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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">#ifndef OMPL_GEOMETRIC_IK_GAIK_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_IK_GAIK_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/base/SpaceInformation.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/base/GoalRegion.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/geometric/ik/HCIK.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &quot;ompl/util/Console.h&quot;</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="l00063"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html">00063</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1GAIK.html" title="Inverse Kinematics with Genetic Algorithms.">GAIK</a>
<a name="l00064"></a>00064         {
<a name="l00065"></a>00065         <span class="keyword">public</span>:
<a name="l00066"></a>00066 
<a name="l00068"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#a52056379cbea6e9d849d4ed508235b7e">00068</a>             <a class="code" href="classompl_1_1geometric_1_1GAIK.html#a52056379cbea6e9d849d4ed508235b7e" title="Construct an instance of a genetic algorithm for inverse kinematics given the space information to se...">GAIK</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) : hcik_(si), si_(si), poolSize_(100), poolMutation_(20), poolRandom_(30),
<a name="l00069"></a>00069                                                         maxDistance_(0.0), msg_(<span class="stringliteral">&quot;GAIK&quot;</span>)
<a name="l00070"></a>00070             {
<a name="l00071"></a>00071                 hcik_.<a class="code" href="classompl_1_1geometric_1_1HCIK.html#a699b9621de551da2b4165d90b105a6dc" title="Set the number of steps to perform.">setMaxImproveSteps</a>(3);
<a name="l00072"></a>00072                 <a class="code" href="classompl_1_1geometric_1_1GAIK.html#a56827a543d87ef81ffcec2baf19cd5e0" title="Set the state validity flag; if this is false, states are not checked for validity.">setValidityCheck</a>(<span class="keyword">true</span>);
<a name="l00073"></a>00073             }
<a name="l00074"></a>00074 
<a name="l00075"></a>00075             ~<a class="code" href="classompl_1_1geometric_1_1GAIK.html" title="Inverse Kinematics with Genetic Algorithms.">GAIK</a>(<span class="keywordtype">void</span>)
<a name="l00076"></a>00076             {
<a name="l00077"></a>00077             }
<a name="l00078"></a>00078 
<a name="l00080"></a>00080             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#ab6bd5e917a6e185ffa976b844d2fc326" title="Find a state that fits the request.">solve</a>(<span class="keywordtype">double</span> solveTime, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalRegion.html" title="Definition of a goal region.">base::GoalRegion</a> &amp;goal, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *result,
<a name="l00081"></a>00081                        <span class="keyword">const</span> std::vector&lt;base::State*&gt; &amp;hint = std::vector&lt;base::State*&gt;());
<a name="l00082"></a>00082 
<a name="l00084"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#ab371ba978e6d71bf15f34f5504b28151">00084</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#ab371ba978e6d71bf15f34f5504b28151" title="Set the number of steps to perform when using hill climbing to improve an individual in the populatio...">setMaxImproveSteps</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxSteps)
<a name="l00085"></a>00085             {
<a name="l00086"></a>00086                 hcik_.<a class="code" href="classompl_1_1geometric_1_1HCIK.html#a699b9621de551da2b4165d90b105a6dc" title="Set the number of steps to perform.">setMaxImproveSteps</a>(maxSteps);
<a name="l00087"></a>00087             }
<a name="l00088"></a>00088 
<a name="l00090"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#a02c30d3414073ec7ad343923e7c8b83c">00090</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#a02c30d3414073ec7ad343923e7c8b83c" title="Get the number of steps to perform when using hill climbing to improve an individual in the populatio...">getMaxImproveSteps</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00091"></a>00091 <span class="keyword">            </span>{
<a name="l00092"></a>00092                 <span class="keywordflow">return</span> hcik_.<a class="code" href="classompl_1_1geometric_1_1HCIK.html#a49ab046cc7bc7606765a316333b52be2" title="Get the number of steps to perform.">getMaxImproveSteps</a>();
<a name="l00093"></a>00093             }
<a name="l00094"></a>00094 
<a name="l00096"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#a56827a543d87ef81ffcec2baf19cd5e0">00096</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#a56827a543d87ef81ffcec2baf19cd5e0" title="Set the state validity flag; if this is false, states are not checked for validity.">setValidityCheck</a>(<span class="keywordtype">bool</span> valid)
<a name="l00097"></a>00097             {
<a name="l00098"></a>00098                 checkValidity_ = valid;
<a name="l00099"></a>00099                 hcik_.<a class="code" href="classompl_1_1geometric_1_1HCIK.html#a7421212424711b101e72569163af786c" title="Set the state validity flag; if this is false, states are not checked for validity.">setValidityCheck</a>(valid);
<a name="l00100"></a>00100             }
<a name="l00101"></a>00101 
<a name="l00103"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#a12c666ade172939e497be7559162ef54">00103</a>             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#a12c666ade172939e497be7559162ef54" title="Get the state validity flag; if this is false, states are not checked for validity.">getValidityCheck</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00104"></a>00104 <span class="keyword">            </span>{
<a name="l00105"></a>00105                 <span class="keywordflow">return</span> checkValidity_;
<a name="l00106"></a>00106             }
<a name="l00107"></a>00107 
<a name="l00109"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#aee2658737a44ffa7cd1e623299d74f24">00109</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#aee2658737a44ffa7cd1e623299d74f24" title="Set the number of individuals in the population.">setPoolSize</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size)
<a name="l00110"></a>00110             {
<a name="l00111"></a>00111                 poolSize_ = size;
<a name="l00112"></a>00112             }
<a name="l00113"></a>00113 
<a name="l00115"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#a621475f0effc0ab4e3842aab635d4aab">00115</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#a621475f0effc0ab4e3842aab635d4aab" title="Get the number number of individuals in the population.">getPoolSize</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00116"></a>00116 <span class="keyword">            </span>{
