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<div class="title">EST.cpp</div> </div>
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<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">#include "ompl/geometric/planners/est/EST.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/base/GoalSampleableRegion.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <limits></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <cassert></span>
<a name="l00042"></a>00042
<a name="l00043"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a45412d1097e02ad0c8b967a07310c84a">00043</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a45412d1097e02ad0c8b967a07310c84a" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">ompl::geometric::EST::setup</a>(<span class="keywordtype">void</span>)
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <a class="code" href="classompl_1_1geometric_1_1EST.html#a45412d1097e02ad0c8b967a07310c84a" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">Planner::setup</a>();
<a name="l00046"></a>00046 <a class="code" href="classompl_1_1SelfConfig.html" title="This class contains methods that automatically configure various parameters for motion planning...">SelfConfig</a> sc(<a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>, <a class="code" href="classompl_1_1base_1_1Planner.html#a79bac96f3b6f6e07c24f4b407054f8a3" title="Get the name of the planner.">getName</a>());
<a name="l00047"></a>00047 sc.<a class="code" href="classompl_1_1SelfConfig.html#ad2b1dc5899d8fab0744bacab31bc1661" title="If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...">configureProjectionEvaluator</a>(<a class="code" href="classompl_1_1geometric_1_1EST.html#a032232c682e6ce0e25b0827f2171b138" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">projectionEvaluator_</a>);
<a name="l00048"></a>00048 sc.<a class="code" href="classompl_1_1SelfConfig.html#a86d0c4b1dc9a9a25bd53a6820a6b973c" title="Compute what a good length for motion segments is.">configurePlannerRange</a>(<a class="code" href="classompl_1_1geometric_1_1EST.html#adecb398b5fd5d0c202663b5e2ee3f7d9" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>);
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <a class="code" href="classompl_1_1geometric_1_1EST.html#a1d5924729ec9205f1a5369229889f082" title="The exploration tree constructed by this algorithm.">tree_</a>.<a class="code" href="structompl_1_1geometric_1_1EST_1_1TreeData.html#a6a918cc4fb27ecdf1ffaa9508c1552ba" title="A grid where each cell contains an array of motions.">grid</a>.<a class="code" href="classompl_1_1Grid.html#a118373bcfe70886449d94782b0a7c783">setDimension</a>(<a class="code" href="classompl_1_1geometric_1_1EST.html#a032232c682e6ce0e25b0827f2171b138" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">projectionEvaluator_</a>->getDimension());
<a name="l00051"></a>00051 }
<a name="l00052"></a>00052
<a name="l00053"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a89e787b0f2263fe10d30aa8c70da9589">00053</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a89e787b0f2263fe10d30aa8c70da9589" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">ompl::geometric::EST::clear</a>(<span class="keywordtype">void</span>)
<a name="l00054"></a>00054 {
<a name="l00055"></a>00055 Planner::clear();
<a name="l00056"></a>00056 sampler_.reset();
<a name="l00057"></a>00057 freeMemory();
<a name="l00058"></a>00058 tree_.grid.clear();
<a name="l00059"></a>00059 tree_.size = 0;
<a name="l00060"></a>00060 }
<a name="l00061"></a>00061
<a name="l00062"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#ab0638a0f11765252b281d2b5ed9dad4d">00062</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#ab0638a0f11765252b281d2b5ed9dad4d" title="Free the memory allocated by this planner.">ompl::geometric::EST::freeMemory</a>(<span class="keywordtype">void</span>)
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 <span class="keywordflow">for</span> (<a class="code" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid<MotionSet>::iterator</a> it = tree_.grid.<a class="code" href="classompl_1_1Grid.html#ad74c5df97cf3d54a1a15eff55596973c" title="Return the begin() iterator for the grid.">begin</a>(); it != tree_.grid.end() ; ++it)
<a name="l00065"></a>00065 {
<a name="l00066"></a>00066 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < it->second->data.size() ; ++i)
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 <span class="keywordflow">if</span> (it->second->data[i]->state)
<a name="l00069"></a>00069 si_->freeState(it->second->data[i]->state);
<a name="l00070"></a>00070 <span class="keyword">delete</span> it->second->data[i];
<a name="l00071"></a>00071 }
