="l00111"></a>00111             {
<a name="l00112"></a>00112                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a27013f7e58c20bf7a7ecb16a662358fe" title="The fraction of time the goal is picked as the state to expand towards (if such a state is available)...">goalBias_</a> = goalBias;
<a name="l00113"></a>00113             }
<a name="l00114"></a>00114 
<a name="l00116"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a290db7df1d505351a1fa24412f9a3b5a">00116</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a290db7df1d505351a1fa24412f9a3b5a" title="Get the goal bias the planner is using.">getGoalBias</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00117"></a>00117 <span class="keyword">            </span>{
<a name="l00118"></a>00118                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a27013f7e58c20bf7a7ecb16a662358fe" title="The fraction of time the goal is picked as the state to expand towards (if such a state is available)...">goalBias_</a>;
<a name="l00119"></a>00119             }
<a name="l00120"></a>00120 
<a name="l00126"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aa2cbc576cd5a67a32883e9ab7bac2583">00126</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aa2cbc576cd5a67a32883e9ab7bac2583" title="Set the range the planner is supposed to use.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00127"></a>00127             {
<a name="l00128"></a>00128                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#af35630c62772c43535d8cdb6f6d87b55" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = distance;
<a name="l00129"></a>00129             }
<a name="l00130"></a>00130 
<a name="l00132"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ac43d038152725b82f9b2cbb679467f9b">00132</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ac43d038152725b82f9b2cbb679467f9b" title="Get the range the planner is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00133"></a>00133 <span class="keyword">            </span>{
<a name="l00134"></a>00134                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#af35630c62772c43535d8cdb6f6d87b55" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00135"></a>00135             }
<a name="l00136"></a>00136 
<a name="l00143"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ab51c0306d01ffe4d1912d9cdd4f55a3a">00143</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ab51c0306d01ffe4d1912d9cdd4f55a3a" title="Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...">setBorderFraction</a>(<span class="keywordtype">double</span> bp)
<a name="l00144"></a>00144             {
<a name="l00145"></a>00145                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a60d8490911f47565fc085d0b0e5c9f62" title="The tree datastructure and the grid that covers it.">disc_</a>.setBorderFraction(bp);
<a name="l00146"></a>00146             }
<a name="l00147"></a>00147 
<a name="l00150"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a9897e0b6ab2fa0c1adca1ff626d23e83">00150</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a9897e0b6ab2fa0c1adca1ff626d23e83" title="Get the fraction of time to focus exploration on boundary.">getBorderFraction</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00151"></a>00151 <span class="keyword">            </span>{
<a name="l00152"></a>00152                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a60d8490911f47565fc085d0b0e5c9f62" title="The tree datastructure and the grid that covers it.">disc_</a>.getBorderFraction();
<a name="l00153"></a>00153             }
<a name="l00154"></a>00154 
<a name="l00161"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a75474aa3b762ac9afa6bf475dfbe1fec">00161</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a75474aa3b762ac9afa6bf475dfbe1fec" 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. This function sets the minimum acceptable fraction (between 0 and 1).">setMinValidPathFraction</a>(<span class="keywordtype">double</span> fraction)
<a name="l00162"></a>00162             {
<a name="l00163"></a>00163                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a8fdf659ed4635fbbefc64fa627ae6ce0" 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> = fraction;
<a name="l00164"></a>00164             }
<a name="l00165"></a>00165 
<a name="l00167"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aeb292ae3263bc9d0c2b5a143c0314925">00167</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aeb292ae3263bc9d0c2b5a143c0314925" title="Get the value of the fraction set by setMinValidPathFraction()">getMinValidPathFraction</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00168"></a>00168 <span class="keyword">            </span>{
<a name="l00169"></a>00169                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a8fdf659ed4635fbbefc64fa627ae6ce0" 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>;
<a name="l00170"></a>00170             }
<a name="l00171"></a>00171 
<a name="l00178"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aeaebea06deec91d701c0c2b0734bd5ad">00178</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aeaebea06deec91d701c0c2b0734bd5ad" title="When extending a motion from a cell, the extension can be successful or it can fail. If the extension is successful, the score of the cell is multiplied by good. If the extension fails, the score of the cell is multiplied by bad. These numbers should be in the range (0, 1].">setCellScoreFactor</a>(<span class="keywordtype">double</span> good, <span class="keywordtype">double</span> bad)
<a name="l00179"></a>00179             {
<a name="l00180"></a>00180                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a0fb6a4b5f86612742508f241f8bbb206" title="When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...">goodScoreFactor_</a> = good;
