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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_PLANNERS_RRT_pRRT_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/geometric/planners/PlannerIncludes.h&quot;</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/base/StateSamplerArray.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/datastructures/NearestNeighbors.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;boost/thread/mutex.hpp&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="l00069"></a><a class="code" href="classompl_1_1geometric_1_1pRRT.html">00069</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1pRRT.html" title="Parallel RRT.">pRRT</a> : <span class="keyword">public</span> base::Planner
<a name="l00070"></a>00070         {
<a name="l00071"></a>00071         <span class="keyword">public</span>:
<a name="l00072"></a>00072 
<a name="l00073"></a>00073             <a class="code" href="classompl_1_1geometric_1_1pRRT.html" title="Parallel RRT.">pRRT</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_1base_1_1Planner.html#a404c3be95f77983e95a468e3a7032cc9" title="Constructor.">base::Planner</a>(si, <span class="stringliteral">&quot;pRRT&quot;</span>),
<a name="l00074"></a>00074                                                         samplerArray_(si)
<a name="l00075"></a>00075             {
<a name="l00076"></a>00076                 <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="l00077"></a>00077                 <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365" title="The specifications of the planner (its capabilities)">specs_</a>.multithreaded = <span class="keyword">true</span>;
<a name="l00078"></a>00078 
<a name="l00079"></a>00079                 <a class="code" href="classompl_1_1geometric_1_1pRRT.html#adfba9c3246fd29e4d72196c417cb1fda" title="Set the number of threads the planner should use. Default is 2.">setThreadCount</a>(2);
<a name="l00080"></a>00080                 goalBias_ = 0.05;
<a name="l00081"></a>00081                 maxDistance_ = 0.0;
<a name="l00082"></a>00082             }
<a name="l00083"></a>00083 
<a name="l00084"></a>00084             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1pRRT.html" title="Parallel RRT.">pRRT</a>(<span class="keywordtype">void</span>)
<a name="l00085"></a>00085             {
<a name="l00086"></a>00086                 freeMemory();
<a name="l00087"></a>00087             }
<a name="l00088"></a>00088 
<a name="l00089"></a>00089             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pRRT.html#afb65bde371fca3628ef9622ca32e0985" 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="l00090"></a>00090 
<a name="l00091"></a>00091             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1pRRT.html#a3c2e45ebc46e0456bc781223aa66c3c5" 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="l00092"></a>00092 
<a name="l00093"></a>00093             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pRRT.html#aa98d9d3f5e5665dd057a2dfc02dba703" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00094"></a>00094 
<a name="l00104"></a><a class="code" href="classompl_1_1geometric_1_1pRRT.html#a525bff8c62317b7b7e45cd6865c0357e">00104</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pRRT.html#a525bff8c62317b7b7e45cd6865c0357e" title="Set the goal bias.">setGoalBias</a>(<span class="keywordtype">double</span> goalBias)
<a name="l00105"></a>00105             {
<a name="l00106"></a>00106                 goalBias_ = goalBias;
<a name="l00107"></a>00107             }
<a name="l00108"></a>00108 
<a name="l00110"></a><a class="code" href="classompl_1_1geometric_1_1pRRT.html#a40706b26a8768f963b6dd9a79e7546d8">00110</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1pRRT.html#a40706b26a8768f963b6dd9a79e7546d8" title="Get the goal bias the planner is using.">getGoalBias</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00111"></a>00111 <span class="keyword">            </span>{
<a name="l00112"></a>00112                 <span class="keywordflow">return</span> goalBias_;
<a name="l00113"></a>00113             }
<a name="l00114"></a>00114 
<a name="l00120"></a><a class="code" href="classompl_1_1geometric_1_1pRRT.html#ac854a72b384f1a45946d7d23c2425ed2">00120</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pRRT.html#ac854a72b384f1a45946d7d23c2425ed2" title="Set the range the planner is supposed to use.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00121"></a>00121             {
<a name="l00122"></a>00122                 maxDistance_ = distance;
<a name="l00123"></a>00123             }
<a name="l00124"></a>00124 
<a name="l00126"></a><a class="code" href="classompl_1_1geometric_1_1pRRT.html#a019727ac9268984f51bb5d0e8ad7ae4b">00126</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1pRRT.html#a019727ac9268984f51bb5d0e8ad7ae4b" title="Get the range the planner is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00127"></a>00127 <span class="keyword">            </span>{
<a name="l00128"></a>00128                 <span class="keywordflow">return</span> maxDistance_;
<a name="l00129"></a>00129             }
<a name="l00130"></a>00130 
<a name="l00132"></a>00132             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pRRT.html#adfba9c3246fd29e4d72196c417cb1fda" title="Set the number of threads the planner should use. Default is 2.">setThreadCount</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nthreads);
<a name="l00133"></a>00133 
<a name="l00134"></a>00134             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getThreadCount(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00135"></a>00135 <span class="keyword">            </span>{
