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

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<div class="title">EST.h</div>  </div>
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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">#ifndef OMPL_GEOMETRIC_PLANNERS_EST_EST_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_EST_EST_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/datastructures/Grid.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/geometric/planners/PlannerIncludes.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/base/ProjectionEvaluator.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00044"></a>00044 
<a name="l00045"></a>00045 <span class="keyword">namespace </span>ompl
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 
<a name="l00048"></a>00048     <span class="keyword">namespace </span>geometric
<a name="l00049"></a>00049     {
<a name="l00050"></a>00050 
<a name="l00075"></a><a class="code" href="classompl_1_1geometric_1_1EST.html">00075</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1EST.html" title="Expansive Space Trees.">EST</a> : <span class="keyword">public</span> base::Planner
<a name="l00076"></a>00076         {
<a name="l00077"></a>00077         <span class="keyword">public</span>:
<a name="l00078"></a>00078 
<a name="l00080"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a1c75f832cbc2519158f3bbf9ee700362">00080</a>             <a class="code" href="classompl_1_1geometric_1_1EST.html#a1c75f832cbc2519158f3bbf9ee700362" title="Constructor.">EST</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">base::SpaceInformationPtr</a> &amp;si) : base::<a class="code" href="classompl_1_1base_1_1Planner.html#a404c3be95f77983e95a468e3a7032cc9" title="Constructor.">Planner</a>(si, <span class="stringliteral">&quot;EST&quot;</span>)
<a name="l00081"></a>00081             {
<a name="l00082"></a>00082                 <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="l00083"></a>00083                 <a class="code" href="classompl_1_1geometric_1_1EST.html#a6b33b06f16776e104073cd74af8480b4" 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="l00084"></a>00084                 <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> = 0.0;
<a name="l00085"></a>00085             }
<a name="l00086"></a>00086 
<a name="l00087"></a>00087             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1EST.html" title="Expansive Space Trees.">EST</a>(<span class="keywordtype">void</span>)
<a name="l00088"></a>00088             {
<a name="l00089"></a>00089                 <a class="code" href="classompl_1_1geometric_1_1EST.html#ab0638a0f11765252b281d2b5ed9dad4d" title="Free the memory allocated by this planner.">freeMemory</a>();
<a name="l00090"></a>00090             }
<a name="l00091"></a>00091 
<a name="l00092"></a>00092             <span class="keyword">virtual</span> <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...">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="l00093"></a>00093 
<a name="l00094"></a>00094             <span class="keyword">virtual</span> <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...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00095"></a>00095 
<a name="l00103"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a8b442f32077d90406ae1811a519e2177">00103</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a8b442f32077d90406ae1811a519e2177" title="In the process of randomly selecting states in the state space to attempt to go towards, the algorithm may in fact choose the actual goal state, if it knows it, with some probability. This probability is a real number between 0.0 and 1.0; its value should usually be around 0.05 and should not be too large. It is probably a good idea to use the default value.">setGoalBias</a>(<span class="keywordtype">double</span> goalBias)
<a name="l00104"></a>00104             {
<a name="l00105"></a>00105                 <a class="code" href="classompl_1_1geometric_1_1EST.html#a6b33b06f16776e104073cd74af8480b4" 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="l00106"></a>00106             }
<a name="l00107"></a>00107 
<a name="l00109"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a4604261acc86b465ab4da659b5ba6ddb">00109</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a4604261acc86b465ab4da659b5ba6ddb" title="Get the goal bias the planner is using.">getGoalBias</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00110"></a>00110 <span class="keyword">            </span>{
<a name="l00111"></a>00111                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a6b33b06f16776e104073cd74af8480b4" 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="l00112"></a>00112             }
<a name="l00113"></a>00113 
<a name="l00119"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a936be30374d627e1fd6b1d2781a030e6">00119</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a936be30374d627e1fd6b1d2781a030e6" title="Set the range the planner is supposed to use.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00120"></a>00120             {
<a name="l00121"></a>00121                 <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> = distance;
<a name="l00122"></a>00122             }
<a name="l00123"></a>00123 