<a name="l00181"></a>00181                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ac287294d48e1550593d8ec841fcda978" title="When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...">badScoreFactor_</a> = bad;
<a name="l00182"></a>00182             }
<a name="l00183"></a>00183 
<a name="l00186"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a4fc4e0a4e0a601270008289045d8c779">00186</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a4fc4e0a4e0a601270008289045d8c779" title="Get the factor that is multiplied to a cell&#39;s score if extending a motion from that cell succeeded...">getGoodCellScoreFactor</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00187"></a>00187 <span class="keyword">            </span>{
<a name="l00188"></a>00188                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a0fb6a4b5f86612742508f241f8bbb206" title="When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...">goodScoreFactor_</a>;
<a name="l00189"></a>00189             }
<a name="l00190"></a>00190 
<a name="l00193"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a4d4cee5e3740381756d7f65ae4cdcb82">00193</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a4d4cee5e3740381756d7f65ae4cdcb82" title="Get the factor that is multiplied to a cell&#39;s score if extending a motion from that cell failed...">getBadCellScoreFactor</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00194"></a>00194 <span class="keyword">            </span>{
<a name="l00195"></a>00195                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ac287294d48e1550593d8ec841fcda978" title="When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...">badScoreFactor_</a>;
<a name="l00196"></a>00196             }
<a name="l00197"></a>00197 
<a name="l00200"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ac62f9854c1f26808a0cfa319b0060fc2">00200</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ac62f9854c1f26808a0cfa319b0060fc2" title="Set the projection evaluator. This class is able to compute the projection of a given state...">setProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a> &amp;projectionEvaluator)
<a name="l00201"></a>00201             {
<a name="l00202"></a>00202                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a0d2bea89173b3bd0b6dba6dfee899805" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">projectionEvaluator_</a> = projectionEvaluator;
<a name="l00203"></a>00203             }
<a name="l00204"></a>00204 
<a name="l00207"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a680d607659b8ceaa51c43f0e342ce49e">00207</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ac62f9854c1f26808a0cfa319b0060fc2" title="Set the projection evaluator. This class is able to compute the projection of a given state...">setProjectionEvaluator</a>(<span class="keyword">const</span> std::string &amp;name)
<a name="l00208"></a>00208             {
<a name="l00209"></a>00209                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a0d2bea89173b3bd0b6dba6dfee899805" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">projectionEvaluator_</a> = <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>-&gt;getStateSpace()-&gt;getProjection(name);
<a name="l00210"></a>00210             }
<a name="l00211"></a>00211 
<a name="l00213"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aaf833c09a5304fae5c818f034353da79">00213</a>             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a>&amp; <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aaf833c09a5304fae5c818f034353da79" title="Get the projection evaluator.">getProjectionEvaluator</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00214"></a>00214 <span class="keyword">            </span>{
<a name="l00215"></a>00215                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a0d2bea89173b3bd0b6dba6dfee899805" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">projectionEvaluator_</a>;
<a name="l00216"></a>00216             }
<a name="l00217"></a>00217 
<a name="l00218"></a>00218             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a7405c7522f785b3395c3e0b3af063ca8" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">setup</a>(<span class="keywordtype">void</span>);
<a name="l00219"></a>00219 
<a name="l00220"></a>00220             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a9237d5408e901a53951948c08f70ae88" title="Get information about the current run of the motion planner. Repeated calls to this function will upd...">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> &amp;data) <span class="keyword">const</span>;
<a name="l00221"></a>00221 
<a name="l00222"></a>00222         <span class="keyword">protected</span>:
<a name="l00223"></a>00223 
<a name="l00225"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html">00225</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>
<a name="l00226"></a>00226             {
<a name="l00227"></a>00227             <span class="keyword">public</span>:
<a name="l00228"></a>00228 
<a name="l00229"></a>00229                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html#a5d1e5baf3d93eef48769ba2dd635aac1" title="The state contained by this motion.">state</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html#a15cb8c4fbbdf9131bf3db4679b14dace" title="The parent motion in the exploration tree.">parent</a>(NULL)
<a name="l00230"></a>00230                 {
<a name="l00231"></a>00231                 }
<a name="l00232"></a>00232 
<a name="l00234"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html#a943e0fe9f06808cc94fa0533b8c93a11">00234</a>                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">base::SpaceInformationPtr</a> &amp;si) : <a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html#a5d1e5baf3d93eef48769ba2dd635aac1" title="The state contained by this motion.">state</a>(si-&gt;allocState()), <a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html#a15cb8c4fbbdf9131bf3db4679b14dace" title="The parent motion in the exploration tree.">parent</a>(NULL)
