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

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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">*  Copyright (c) 2008, Willow Garage, Inc.</span>
<a name="l00005"></a>00005 <span class="comment">*  All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">*  are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">*     with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">*   * Neither the name of the Willow Garage nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">*  &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">#include &quot;ompl/geometric/planners/rrt/RRT.h&quot;</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include &quot;ompl/base/GoalSampleableRegion.h&quot;</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include &quot;ompl/datastructures/NearestNeighborsGNAT.h&quot;</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/tools/config/SelfConfig.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &lt;limits&gt;</span>
<a name="l00042"></a>00042 
<a name="l00043"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#aa20941b70224aa443778b38ccc279ce0">00043</a> <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...">ompl::geometric::RRT::clear</a>(<span class="keywordtype">void</span>)
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045     <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...">Planner::clear</a>();
<a name="l00046"></a>00046     <a class="code" href="classompl_1_1geometric_1_1RRT.html#a2c158677fe09bf0b112732a331462bdb" title="State sampler.">sampler_</a>.reset();
<a name="l00047"></a>00047     <a class="code" href="classompl_1_1geometric_1_1RRT.html#add60f3b7b32ae321ac3226c951d331ea" title="Free the memory allocated by this planner.">freeMemory</a>();
<a name="l00048"></a>00048     <span class="keywordflow">if</span> (<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="l00049"></a>00049         <a class="code" href="classompl_1_1geometric_1_1RRT.html#ab9132d811b71cfb484c1f52b7be05a64" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>-&gt;clear();
<a name="l00050"></a>00050 }
<a name="l00051"></a>00051 
<a name="l00052"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#ac1d3378e5a17ec6f0be8df915ee8914b">00052</a> <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...">ompl::geometric::RRT::setup</a>(<span class="keywordtype">void</span>)
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054     Planner::setup();
<a name="l00055"></a>00055     <a class="code" href="classompl_1_1SelfConfig.html" title="This class contains methods that automatically configure various parameters for motion planning...">SelfConfig</a> sc(si_, getName());
<a name="l00056"></a>00056     sc.<a class="code" href="classompl_1_1SelfConfig.html#a86d0c4b1dc9a9a25bd53a6820a6b973c" title="Compute what a good length for motion segments is.">configurePlannerRange</a>(maxDistance_);
<a name="l00057"></a>00057 
<a name="l00058"></a>00058     <span class="keywordflow">if</span> (!nn_)
<a name="l00059"></a>00059         nn_.reset(<span class="keyword">new</span> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">NearestNeighborsGNAT&lt;Motion*&gt;</a>());
<a name="l00060"></a>00060     nn_-&gt;setDistanceFunction(boost::bind(&amp;<a class="code" href="classompl_1_1geometric_1_1RRT.html#a4fc0b1e2020a8305395fb5d3e7533bfd" title="Compute distance between motions (actually distance between contained states)">RRT::distanceFunction</a>, <span class="keyword">this</span>, _1, _2));
<a name="l00061"></a>00061 }
<a name="l00062"></a>00062 
<a name="l00063"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#add60f3b7b32ae321ac3226c951d331ea">00063</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRT.html#add60f3b7b32ae321ac3226c951d331ea" title="Free the memory allocated by this planner.">ompl::geometric::RRT::freeMemory</a>(<span class="keywordtype">void</span>)
<a name="l00064"></a>00064 {
<a name="l00065"></a>00065     <span class="keywordflow">if</span> (nn_)
<a name="l00066"></a>00066     {
<a name="l00067"></a>00067         std::vector&lt;Motion*&gt; motions;
<a name="l00068"></a>00068         nn_-&gt;list(motions);
<a name="l00069"></a>00069         <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; motions.size() ; ++i)
<a name="l00070"></a>00070         {
<a name="l00071"></a>00071             <span class="keywordflow">if</span> (motions[i]-&gt;state)
<a name="l00072"></a>00072                 si_-&gt;freeState(motions[i]-&gt;state);
<a name="l00073"></a>00073             <span class="keyword">delete</span> motions[i];
<a name="l00074"></a>00074         }
<a name="l00075"></a>00075     }
<a name="l00076"></a>00076 }
<a name="l00077"></a>00077 
<a name="l00078"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#ab16e787ea8647a3eb31e9b82fc3c2703">00078</a> <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...">ompl::geometric::RRT::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="l00079"></a>00079 {
<a name="l00080"></a>00080     checkValidity();
<a name="l00081"></a>00081     <a class="code" href="classompl_1_1base_1_1Goal.html" title="Abstract definition of goals. Will contain solutions, if found.">base::Goal</a>                 *goal   = pdef_-&gt;getGoal().get();