<a name="l00072"></a>00072 }
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00075"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a655826d49c8b3fbd9ccd1c38f9b97f05">00075</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a655826d49c8b3fbd9ccd1c38f9b97f05" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">ompl::geometric::EST::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="l00076"></a>00076 {
<a name="l00077"></a>00077 checkValidity();
<a name="l00078"></a>00078 <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_->getGoal().get();
<a name="l00079"></a>00079 <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<</span><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html" title="Abstract definition of a goal region that can be sampled.">base::GoalSampleableRegion</a>*<span class="keyword">></span>(goal);
<a name="l00080"></a>00080
<a name="l00081"></a>00081 <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="l00082"></a>00082 {
<a name="l00083"></a>00083 <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a>(si_);
<a name="l00084"></a>00084 si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#acd1f3149d66c9708e29177956c1fca5b" title="The state contained by the motion.">state</a>, st);
<a name="l00085"></a>00085 addMotion(motion);
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="keywordflow">if</span> (tree_.grid.size() == 0)
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 msg_.error(<span class="stringliteral">"There are no valid initial states!"</span>);
<a name="l00091"></a>00091 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="keywordflow">if</span> (!sampler_)
<a name="l00095"></a>00095 sampler_ = si_->allocValidStateSampler();
<a name="l00096"></a>00096
<a name="l00097"></a>00097 msg_.inform(<span class="stringliteral">"Starting with %u states"</span>, tree_.size);
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a> *solution = NULL;
<a name="l00100"></a>00100 <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a> *approxsol = NULL;
<a name="l00101"></a>00101 <span class="keywordtype">double</span> approxdif = std::numeric_limits<double>::infinity();
<a name="l00102"></a>00102 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *xstate = si_->allocState();
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <span class="keywordflow">while</span> (ptc() == <span class="keyword">false</span>)
<a name="l00105"></a>00105 {
<a name="l00106"></a>00106 <span class="comment">/* Decide on a state to expand from */</span>
<a name="l00107"></a>00107 <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a> *existing = selectMotion();
<a name="l00108"></a>00108 assert(existing);
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="comment">/* sample random state (with goal biasing) */</span>
<a name="l00111"></a>00111 <span class="keywordflow">if</span> (goal_s && rng_.uniform01() < goalBias_ && goal_s-><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html#a60329b89ea7217a7550197e5866c28c7" title="Return true of maxSampleCount() > 0, since in this case samples can certainly be produced.">canSample</a>())
<a name="l00112"></a>00112 goal_s-><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html#a11c9d2c4d9d5ddbeb8c30e531d1efc5f" title="Sample a state in the goal region.">sampleGoal</a>(xstate);
<a name="l00113"></a>00113 <span class="keywordflow">else</span>
<a name="l00114"></a>00114 <span class="keywordflow">if</span> (!sampler_->sampleNear(xstate, existing-><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#acd1f3149d66c9708e29177956c1fca5b" title="The state contained by the motion.">state</a>, maxDistance_))
<a name="l00115"></a>00115 <span class="keywordflow">continue</span>;
<a name="l00116"></a>00116
<a name="l00117"></a>00117 <span class="keywordflow">if</span> (si_->checkMotion(existing-><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#acd1f3149d66c9708e29177956c1fca5b" title="The state contained by the motion.">state</a>, xstate))
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119 <span class="comment">/* create a motion */</span>
<a name="l00120"></a>00120 <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a>(si_);
<a name="l00121"></a>00121 si_->copyState(motion-><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#acd1f3149d66c9708e29177956c1fca5b" title="The state contained by the motion.">state</a>, xstate);
<a name="l00122"></a>00122 motion-><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#afd5c7859f515492855e625d0afef5376" title="The parent motion in the exploration tree.">parent</a> = existing;
<a name="l00123"></a>00123
<a name="l00124"></a>00124 addMotion(motion);
<a name="l00125"></a>00125 <span class="keywordtype">double</span> dist = 0.0;
