<!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/rrt/RRT.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"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </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_890a98498d27a04732c22f6c5c9a3258.html">rrt</a> </li>
</ul>
</div>
</div>
<div class="header">
<div class="headertitle">
<div class="title">RRT.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">* "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">#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/geometric/planners/PlannerIncludes.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/datastructures/NearestNeighbors.h"</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="l00068"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html">00068</a> <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1RRT.html" title="Rapidly-exploring Random Trees.">RRT</a> : <span class="keyword">public</span> base::Planner
<a name="l00069"></a>00069 {
<a name="l00070"></a>00070 <span class="keyword">public</span>:
<a name="l00071"></a>00071
<a name="l00073"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#ad5d527eb6ae532aaa2ebdac6d743f8f7">00073</a> <a class="code" href="classompl_1_1geometric_1_1RRT.html#ad5d527eb6ae532aaa2ebdac6d743f8f7" title="Constructor.">RRT</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> &si) : base::<a class="code" href="classompl_1_1base_1_1Planner.html#a404c3be95f77983e95a468e3a7032cc9" title="Constructor.">Planner</a>(si, <span class="stringliteral">"RRT"</span>)
<a name="l00074"></a>00074 {
<a name="l00075"></a>00075 <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="l00076"></a>00076
<a name="l00077"></a>00077 <a class="code" href="classompl_1_1geometric_1_1RRT.html#adaf18fdeef00563d5a9010540664619f" 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="l00078"></a>00078 <a class="code" href="classompl_1_1geometric_1_1RRT.html#aab0d2454d49ba18b34a891270e21302b" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = 0.0;
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1RRT.html" title="Rapidly-exploring Random Trees.">RRT</a>(<span class="keywordtype">void</span>)
<a name="l00082"></a>00082 {
<a name="l00083"></a>00083 <a class="code" href="classompl_1_1geometric_1_1RRT.html#add60f3b7b32ae321ac3226c951d331ea" title="Free the memory allocated by this planner.">freeMemory</a>();
<a name="l00084"></a>00084 }
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#a928abf7aaeb87e52d231c09a9e78b3a9" 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> &data) <span class="keyword">const</span>;
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#ab16e787ea8647a3eb31e9b82fc3c2703" 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> &ptc);
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#aa20941b70224aa443778b38ccc279ce0" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00091"></a>00091
<a name="l00101"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#a266da7a6379a2893e19d06993335ed25">00101</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#a266da7a6379a2893e19d06993335ed25" title="Set the goal bias.">setGoalBias</a>(<span class="keywordtype">double</span> goalBias)
<a name="l00102"></a>00102 {
<a name="l00103"></a>00103 <a class="code" href="classompl_1_1geometric_1_1RRT.html#adaf18fdeef00563d5a9010540664619f" 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="l00104"></a>00104 }
<a name="l00105"></a>00105
<a name="l00107"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#a8d849d0c349152320a7e31c3088dd2aa">00107</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#a8d849d0c349152320a7e31c3088dd2aa" title="Get the goal bias the planner is using.">getGoalBias</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00108"></a>00108 <span class="keyword"> </span>{
<a name="l00109"></a>00109 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#adaf18fdeef00563d5a9010540664619f" 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="l00110"></a>00110 }
<a name="l00111"></a>00111
<a name="l00117"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#abe92fdafd6201308401d149c4d47b5ed">00117</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#abe92fdafd6201308401d149c4d47b5ed" title="Set the range the planner is supposed to use.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119 <a class="code" href="classompl_1_1geometric_1_1RRT.html#aab0d2454d49ba18b34a891270e21302b" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = distance;
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121
<a name="l00123"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#a19cae3dead7efb25a9aeac2281a40b56">00123</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#a19cae3dead7efb25a9aeac2281a40b56" title="Get the range the planner is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00124"></a>00124 <span class="keyword"> </span>{
<a name="l00125"></a>00125 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#aab0d2454d49ba18b34a891270e21302b" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127
<a name="l00129"></a>00129 <span class="keyword">template</span><<span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keyword">class </span>NN>
<a name="l00130"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#a87bd7c9d0263bd451d92231d17a4485b">00130</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#a87bd7c9d0263bd451d92231d17a4485b" title="Set a different nearest neighbors datastructure.">setNearestNeighbors</a>(<span class="keywordtype">void</span>)
<a name="l00131"></a>00131 {