<a name="l00082"></a>00082     <a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html" title="Abstract definition of a goal region that can be sampled.">base::GoalSampleableRegion</a> *goal_s = <span class="keyword">dynamic_cast&lt;</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">&gt;</span>(goal);
<a name="l00083"></a>00083 
<a name="l00084"></a>00084     <span class="keywordflow">while</span> (<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *st = pis_.nextStart())
<a name="l00085"></a>00085     {
<a name="l00086"></a>00086         <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(si_);
<a name="l00087"></a>00087         si_-&gt;copyState(motion-&gt;<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>, st);
<a name="l00088"></a>00088         nn_-&gt;add(motion);
<a name="l00089"></a>00089     }
<a name="l00090"></a>00090 
<a name="l00091"></a>00091     <span class="keywordflow">if</span> (nn_-&gt;size() == 0)
<a name="l00092"></a>00092     {
<a name="l00093"></a>00093         msg_.error(<span class="stringliteral">&quot;There are no valid initial states!&quot;</span>);
<a name="l00094"></a>00094         <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00095"></a>00095     }
<a name="l00096"></a>00096 
<a name="l00097"></a>00097     <span class="keywordflow">if</span> (!sampler_)
<a name="l00098"></a>00098         sampler_ = si_-&gt;allocStateSampler();
<a name="l00099"></a>00099 
<a name="l00100"></a>00100     msg_.inform(<span class="stringliteral">&quot;Starting with %u states&quot;</span>, nn_-&gt;size());
<a name="l00101"></a>00101 
<a name="l00102"></a>00102     <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *solution  = NULL;
<a name="l00103"></a>00103     <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *approxsol = NULL;
<a name="l00104"></a>00104     <span class="keywordtype">double</span>  approxdif = std::numeric_limits&lt;double&gt;::infinity();
<a name="l00105"></a>00105     <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *rmotion   = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(si_);
<a name="l00106"></a>00106     <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *rstate = rmotion-&gt;<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>;
<a name="l00107"></a>00107     <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *xstate = si_-&gt;allocState();
<a name="l00108"></a>00108 
<a name="l00109"></a>00109     <span class="keywordflow">while</span> (ptc() == <span class="keyword">false</span>)
<a name="l00110"></a>00110     {
<a name="l00111"></a>00111 
<a name="l00112"></a>00112         <span class="comment">/* sample random state (with goal biasing) */</span>
<a name="l00113"></a>00113         <span class="keywordflow">if</span> (goal_s &amp;&amp; rng_.uniform01() &lt; goalBias_ &amp;&amp; goal_s-&gt;<a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html#a60329b89ea7217a7550197e5866c28c7" title="Return true of maxSampleCount() &gt; 0, since in this case samples can certainly be produced.">canSample</a>())
<a name="l00114"></a>00114             goal_s-&gt;<a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html#a11c9d2c4d9d5ddbeb8c30e531d1efc5f" title="Sample a state in the goal region.">sampleGoal</a>(rstate);
<a name="l00115"></a>00115         <span class="keywordflow">else</span>
<a name="l00116"></a>00116             sampler_-&gt;sampleUniform(rstate);
<a name="l00117"></a>00117 
<a name="l00118"></a>00118         <span class="comment">/* find closest state in the tree */</span>
<a name="l00119"></a>00119         <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *nmotion = nn_-&gt;nearest(rmotion);
<a name="l00120"></a>00120         <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *dstate = rstate;
<a name="l00121"></a>00121 
<a name="l00122"></a>00122         <span class="comment">/* find state to add */</span>
<a name="l00123"></a>00123         <span class="keywordtype">double</span> d = si_-&gt;distance(nmotion-&gt;<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>, rstate);
<a name="l00124"></a>00124         <span class="keywordflow">if</span> (d &gt; maxDistance_)
<a name="l00125"></a>00125         {
<a name="l00126"></a>00126             si_-&gt;getStateSpace()-&gt;interpolate(nmotion-&gt;<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>, rstate, maxDistance_ / d, xstate);
<a name="l00127"></a>00127             dstate = xstate;
<a name="l00128"></a>00128         }
<a name="l00129"></a>00129 
<a name="l00130"></a>00130         <span class="keywordflow">if</span> (si_-&gt;checkMotion(nmotion-&gt;<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>, dstate))
<a name="l00131"></a>00131         {
<a name="l00132"></a>00132             <span class="comment">/* create a motion */</span>
<a name="l00133"></a>00133             <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(si_);
<a name="l00134"></a>00134             si_-&gt;copyState(motion-&gt;<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>, dstate);
<a name="l00135"></a>00135             motion-&gt;<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#a961d989d3e74304cc4677cc61d5b3cf0" title="The parent motion in the exploration tree.">parent</a> = nmotion;
<a name="l00136"></a>00136 
<a name="l00137"></a>00137             nn_-&gt;add(motion);
<a name="l00138"></a>00138             <span class="keywordtype">double</span> dist = 0.0;