<a name="l00126"></a>00126 <span class="keywordtype">bool</span> solved = goal-><a class="code" href="classompl_1_1base_1_1Goal.html#a02ba4ba487714cd4e8f67c9d4164d0ec" title="Return true if the state satisfies the goal constraints.">isSatisfied</a>(motion-><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#acd1f3149d66c9708e29177956c1fca5b" title="The state contained by the motion.">state</a>, &dist);
<a name="l00127"></a>00127 <span class="keywordflow">if</span> (solved)
<a name="l00128"></a>00128 {
<a name="l00129"></a>00129 approxdif = dist;
<a name="l00130"></a>00130 solution = motion;
<a name="l00131"></a>00131 <span class="keywordflow">break</span>;
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133 <span class="keywordflow">if</span> (dist < approxdif)
<a name="l00134"></a>00134 {
<a name="l00135"></a>00135 approxdif = dist;
<a name="l00136"></a>00136 approxsol = motion;
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138 }
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140
<a name="l00141"></a>00141 <span class="keywordtype">bool</span> approximate = <span class="keyword">false</span>;
<a name="l00142"></a>00142 <span class="keywordflow">if</span> (solution == NULL)
<a name="l00143"></a>00143 {
<a name="l00144"></a>00144 solution = approxsol;
<a name="l00145"></a>00145 approximate = <span class="keyword">true</span>;
<a name="l00146"></a>00146 }
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="keywordflow">if</span> (solution != NULL)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 <span class="comment">/* construct the solution path */</span>
<a name="l00151"></a>00151 std::vector<Motion*> mpath;
<a name="l00152"></a>00152 <span class="keywordflow">while</span> (solution != NULL)
<a name="l00153"></a>00153 {
<a name="l00154"></a>00154 mpath.push_back(solution);
<a name="l00155"></a>00155 solution = solution-><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#afd5c7859f515492855e625d0afef5376" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00156"></a>00156 }
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="comment">/* set the solution path */</span>
<a name="l00159"></a>00159 <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="l00160"></a>00160 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath.size() - 1 ; i >= 0 ; --i)
<a name="l00161"></a>00161 path-><a class="code" href="classompl_1_1geometric_1_1PathGeometric.html#a3a729dab22338b733888bc2f9c9769a4" title="The list of states that make up the path.">states</a>.push_back(si_->cloneState(mpath[i]->state));
<a name="l00162"></a>00162 goal-><a class="code" href="classompl_1_1base_1_1Goal.html#afbfc02ebac97049ebdd28d040ce44c37" title="Set the difference between the found solution path and the desired solution path.">setDifference</a>(approxdif);
<a name="l00163"></a>00163 goal-><a class="code" href="classompl_1_1base_1_1Goal.html#ade528c0fefb9094abc1a2d1518a5f860" title="Update the solution path. If a previous solution path exists, it is deleted.">setSolutionPath</a>(<a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">base::PathPtr</a>(path), approximate);
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <span class="keywordflow">if</span> (approximate)
<a name="l00166"></a>00166 msg_.warn(<span class="stringliteral">"Found approximate solution"</span>);
<a name="l00167"></a>00167 }
<a name="l00168"></a>00168
<a name="l00169"></a>00169 si_->freeState(xstate);
<a name="l00170"></a>00170
<a name="l00171"></a>00171 msg_.inform(<span class="stringliteral">"Created %u states in %u cells"</span>, tree_.size, tree_.grid.size());
<a name="l00172"></a>00172
<a name="l00173"></a>00173 <span class="keywordflow">return</span> goal-><a class="code" href="classompl_1_1base_1_1Goal.html#a9a6e44d33f848108d0beeb1cf7a6c1ad" title="Returns true if a solution path has been found (could be approximate)">isAchieved</a>();
<a name="l00174"></a>00174 }
<a name="l00175"></a>00175
<a name="l00176"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a3a816d55016044176a62f7794cd0cf50">00176</a> <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">ompl::geometric::EST::Motion</a>* <a class="code" href="classompl_1_1geometric_1_1EST.html#a3a816d55016044176a62f7794cd0cf50" title="Select a motion to continue the expansion of the tree from.">ompl::geometric::EST::selectMotion</a>(<span class="keywordtype">void</span>)
<a name="l00177"></a>00177 {
<a name="l00178"></a>00178 <span class="keywordtype">double</span> sum = 0.0;
<a name="l00179"></a>00179 <a class="code" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid<MotionSet>::Cell</a>* cell = NULL;