<a name="l00117"></a>00117                 <span class="keywordflow">return</span> poolSize_;
<a name="l00118"></a>00118             }
<a name="l00119"></a>00119 
<a name="l00121"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#a66971c6c3f028121a427edacb87db8c6">00121</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#a66971c6c3f028121a427edacb87db8c6" title="Set the number of individuals to mutate at each generation.">setPoolMutationSize</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size)
<a name="l00122"></a>00122             {
<a name="l00123"></a>00123                 poolMutation_ = size;
<a name="l00124"></a>00124             }
<a name="l00125"></a>00125 
<a name="l00127"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#ae7a55691e50fd12ca7c3e689c167d2aa">00127</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#ae7a55691e50fd12ca7c3e689c167d2aa" title="Get the number of individuals that are mutated at each generation.">getPoolMutationSize</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00128"></a>00128 <span class="keyword">            </span>{
<a name="l00129"></a>00129                 <span class="keywordflow">return</span> poolMutation_;
<a name="l00130"></a>00130             }
<a name="l00131"></a>00131 
<a name="l00133"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#ac7548a3746c004fa6090b7e55c43f9f5">00133</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#ac7548a3746c004fa6090b7e55c43f9f5" title="Set the number of individuals to randomly sample at each generation.">setPoolRandomSize</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size)
<a name="l00134"></a>00134             {
<a name="l00135"></a>00135                 poolRandom_ = size;
<a name="l00136"></a>00136             }
<a name="l00137"></a>00137 
<a name="l00139"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#ac2b5a11624751f941f2651ce0f60bbab">00139</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#ac2b5a11624751f941f2651ce0f60bbab" title="Get the number of individuals to randomly sample at each generation.">getPoolRandomSize</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00140"></a>00140 <span class="keyword">            </span>{
<a name="l00141"></a>00141                 <span class="keywordflow">return</span> poolRandom_;
<a name="l00142"></a>00142             }
<a name="l00143"></a>00143 
<a name="l00145"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#aeb034aedbb214574c8384bb95d75ac65">00145</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#aeb034aedbb214574c8384bb95d75ac65" title="Set the range (distance) to be used when sampling around a state.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00146"></a>00146             {
<a name="l00147"></a>00147                 maxDistance_ = distance;
<a name="l00148"></a>00148             }
<a name="l00149"></a>00149 
<a name="l00151"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#ab9f7d1940b6694fb1be283d33fb02c9f">00151</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#ab9f7d1940b6694fb1be283d33fb02c9f" title="Get the range GAIK is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00152"></a>00152 <span class="keyword">            </span>{
<a name="l00153"></a>00153                 <span class="keywordflow">return</span> maxDistance_;
<a name="l00154"></a>00154             }
<a name="l00155"></a>00155 
<a name="l00156"></a>00156         <span class="keyword">private</span>:
<a name="l00157"></a>00157 
<a name="l00159"></a>00159             <span class="keywordtype">bool</span> tryToImprove(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalRegion.html" title="Definition of a goal region.">base::GoalRegion</a> &amp;goal, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keywordtype">double</span> distance);
<a name="l00160"></a>00160 
<a name="l00162"></a>00162             <span class="keywordtype">bool</span> valid(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state)<span class="keyword"> const</span>
<a name="l00163"></a>00163 <span class="keyword">            </span>{
<a name="l00164"></a>00164                 <span class="keywordflow">return</span> checkValidity_ ? si_-&gt;isValid(state) : <span class="keyword">true</span>;
<a name="l00165"></a>00165             }
<a name="l00166"></a>00166 
<a name="l00167"></a>00167 
<a name="l00168"></a>00168             <span class="keyword">struct </span>Individual
<a name="l00169"></a>00169             {
<a name="l00170"></a>00170                 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state;
<a name="l00171"></a>00171                 <span class="keywordtype">double</span>       distance;
<a name="l00172"></a>00172                 <span class="keywordtype">bool</span>         valid;
<a name="l00173"></a>00173             };
<a name="l00174"></a>00174 
<a name="l00175"></a>00175             <span class="keyword">struct </span>IndividualSort
<a name="l00176"></a>00176             {
<a name="l00177"></a>00177                 <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> Individual&amp; a, <span class="keyword">const</span> Individual&amp; b)
<a name="l00178"></a>00178                 {
<a name="l00179"></a>00179                     <span class="keywordflow">if</span> (a.valid == b.valid)
<a name="l00180"></a>00180                         <span class="keywordflow">return</span> a.distance &lt; b.distance;
<a name="l00181"></a>00181                     <span class="keywordflow">return</span> a.valid;
<a name="l00182"></a>00182                 }
<a name="l00183"></a>00183             };
<a name="l00184"></a>00184 
<a name="l00185"></a>00185             HCIK                                         hcik_;
<a name="l00186"></a>00186             base::SpaceInformationPtr                    si_;
<a name="l00187"></a>00187             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                                 poolSize_;
<a name="l00188"></a>00188             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                                 poolMutation_;
<a name="l00189"></a>00189             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                                 poolRandom_;
<a name="l00190"></a>00190             <span class="keywordtype">bool</span>                                         checkValidity_;
<a name="l00191"></a>00191 
<a name="l00192"></a>00192             <span class="keywordtype">double</span>                                       maxDistance_;
<a name="l00193"></a>00193 
<a name="l00194"></a>00194             msg::Interface                               msg_;
<a name="l00195"></a>00195         };
<a name="l00196"></a>00196 
<a name="l00197"></a>00197     }
<a name="l00198"></a>00198 }
<a name="l00199"></a>00199 
<a name="l00200"></a>00200 <span class="preprocessor">#endif</span>
</pre></div></div>
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