<a name="l00139"></a>00139             <span class="keywordtype">bool</span> solved = goal-&gt;<a class="code" href="classompl_1_1base_1_1Goal.html#a02ba4ba487714cd4e8f67c9d4164d0ec" title="Return true if the state satisfies the goal constraints.">isSatisfied</a>(motion-&gt;<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>, &amp;dist);
<a name="l00140"></a>00140             <span class="keywordflow">if</span> (solved)
<a name="l00141"></a>00141             {
<a name="l00142"></a>00142                 approxdif = dist;
<a name="l00143"></a>00143                 solution = motion;
<a name="l00144"></a>00144                 <span class="keywordflow">break</span>;
<a name="l00145"></a>00145             }
<a name="l00146"></a>00146             <span class="keywordflow">if</span> (dist &lt; approxdif)
<a name="l00147"></a>00147             {
<a name="l00148"></a>00148                 approxdif = dist;
<a name="l00149"></a>00149                 approxsol = motion;
<a name="l00150"></a>00150             }
<a name="l00151"></a>00151         }
<a name="l00152"></a>00152     }
<a name="l00153"></a>00153 
<a name="l00154"></a>00154     <span class="keywordtype">bool</span> approximate = <span class="keyword">false</span>;
<a name="l00155"></a>00155     <span class="keywordflow">if</span> (solution == NULL)
<a name="l00156"></a>00156     {
<a name="l00157"></a>00157         solution = approxsol;
<a name="l00158"></a>00158         approximate = <span class="keyword">true</span>;
<a name="l00159"></a>00159     }
<a name="l00160"></a>00160 
<a name="l00161"></a>00161     <span class="keywordflow">if</span> (solution != NULL)
<a name="l00162"></a>00162     {
<a name="l00163"></a>00163         <span class="comment">/* construct the solution path */</span>
<a name="l00164"></a>00164         std::vector&lt;Motion*&gt; mpath;
<a name="l00165"></a>00165         <span class="keywordflow">while</span> (solution != NULL)
<a name="l00166"></a>00166         {
<a name="l00167"></a>00167             mpath.push_back(solution);
<a name="l00168"></a>00168             solution = solution-&gt;<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="l00169"></a>00169         }
<a name="l00170"></a>00170 
<a name="l00171"></a>00171         <span class="comment">/* set the solution path */</span>
<a name="l00172"></a>00172         <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a> *path = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1PathGeometric.html" title="Definition of a geometric path.">PathGeometric</a>(si_);
<a name="l00173"></a>00173            <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath.size() - 1 ; i &gt;= 0 ; --i)
<a name="l00174"></a>00174             path-&gt;<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_-&gt;cloneState(mpath[i]-&gt;state));
<a name="l00175"></a>00175         goal-&gt;<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>(approxdif);
<a name="l00176"></a>00176         goal-&gt;<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), approximate);
<a name="l00177"></a>00177 
<a name="l00178"></a>00178         <span class="keywordflow">if</span> (approximate)
<a name="l00179"></a>00179             msg_.warn(<span class="stringliteral">&quot;Found approximate solution&quot;</span>);
<a name="l00180"></a>00180     }
<a name="l00181"></a>00181 
<a name="l00182"></a>00182     si_-&gt;freeState(xstate);
<a name="l00183"></a>00183     <span class="keywordflow">if</span> (rmotion-&gt;<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>)
<a name="l00184"></a>00184         si_-&gt;freeState(rmotion-&gt;<a class="code" href="classompl_1_1geometric_1_1RRT_1_1Motion.html#acd5df45a1c0bcb5a22d2ac77b40013f4" title="The state contained by the motion.">state</a>);
<a name="l00185"></a>00185     <span class="keyword">delete</span> rmotion;
<a name="l00186"></a>00186 
<a name="l00187"></a>00187     msg_.inform(<span class="stringliteral">&quot;Created %u states&quot;</span>, nn_-&gt;size());
<a name="l00188"></a>00188 
<a name="l00189"></a>00189     <span class="keywordflow">return</span> goal-&gt;<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="l00190"></a>00190 }
<a name="l00191"></a>00191 
<a name="l00192"></a><a class="code" href="classompl_1_1geometric_1_1RRT.html#a928abf7aaeb87e52d231c09a9e78b3a9">00192</a> <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...">ompl::geometric::RRT::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="l00193"></a>00193 <span class="keyword"></span>{
<a name="l00194"></a>00194     Planner::getPlannerData(data);
<a name="l00195"></a>00195 
<a name="l00196"></a>00196     std::vector&lt;Motion*&gt; motions;
<a name="l00197"></a>00197     <span class="keywordflow">if</span> (nn_)
<a name="l00198"></a>00198         nn_-&gt;list(motions);
<a name="l00199"></a>00199 
<a name="l00200"></a>00200     <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i &lt; motions.size() ; ++i)
<a name="l00201"></a>00201         data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#aa11d568e75a53a0fecddbecbc05ca429" title="Record an edge between two states. This function is called by planners to fill states, stateIndex and edges. If the same state/edge is seen multiple times, it is added only once.">recordEdge</a>(motions[i]-&gt;parent ? motions[i]-&gt;parent-&gt;state : NULL, motions[i]-&gt;state);
<a name="l00202"></a>00202 }
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