<a name="l00125"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#af9fa5d40dd03716e6d683705368c1b47">00125</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#af9fa5d40dd03716e6d683705368c1b47" title="Get the range the planner is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00126"></a>00126 <span class="keyword">            </span>{
<a name="l00127"></a>00127                 <span class="keywordflow">return</span> <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="l00128"></a>00128             }
<a name="l00129"></a>00129 
<a name="l00132"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a24bf2715e56f04e91646f4fe65138391">00132</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a24bf2715e56f04e91646f4fe65138391" title="Set the projection evaluator. This class is able to compute the projection of a given state...">setProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a> &amp;projectionEvaluator)
<a name="l00133"></a>00133             {
<a name="l00134"></a>00134                 <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> = projectionEvaluator;
<a name="l00135"></a>00135             }
<a name="l00136"></a>00136 
<a name="l00139"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#ac5a00c1079ce9d2579e38bfb81f4da77">00139</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a24bf2715e56f04e91646f4fe65138391" title="Set the projection evaluator. This class is able to compute the projection of a given state...">setProjectionEvaluator</a>(<span class="keyword">const</span> std::string &amp;name)
<a name="l00140"></a>00140             {
<a name="l00141"></a>00141                 <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 class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>-&gt;getStateSpace()-&gt;getProjection(name);
<a name="l00142"></a>00142             }
<a name="l00143"></a>00143 
<a name="l00145"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#acefb04bb903c52fa596894b9ab141599">00145</a>             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a>&amp; <a class="code" href="classompl_1_1geometric_1_1EST.html#acefb04bb903c52fa596894b9ab141599" title="Get the projection evaluator.">getProjectionEvaluator</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00146"></a>00146 <span class="keyword">            </span>{
<a name="l00147"></a>00147                 <span class="keywordflow">return</span> <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="l00148"></a>00148             }
<a name="l00149"></a>00149 
<a name="l00150"></a>00150             <span class="keyword">virtual</span> <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...">setup</a>(<span class="keywordtype">void</span>);
<a name="l00151"></a>00151 
<a name="l00152"></a>00152             <span class="keyword">virtual</span> <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...">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="l00153"></a>00153 
<a name="l00154"></a>00154         <span class="keyword">protected</span>:
<a name="l00155"></a>00155 
<a name="l00157"></a><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html">00157</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a>
<a name="l00158"></a>00158             {
<a name="l00159"></a>00159             <span class="keyword">public</span>:
<a name="l00160"></a>00160 
<a name="l00161"></a>00161                 <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#acd1f3149d66c9708e29177956c1fca5b" title="The state contained by the motion.">state</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#afd5c7859f515492855e625d0afef5376" title="The parent motion in the exploration tree.">parent</a>(NULL)
<a name="l00162"></a>00162                 {
<a name="l00163"></a>00163                 }
<a name="l00164"></a>00164 
<a name="l00166"></a><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#a71671c21d659fea1959b7cb31e03f0c1">00166</a>                 <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition 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> &amp;si) : <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#acd1f3149d66c9708e29177956c1fca5b" title="The state contained by the motion.">state</a>(si-&gt;allocState()), <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#afd5c7859f515492855e625d0afef5376" title="The parent motion in the exploration tree.">parent</a>(NULL)
<a name="l00167"></a>00167                 {
<a name="l00168"></a>00168                 }
<a name="l00169"></a>00169 
<a name="l00170"></a>00170                 ~<a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00171"></a>00171                 {
<a name="l00172"></a>00172                 }
<a name="l00173"></a>00173 
<a name="l00175"></a><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#acd1f3149d66c9708e29177956c1fca5b">00175</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_1EST_1_1Motion.html#acd1f3149d66c9708e29177956c1fca5b" title="The state contained by the motion.">state</a>;
<a name="l00176"></a>00176 
<a name="l00178"></a><a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html#afd5c7859f515492855e625d0afef5376">00178</a>                 <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">Motion</a>            *<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="l00179"></a>00179             };