<a name="l00180"></a>00180 <span class="keywordtype">double</span> prob = rng_.uniform01() * (tree_.grid.size() - 1);
<a name="l00181"></a>00181 <span class="keywordflow">for</span> (<a class="code" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid<MotionSet>::iterator</a> it = tree_.grid.<a class="code" href="classompl_1_1Grid.html#ad74c5df97cf3d54a1a15eff55596973c" title="Return the begin() iterator for the grid.">begin</a>(); it != tree_.grid.end() ; ++it)
<a name="l00182"></a>00182 {
<a name="l00183"></a>00183 sum += (double)(tree_.size - it->second->data.size()) / (<span class="keywordtype">double</span>)tree_.<a class="code" href="classompl_1_1Grid.html#a94c2dd5667093608a10aa91a46f42dfa" title="Check the size of the grid.">size</a>;
<a name="l00184"></a>00184 <span class="keywordflow">if</span> (prob < sum)
<a name="l00185"></a>00185 {
<a name="l00186"></a>00186 cell = it->second;
<a name="l00187"></a>00187 <span class="keywordflow">break</span>;
<a name="l00188"></a>00188 }
<a name="l00189"></a>00189 }
<a name="l00190"></a>00190 <span class="keywordflow">if</span> (!cell && tree_.grid.<a class="code" href="classompl_1_1Grid.html#a94c2dd5667093608a10aa91a46f42dfa" title="Check the size of the grid.">size</a>() > 0)
<a name="l00191"></a>00191 cell = tree_.grid.<a class="code" href="classompl_1_1Grid.html#ad74c5df97cf3d54a1a15eff55596973c" title="Return the begin() iterator for the grid.">begin</a>()->second;
<a name="l00192"></a>00192 <span class="keywordflow">return</span> cell && !cell->data.<a class="code" href="classompl_1_1Grid.html#af91ee958440919adc378ab2ae3b49fd8" title="Check if the grid is empty.">empty</a>() ? cell->data[rng_.uniformInt(0, cell->data.<a class="code" href="classompl_1_1Grid.html#a94c2dd5667093608a10aa91a46f42dfa" title="Check the size of the grid.">size</a>() - 1)] : NULL;
<a name="l00193"></a>00193 }
<a name="l00194"></a>00194
<a name="l00195"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a91983e841bc9d3d85a01cfc8c13d10f5">00195</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a91983e841bc9d3d85a01cfc8c13d10f5" title="Add a motion to the exploration tree.">ompl::geometric::EST::addMotion</a>(<a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a> *motion)
<a name="l00196"></a>00196 {
<a name="l00197"></a>00197 <a class="code" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid<MotionSet>::Coord</a> coord;
<a name="l00198"></a>00198 projectionEvaluator_->computeCoordinates(motion-><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#acd1f3149d66c9708e29177956c1fca5b" title="The state contained by the motion.">state</a>, coord);
<a name="l00199"></a>00199 <a class="code" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid<MotionSet>::Cell</a>* cell = tree_.grid.<a class="code" href="classompl_1_1Grid.html#ae563fea4e6a46c741682b6dcbe93ce54" title="Get the cell at a specified coordinate.">getCell</a>(coord);
<a name="l00200"></a>00200 <span class="keywordflow">if</span> (cell)
<a name="l00201"></a>00201 cell->data.push_back(motion);
<a name="l00202"></a>00202 <span class="keywordflow">else</span>
<a name="l00203"></a>00203 {
<a name="l00204"></a>00204 cell = tree_.grid.<a class="code" href="classompl_1_1Grid.html#ad105860f5ce20c533281104b95f3d402">createCell</a>(coord);
<a name="l00205"></a>00205 cell->data.push_back(motion);
<a name="l00206"></a>00206 tree_.grid.<a class="code" href="classompl_1_1Grid.html#ac72fa046a57332c7627126e8d84fb1dc" title="Add an instantiated cell to the grid.">add</a>(cell);
<a name="l00207"></a>00207 }
<a name="l00208"></a>00208 tree_.size++;
<a name="l00209"></a>00209 }
<a name="l00210"></a>00210
<a name="l00211"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#af5e5d1ba32389dac630db53c1bdd867b">00211</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#af5e5d1ba32389dac630db53c1bdd867b" title="Get information about the current run of the motion planner. Repeated calls to this function will upd...">ompl::geometric::EST::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="l00212"></a>00212 <span class="keyword"></span>{
<a name="l00213"></a>00213 Planner::getPlannerData(data);
<a name="l00214"></a>00214
<a name="l00215"></a>00215 std::vector<MotionSet> motions;
<a name="l00216"></a>00216 tree_.grid.getContent(motions);
<a name="l00217"></a>00217
<a name="l00218"></a>00218 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00219"></a>00219 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < motions[i].size() ; ++j)
<a name="l00220"></a>00220 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][j]->parent ? motions[i][j]->parent->state : NULL, motions[i][j]->state);
<a name="l00221"></a>00221 }
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