<a name="l00136"></a>00136                 <span class="keywordflow">return</span> threadCount_;
<a name="l00137"></a>00137             }
<a name="l00138"></a>00138 
<a name="l00140"></a>00140             <span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">class </span>NN&gt;
<a name="l00141"></a><a class="code" href="classompl_1_1geometric_1_1pRRT.html#a0a9b4e60c08e09b1c2706eb4e0065163">00141</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pRRT.html#a0a9b4e60c08e09b1c2706eb4e0065163" title="Set a different nearest neighbors datastructure.">setNearestNeighbors</a>(<span class="keywordtype">void</span>)
<a name="l00142"></a>00142             {
<a name="l00143"></a>00143                 nn_.reset(<span class="keyword">new</span> NN&lt;Motion*&gt;());
<a name="l00144"></a>00144             }
<a name="l00145"></a>00145 
<a name="l00146"></a>00146             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pRRT.html#aaee4c8111a36505ed11e9d8bf07580b6" 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="l00147"></a>00147 
<a name="l00148"></a>00148         <span class="keyword">protected</span>:
<a name="l00149"></a>00149 
<a name="l00150"></a><a class="code" href="classompl_1_1geometric_1_1pRRT_1_1Motion.html">00150</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1pRRT_1_1Motion.html">Motion</a>
<a name="l00151"></a>00151             {
<a name="l00152"></a>00152             <span class="keyword">public</span>:
<a name="l00153"></a>00153 
<a name="l00154"></a>00154                 <a class="code" href="classompl_1_1geometric_1_1pRRT_1_1Motion.html">Motion</a>(<span class="keywordtype">void</span>) : state(NULL), parent(NULL)
<a name="l00155"></a>00155                 {
<a name="l00156"></a>00156                 }
<a name="l00157"></a>00157 
<a name="l00158"></a>00158                 <a class="code" href="classompl_1_1geometric_1_1pRRT_1_1Motion.html">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) : state(si-&gt;allocState()), parent(NULL)
<a name="l00159"></a>00159                 {
<a name="l00160"></a>00160                 }
<a name="l00161"></a>00161 
<a name="l00162"></a>00162                 ~<a class="code" href="classompl_1_1geometric_1_1pRRT_1_1Motion.html">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00163"></a>00163                 {
<a name="l00164"></a>00164                 }
<a name="l00165"></a>00165 
<a name="l00166"></a>00166                 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a>       *state;
<a name="l00167"></a>00167                 <a class="code" href="classompl_1_1geometric_1_1pRRT_1_1Motion.html">Motion</a>            *parent;
<a name="l00168"></a>00168 
<a name="l00169"></a>00169             };
<a name="l00170"></a>00170 
<a name="l00171"></a><a class="code" href="structompl_1_1geometric_1_1pRRT_1_1SolutionInfo.html">00171</a>             <span class="keyword">struct </span><a class="code" href="structompl_1_1geometric_1_1pRRT_1_1SolutionInfo.html">SolutionInfo</a>
<a name="l00172"></a>00172             {
<a name="l00173"></a>00173                 <a class="code" href="classompl_1_1geometric_1_1pRRT_1_1Motion.html">Motion</a>      *solution;
<a name="l00174"></a>00174                 <a class="code" href="classompl_1_1geometric_1_1pRRT_1_1Motion.html">Motion</a>      *approxsol;
<a name="l00175"></a>00175                 <span class="keywordtype">double</span>       approxdif;
<a name="l00176"></a>00176                 boost::mutex lock;
<a name="l00177"></a>00177             };
<a name="l00178"></a>00178 
<a name="l00179"></a>00179             <span class="keywordtype">void</span> threadSolve(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tid, <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 class="code" href="structompl_1_1geometric_1_1pRRT_1_1SolutionInfo.html">SolutionInfo</a> *sol);
<a name="l00180"></a>00180             <span class="keywordtype">void</span> freeMemory(<span class="keywordtype">void</span>);
<a name="l00181"></a>00181 
<a name="l00182"></a>00182             <span class="keywordtype">double</span> distanceFunction(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1pRRT_1_1Motion.html">Motion</a>* a, <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1pRRT_1_1Motion.html">Motion</a>* b)<span class="keyword"> const</span>
<a name="l00183"></a>00183 <span class="keyword">            </span>{
<a name="l00184"></a>00184                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>-&gt;distance(a-&gt;state, b-&gt;state);
<a name="l00185"></a>00185             }
<a name="l00186"></a>00186 
<a name="l00187"></a>00187             <a class="code" href="classompl_1_1base_1_1StateSamplerArray.html">base::StateSamplerArray&lt;base::StateSampler&gt;</a>         samplerArray_;
<a name="l00188"></a>00188             boost::shared_ptr&lt; NearestNeighbors&lt;Motion*&gt; &gt;      nn_;
<a name="l00189"></a>00189             boost::mutex                                        nnLock_;
<a name="l00190"></a>00190 
<a name="l00191"></a>00191             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                                        threadCount_;
<a name="l00192"></a>00192 
<a name="l00193"></a>00193             <span class="keywordtype">double</span>                                              goalBias_;
<a name="l00194"></a>00194             <span class="keywordtype">double</span>                                              maxDistance_;
<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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