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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) 2011, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">*  All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">*  are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">*     with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">*   * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">*  &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: James D. Marble */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_GEOMETRIC_PLANNERS_PRM_CONNECTION_STRATEGY_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_PRM_CONNECTION_STRATEGY_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/datastructures/NearestNeighbors.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &lt;boost/function.hpp&gt;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &lt;boost/shared_ptr.hpp&gt;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;boost/math/constants/constants.hpp&gt;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00045"></a>00045 
<a name="l00046"></a>00046 <span class="keyword">namespace </span>ompl
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048 
<a name="l00049"></a>00049     <span class="keyword">namespace </span>geometric
<a name="l00050"></a>00050     {
<a name="l00051"></a>00051 
<a name="l00055"></a>00055         <span class="keyword">template</span> &lt;<span class="keyword">class</span> Milestone&gt;
<a name="l00056"></a><a class="code" href="classompl_1_1geometric_1_1KStrategy.html">00056</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy</a>
<a name="l00057"></a>00057         {
<a name="l00058"></a>00058         <span class="keyword">public</span>:
<a name="l00059"></a>00059 
<a name="l00062"></a><a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a67c436891ba2b3cf8b0c4f83cb8eb5f5">00062</a>             <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a67c436891ba2b3cf8b0c4f83cb8eb5f5" title="Constructor takes the maximum number of nearest neighbors to return (k) and the nearest neighbors dat...">KStrategy</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> k,
<a name="l00063"></a>00063                       <span class="keyword">const</span> boost::shared_ptr&lt; <a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors&lt;Milestone&gt;</a> &gt; &amp;nn) :
<a name="l00064"></a>00064                 <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d" title="Maximum number of nearest neighbors to attempt to connect new milestones to.">k_</a>(k), <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a50bbca24d4d890b9a3e62538ed48c6c9" title="Nearest neighbors data structure.">nn_</a>(nn)
<a name="l00065"></a>00065             {
<a name="l00066"></a>00066                 <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6" title="Scratch space for storing k-nearest neighbors.">neighbors_</a>.reserve(<a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d" title="Maximum number of nearest neighbors to attempt to connect new milestones to.">k_</a>);
<a name="l00067"></a>00067             }
<a name="l00068"></a>00068 
<a name="l00069"></a>00069             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy</a>(<span class="keywordtype">void</span>)
<a name="l00070"></a>00070             {
<a name="l00071"></a>00071             }
<a name="l00072"></a>00072 
<a name="l00074"></a><a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a4c3d13ce9a58ee58d7b4502866783b42">00074</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a4c3d13ce9a58ee58d7b4502866783b42" title="Set the nearest neighbors datastructure to use.">setNearestNeighbors</a>(<span class="keyword">const</span> boost::shared_ptr&lt; <a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors&lt;Milestone&gt;</a> &gt; &amp;nn)
<a name="l00075"></a>00075             {
<a name="l00076"></a>00076                 <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a50bbca24d4d890b9a3e62538ed48c6c9" title="Nearest neighbors data structure.">nn_</a> = nn;
<a name="l00077"></a>00077             }
<a name="l00078"></a>00078 
<a name="l00082"></a><a class="code" href="classompl_1_1geometric_1_1KStrategy.html#af5813981b8c79885fa86ceacaabd38ba">00082</a>             std::vector&lt;Milestone&gt;&amp; <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#af5813981b8c79885fa86ceacaabd38ba" title="Given a milestone m, find the number of nearest neighbors connection attempts that should be made fro...">operator()</a>(<span class="keyword">const</span> Milestone&amp; m)
<a name="l00083"></a>00083             {
<a name="l00084"></a>00084                 <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a50bbca24d4d890b9a3e62538ed48c6c9" title="Nearest neighbors data structure.">nn_</a>-&gt;nearestK(m, <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d" title="Maximum number of nearest neighbors to attempt to connect new milestones to.">k_</a>, <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6" title="Scratch space for storing k-nearest neighbors.">neighbors_</a>);
<a name="l00085"></a>00085                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6" title="Scratch space for storing k-nearest neighbors.">neighbors_</a>;
<a name="l00086"></a>00086             }
<a name="l00087"></a>00087 
<a name="l00088"></a>00088         <span class="keyword">protected</span>:
<a name="l00089"></a>00089 
<a name="l00091"></a><a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d">00091</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                                     <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#aa9592c00a8daa71d247077553052e48d" title="Maximum number of nearest neighbors to attempt to connect new milestones to.">k_</a>;
<a name="l00092"></a>00092 
<a name="l00094"></a><a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a50bbca24d4d890b9a3e62538ed48c6c9">00094</a>             boost::shared_ptr&lt; NearestNeighbors&lt;Milestone&gt; &gt; <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#a50bbca24d4d890b9a3e62538ed48c6c9" title="Nearest neighbors data structure.">nn_</a>;
<a name="l00095"></a>00095 
<a name="l00097"></a><a class="code" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6">00097</a>             std::vector&lt;Milestone&gt;                           <a class="code" href="classompl_1_1geometric_1_1KStrategy.html#ae087877ca61f5f8822cf0d702fd581e6" title="Scratch space for storing k-nearest neighbors.">neighbors_</a>;
<a name="l00098"></a>00098         };
<a name="l00099"></a>00099 
<a name="l00125"></a>00125         <span class="keyword">template</span> &lt;<span class="keyword">class</span> Milestone&gt;
<a name="l00126"></a><a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html">00126</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html" title="Make the minimal number of connections required to ensure asymptotic optimality.">KStarStrategy</a> : <span class="keyword">public</span> <a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy</a>&lt;Milestone&gt;
<a name="l00127"></a>00127         {
<a name="l00128"></a>00128         <span class="keyword">public</span>:
<a name="l00129"></a>00129 
<a name="l00139"></a><a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#adc2852f930022938255d7d32d985e841">00139</a>             <a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#adc2852f930022938255d7d32d985e841" title="Constructor.">KStarStrategy</a>(<span class="keyword">const</span> boost::function0&lt;unsigned int&gt;&amp; n,
<a name="l00140"></a>00140                           <span class="keyword">const</span> boost::shared_ptr&lt; <a class="code" href="classompl_1_1NearestNeighbors.html" title="Abstract representation of a container that can perform nearest neighbors queries.">NearestNeighbors&lt;Milestone&gt;</a> &gt; &amp;nn,
<a name="l00141"></a>00141                           <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> d = 1) :
<a name="l00142"></a>00142                 <a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy</a>&lt;Milestone&gt;(n(), nn), <a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#ae760d7552b878c0a553ae62723e2f731" title="Function returning the number of milestones added to the roadmap so far.">n_</a>(n), kPRMConstant_(1.0 + 1.0/(double)d)
<a name="l00143"></a>00143             {
<a name="l00144"></a>00144             }
<a name="l00145"></a>00145 
<a name="l00146"></a><a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#a7fbc135288c491912eda4b6761a4011b">00146</a>             std::vector&lt;Milestone&gt;&amp; <a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#a7fbc135288c491912eda4b6761a4011b" title="Given a milestone m, find the number of nearest neighbors connection attempts that should be made fro...">operator()</a>(<span class="keyword">const</span> Milestone&amp; m)
<a name="l00147"></a>00147             {
<a name="l00148"></a>00148                 <a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy&lt;Milestone&gt;::k_</a> = <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span>(
<a name="l00149"></a>00149                     ceil(kPRMConstant_ * boost::math::constants::euler&lt;double&gt;() * log((<span class="keywordtype">double</span>)<a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#ae760d7552b878c0a553ae62723e2f731" title="Function returning the number of milestones added to the roadmap so far.">n_</a>())));
<a name="l00150"></a>00150                 <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><a class="code" href="classompl_1_1geometric_1_1KStrategy.html">KStrategy&lt;Milestone&gt;</a>&amp;<span class="keyword">&gt;</span>(*this)(m);
<a name="l00151"></a>00151             }
<a name="l00152"></a>00152 
<a name="l00153"></a>00153         <span class="keyword">protected</span>:
<a name="l00154"></a>00154 
<a name="l00156"></a><a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#ae760d7552b878c0a553ae62723e2f731">00156</a>             <span class="keyword">const</span> boost::function0&lt;unsigned int&gt;  <a class="code" href="classompl_1_1geometric_1_1KStarStrategy.html#ae760d7552b878c0a553ae62723e2f731" title="Function returning the number of milestones added to the roadmap so far.">n_</a>;
<a name="l00157"></a>00157             <span class="keyword">const</span> <span class="keywordtype">double</span>                          kPRMConstant_;
<a name="l00158"></a>00158 
<a name="l00159"></a>00159         };
<a name="l00160"></a>00160 
<a name="l00161"></a>00161     }
<a name="l00162"></a>00162 
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164 
<a name="l00165"></a>00165 <span class="preprocessor">#endif</span>
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