<a name="l00132"></a>00132 <a class="code" href="classompl_1_1geometric_1_1RRT.html#ab9132d811b71cfb484c1f52b7be05a64" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>.reset(<span class="keyword">new</span> NN<Motion*>());
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#ac1d3378e5a17ec6f0be8df915ee8914b" 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="l00136"></a>00136
<a name="l00137"></a>00137 <span class="keyword">protected</span>:
<a name="l00138"></a>00138
<a name="l00139"></a>00139
<a name="l00144"></a><a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html">00144</a> <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>
<a name="l00145"></a>00145 {
<a name="l00146"></a>00146 <span class="keyword">public</span>:
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#a961d989d3e74304cc4677cc61d5b3cf0" title="The parent motion in the exploration tree.">parent</a>(NULL)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 }
<a name="l00151"></a>00151
<a name="l00153"></a><a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#aba5559c353c48e374436775151c75260">00153</a> <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">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> &si) : <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>(si->allocState()), <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#a961d989d3e74304cc4677cc61d5b3cf0" title="The parent motion in the exploration tree.">parent</a>(NULL)
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156
<a name="l00157"></a>00157 ~<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00158"></a>00158 {
<a name="l00159"></a>00159 }
<a name="l00160"></a>00160
<a name="l00162"></a><a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4">00162</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_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>;
<a name="l00163"></a>00163
<a name="l00165"></a><a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#a961d989d3e74304cc4677cc61d5b3cf0">00165</a> <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#a961d989d3e74304cc4677cc61d5b3cf0" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00166"></a>00166
<a name="l00167"></a>00167 };
<a name="l00168"></a>00168
<a name="l00170"></a>00170 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#add60f3b7b32ae321ac3226c951d331ea" title="Free the memory allocated by this planner.">freeMemory</a>(<span class="keywordtype">void</span>);
<a name="l00171"></a>00171
<a name="l00173"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#a4fc0b1e2020a8305395fb5d3e7533bfd">00173</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#a4fc0b1e2020a8305395fb5d3e7533bfd" title="Compute distance between motions (actually distance between contained states)">distanceFunction</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>* a, <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>* b)<span class="keyword"> const</span>
<a name="l00174"></a>00174 <span class="keyword"> </span>{
<a name="l00175"></a>00175 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>->distance(a-><a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>, b-><a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>);
<a name="l00176"></a>00176 }
<a name="l00177"></a>00177
<a name="l00179"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#a2c158677fe09bf0b112732a331462bdb">00179</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_1RRT.html#a2c158677fe09bf0b112732a331462bdb" title="State sampler.">sampler_</a>;
<a name="l00180"></a>00180
<a name="l00182"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#ab9132d811b71cfb484c1f52b7be05a64">00182</a> boost::shared_ptr< NearestNeighbors<Motion*> > <a class="code" href="classompl_1_1geometric_1_1RRT.html#ab9132d811b71cfb484c1f52b7be05a64" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>;
<a name="l00183"></a>00183
<a name="l00185"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#adaf18fdeef00563d5a9010540664619f">00185</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#adaf18fdeef00563d5a9010540664619f" 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="l00186"></a>00186
<a name="l00188"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#aab0d2454d49ba18b34a891270e21302b">00188</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#aab0d2454d49ba18b34a891270e21302b" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00189"></a>00189
<a name="l00191"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#a0d8f48d596b39914128e40ce0c488817">00191</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_1RRT.html#a0d8f48d596b39914128e40ce0c488817" title="The random number generator.">rng_</a>;
<a name="l00192"></a>00192 };
<a name="l00193"></a>00193
<a name="l00194"></a>00194 }
<a name="l00195"></a>00195 }
<a name="l00196"></a>00196
<a name="l00197"></a>00197 <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"> </span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark"> </span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark"> </span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark"> </span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark"> </span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark"> </span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark"> </span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark"> </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> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
<div class="gray">Generated on Sun Oct 9 2011 23:04:40 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>
distrib
>
Fedora
>
14
>
x86_64
>
media
>
updates
>
by-pkgid
>
e7618febbb9cbed15bb79e326774c050
>
files
>
1305