<a name="l00180"></a>00180 
<a name="l00182"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#af9f5d47f8ec22d558d7643d1cc4e8472">00182</a>             <span class="keyword">typedef</span> std::vector&lt;Motion*&gt; <a class="code" href="classompl_1_1geometric_1_1EST.html#af9f5d47f8ec22d558d7643d1cc4e8472" title="An array of motions.">MotionSet</a>;
<a name="l00183"></a>00183 
<a name="l00185"></a><a class="code" href="structompl_1_1geometric_1_1EST_1_1TreeData.html">00185</a>             <span class="keyword">struct </span><a class="code" href="structompl_1_1geometric_1_1EST_1_1TreeData.html" title="The data contained by a tree of exploration.">TreeData</a>
<a name="l00186"></a>00186             {
<a name="l00187"></a>00187                 <a class="code" href="structompl_1_1geometric_1_1EST_1_1TreeData.html" title="The data contained by a tree of exploration.">TreeData</a>(<span class="keywordtype">void</span>) : <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>(0), <a class="code" href="structompl_1_1geometric_1_1EST_1_1TreeData.html#aea18491c0333fc5e15505578142defe2" title="The total number of motions in the grid.">size</a>(0)
<a name="l00188"></a>00188                 {
<a name="l00189"></a>00189                 }
<a name="l00190"></a>00190 
<a name="l00192"></a><a class="code" href="structompl_1_1geometric_1_1EST_1_1TreeData.html#a6a918cc4fb27ecdf1ffaa9508c1552ba">00192</a>                 <a class="code" href="classompl_1_1Grid.html">Grid&lt;MotionSet&gt;</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 name="l00193"></a>00193 
<a name="l00195"></a><a class="code" href="structompl_1_1geometric_1_1EST_1_1TreeData.html#aea18491c0333fc5e15505578142defe2">00195</a>                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>    <a class="code" href="structompl_1_1geometric_1_1EST_1_1TreeData.html#aea18491c0333fc5e15505578142defe2" title="The total number of motions in the grid.">size</a>;
<a name="l00196"></a>00196             };
<a name="l00197"></a>00197 
<a name="l00199"></a>00199             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#ab0638a0f11765252b281d2b5ed9dad4d" title="Free the memory allocated by this planner.">freeMemory</a>(<span class="keywordtype">void</span>);
<a name="l00200"></a>00200 
<a name="l00202"></a>00202             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1EST.html#a91983e841bc9d3d85a01cfc8c13d10f5" title="Add a motion to the exploration tree.">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="l00203"></a>00203 
<a name="l00205"></a>00205             <a class="code" href="classompl_1_1geometric_1_1EST_1_1Motion.html" title="The definition of a motion.">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.">selectMotion</a>(<span class="keywordtype">void</span>);
<a name="l00206"></a>00206 
<a name="l00208"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#ad8a720f509aba891d30bb8765f98ab31">00208</a>             <a class="code" href="classompl_1_1base_1_1ValidStateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::ValidStateSampler.">base::ValidStateSamplerPtr</a>   <a class="code" href="classompl_1_1geometric_1_1EST.html#ad8a720f509aba891d30bb8765f98ab31" title="Valid state sampler.">sampler_</a>;
<a name="l00209"></a>00209 
<a name="l00211"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a1d5924729ec9205f1a5369229889f082">00211</a>             <a class="code" href="structompl_1_1geometric_1_1EST_1_1TreeData.html" title="The data contained by a tree of exploration.">TreeData</a>                     <a class="code" href="classompl_1_1geometric_1_1EST.html#a1d5924729ec9205f1a5369229889f082" title="The exploration tree constructed by this algorithm.">tree_</a>;
<a name="l00212"></a>00212 
<a name="l00214"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a032232c682e6ce0e25b0827f2171b138">00214</a>             <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a> <a class="code" href="classompl_1_1geometric_1_1EST.html#a032232c682e6ce0e25b0827f2171b138" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">projectionEvaluator_</a>;
<a name="l00215"></a>00215 
<a name="l00217"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#a6b33b06f16776e104073cd74af8480b4">00217</a>             <span class="keywordtype">double</span>                       <a class="code" href="classompl_1_1geometric_1_1EST.html#a6b33b06f16776e104073cd74af8480b4" 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="l00218"></a>00218 
<a name="l00220"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#adecb398b5fd5d0c202663b5e2ee3f7d9">00220</a>             <span class="keywordtype">double</span>                       <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="l00221"></a>00221 
<a name="l00223"></a><a class="code" href="classompl_1_1geometric_1_1EST.html#ace4457f72f78ca1f991035c3beb17dcf">00223</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_1EST.html#ace4457f72f78ca1f991035c3beb17dcf" title="The random number generator.">rng_</a>;
<a name="l00224"></a>00224         };
<a name="l00225"></a>00225 
<a name="l00226"></a>00226     }
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228 
<a name="l00229"></a>00229 <span class="preprocessor">#endif</span>
</pre></div></div>
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