<a name="l00235"></a>00235                 {
<a name="l00236"></a>00236                 }
<a name="l00237"></a>00237 
<a name="l00238"></a>00238                 ~<a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00239"></a>00239                 {
<a name="l00240"></a>00240                 }
<a name="l00241"></a>00241 
<a name="l00243"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html#a5d1e5baf3d93eef48769ba2dd635aac1">00243</a>                 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a>       *<a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html#a5d1e5baf3d93eef48769ba2dd635aac1" title="The state contained by this motion.">state</a>;
<a name="l00244"></a>00244 
<a name="l00246"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html#a15cb8c4fbbdf9131bf3db4679b14dace">00246</a>                 <a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>            *<a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html#a15cb8c4fbbdf9131bf3db4679b14dace" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00247"></a>00247             };
<a name="l00248"></a>00248 
<a name="l00250"></a>00250             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aea9ced6e390f478d108e7e8c1a662a54" title="Free the memory for a motion.">freeMotion</a>(<a class="code" href="classompl_1_1geometric_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *motion);
<a name="l00251"></a>00251 
<a name="l00253"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aeed29532bca0d2956addd5d9fe9888b8">00253</a>             <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">base::StateSamplerPtr</a>                      <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#aeed29532bca0d2956addd5d9fe9888b8" title="A state space sampler.">sampler_</a>;
<a name="l00254"></a>00254 
<a name="l00256"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a60d8490911f47565fc085d0b0e5c9f62">00256</a>             <a class="code" href="classompl_1_1geometric_1_1Discretization.html" title="One-level discretization used for KPIECE.">Discretization&lt;Motion&gt;</a>                     <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a60d8490911f47565fc085d0b0e5c9f62" title="The tree datastructure and the grid that covers it.">disc_</a>;
<a name="l00257"></a>00257 
<a name="l00261"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a0d2bea89173b3bd0b6dba6dfee899805">00261</a>             <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a>               <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a0d2bea89173b3bd0b6dba6dfee899805" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">projectionEvaluator_</a>;
<a name="l00262"></a>00262 
<a name="l00266"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a0fb6a4b5f86612742508f241f8bbb206">00266</a>             <span class="keywordtype">double</span>                                     <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a0fb6a4b5f86612742508f241f8bbb206" title="When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...">goodScoreFactor_</a>;
<a name="l00267"></a>00267 
<a name="l00271"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ac287294d48e1550593d8ec841fcda978">00271</a>             <span class="keywordtype">double</span>                                     <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#ac287294d48e1550593d8ec841fcda978" title="When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...">badScoreFactor_</a>;
<a name="l00272"></a>00272 
<a name="l00274"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a27013f7e58c20bf7a7ecb16a662358fe">00274</a>             <span class="keywordtype">double</span>                                     <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a27013f7e58c20bf7a7ecb16a662358fe" title="The fraction of time the goal is picked as the state to expand towards (if such a state is available)...">goalBias_</a>;
<a name="l00275"></a>00275 
<a name="l00281"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a8fdf659ed4635fbbefc64fa627ae6ce0">00281</a>             <span class="keywordtype">double</span>                                     <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#a8fdf659ed4635fbbefc64fa627ae6ce0" 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>;
<a name="l00282"></a>00282 
<a name="l00284"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#af35630c62772c43535d8cdb6f6d87b55">00284</a>             <span class="keywordtype">double</span>                                     <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#af35630c62772c43535d8cdb6f6d87b55" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00285"></a>00285 
<a name="l00287"></a><a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#acbdf66ac8834a27368ac30d9e6d24f5a">00287</a>             <a class="code" href="classompl_1_1RNG.html" title="Random number generation. An instance of this class cannot be used by multiple threads at once (membe...">RNG</a>                                        <a class="code" href="classompl_1_1geometric_1_1KPIECE1.html#acbdf66ac8834a27368ac30d9e6d24f5a" title="The random number generator.">rng_</a>;
<a name="l00288"></a>00288         };
<a name="l00289"></a>00289 
<a name="l00290"></a>00290     }
<a name="l00291"></a>00291 }
<a name="l00292"></a>00292 
<a name="l00293"></a>00293 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

</div>

<div class="footer span-22 push-2 last">
  <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> &bull;
  <a href="http://www.cs.rice.edu">Department of Computer Science</a> &bull;
  <a href="http://www.rice.edu">Rice University</a><br>
  <div class="gray">Generated on Sun Oct 9 2011 23:04:40 by&#160;<a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>

Perl :: Catalyst :: PostgreSQL :: RPM Valid HTML 4.01 Transitional