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<title>OMPL: src/ompl/geometric/planners/sbl/src/pSBL.cpp Source File</title>
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<div class="title">pSBL.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/sbl/pSBL.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/base/GoalState.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 <boost/thread.hpp></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <limits></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <cassert></span>
<a name="l00043"></a>00043
<a name="l00044"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#a851c7b44dba6a0fd1bcb34398648cd4e">00044</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pSBL.html#a851c7b44dba6a0fd1bcb34398648cd4e" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">ompl::geometric::pSBL::setup</a>(<span class="keywordtype">void</span>)
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <a class="code" href="classompl_1_1geometric_1_1pSBL.html#a851c7b44dba6a0fd1bcb34398648cd4e" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">Planner::setup</a>();
<a name="l00047"></a>00047 <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="l00048"></a>00048 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>(projectionEvaluator_);
<a name="l00049"></a>00049 sc.<a class="code" href="classompl_1_1SelfConfig.html#a86d0c4b1dc9a9a25bd53a6820a6b973c" title="Compute what a good length for motion segments is.">configurePlannerRange</a>(maxDistance_);
<a name="l00050"></a>00050
<a name="l00051"></a>00051 tStart_.grid.<a class="code" href="classompl_1_1Grid.html#a118373bcfe70886449d94782b0a7c783">setDimension</a>(projectionEvaluator_->getDimension());
<a name="l00052"></a>00052 tGoal_.grid.<a class="code" href="classompl_1_1Grid.html#a118373bcfe70886449d94782b0a7c783">setDimension</a>(projectionEvaluator_->getDimension());
<a name="l00053"></a>00053 }
<a name="l00054"></a>00054
<a name="l00055"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#a67d9f5777ea40053c65a354663965d93">00055</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pSBL.html#a67d9f5777ea40053c65a354663965d93" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">ompl::geometric::pSBL::clear</a>(<span class="keywordtype">void</span>)
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 Planner::clear();
<a name="l00058"></a>00058
<a name="l00059"></a>00059 samplerArray_.clear();
<a name="l00060"></a>00060
<a name="l00061"></a>00061 freeMemory();
<a name="l00062"></a>00062
<a name="l00063"></a>00063 tStart_.grid.clear();
<a name="l00064"></a>00064 tStart_.size = 0;
<a name="l00065"></a>00065
<a name="l00066"></a>00066 tGoal_.grid.clear();
<a name="l00067"></a>00067 tGoal_.size = 0;
<a name="l00068"></a>00068
<a name="l00069"></a>00069 removeList_.motions.clear();
<a name="l00070"></a>00070 }
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <span class="keywordtype">void</span> ompl::geometric::pSBL::freeGridMotions(<a class="code" href="classompl_1_1Grid.html">Grid<MotionSet></a> &grid)
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 <span class="keywordflow">for</span> (<a class="code" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid<MotionSet>::iterator</a> it = grid.<a class="code" href="classompl_1_1Grid.html#ad74c5df97cf3d54a1a15eff55596973c" title="Return the begin() iterator for the grid.">begin</a>(); it != grid.<a class="code" href="classompl_1_1Grid.html#ac5d360c8fa02bd6ec58aa8cbbc450dd7" title="Return the end() iterator for the grid.">end</a>() ; ++it)
<a name="l00075"></a>00075 <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="l00076"></a>00076 {
<a name="l00077"></a>00077 <span class="keywordflow">if</span> (it->second->data[i]->state)
<a name="l00078"></a>00078 si_->freeState(it->second->data[i]->state);
<a name="l00079"></a>00079 <span class="keyword">delete</span> it->second->data[i];
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081 }
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="keywordtype">void</span> ompl::geometric::pSBL::threadSolve(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tid, <span class="keyword">const</span> base::PlannerTerminationCondition &ptc, SolutionInfo *sol)
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 checkValidity();
<a name="l00086"></a>00086 base::GoalState *goal = <span class="keyword">static_cast<</span>base::GoalState*<span class="keyword">></span>(pdef_->getGoal().get());
<a name="l00087"></a>00087 RNG rng;
<a name="l00088"></a>00088
<a name="l00089"></a>00089 std::vector<Motion*> solution;
<a name="l00090"></a>00090 base::State *xstate = si_->allocState();
<a name="l00091"></a>00091 <span class="keywordtype">bool</span> startTree = rng.uniformBool();
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="keywordflow">while</span> (!sol->found && ptc() == <span class="keyword">false</span>)
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <span class="keywordtype">bool</span> retry = <span class="keyword">true</span>;
<a name="l00096"></a>00096 <span class="keywordflow">while</span> (retry && !sol->found && ptc() == <span class="keyword">false</span>)
<a name="l00097"></a>00097 {
<a name="l00098"></a>00098 removeList_.lock.lock();
<a name="l00099"></a>00099 <span class="keywordflow">if</span> (!removeList_.motions.empty())
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101 <span class="keywordflow">if</span> (loopLock_.try_lock())
<a name="l00102"></a>00102 {
<a name="l00103"></a>00103 retry = <span class="keyword">false</span>;
<a name="l00104"></a>00104 std::map<Motion*, bool> seen;
<a name="l00105"></a>00105 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < removeList_.motions.size() ; ++i)
<a name="l00106"></a>00106 <span class="keywordflow">if</span> (seen.find(removeList_.motions[i].motion) == seen.end())
<a name="l00107"></a>00107 removeMotion(*removeList_.motions[i].tree, removeList_.motions[i].motion, seen);
<a name="l00108"></a>00108 removeList_.motions.clear();
<a name="l00109"></a>00109 loopLock_.unlock();
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111 }
<a name="l00112"></a>00112 <span class="keywordflow">else</span>
<a name="l00113"></a>00113 retry = <span class="keyword">false</span>;
<a name="l00114"></a>00114 removeList_.lock.unlock();
<a name="l00115"></a>00115 }
<a name="l00116"></a>00116
<a name="l00117"></a>00117 <span class="keywordflow">if</span> (sol->found || ptc())
<a name="l00118"></a>00118 <span class="keywordflow">break</span>;
<a name="l00119"></a>00119
<a name="l00120"></a>00120 loopLockCounter_.lock();
<a name="l00121"></a>00121 <span class="keywordflow">if</span> (loopCounter_ == 0)
<a name="l00122"></a>00122 loopLock_.lock();
<a name="l00123"></a>00123 loopCounter_++;
<a name="l00124"></a>00124 loopLockCounter_.unlock();
<a name="l00125"></a>00125
<a name="l00126"></a>00126
<a name="l00127"></a>00127 TreeData &tree = startTree ? tStart_ : tGoal_;
<a name="l00128"></a>00128 startTree = !startTree;
<a name="l00129"></a>00129 TreeData &otherTree = startTree ? tStart_ : tGoal_;
<a name="l00130"></a>00130
<a name="l00131"></a>00131 Motion *existing = selectMotion(rng, tree);
<a name="l00132"></a>00132 <span class="keywordflow">if</span> (!samplerArray_[tid]->sampleNear(xstate, existing->state, maxDistance_))
<a name="l00133"></a>00133 <span class="keywordflow">continue</span>;
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <span class="comment">/* create a motion */</span>
<a name="l00136"></a>00136 Motion *motion = <span class="keyword">new</span> Motion(si_);
<a name="l00137"></a>00137 si_->copyState(motion->state, xstate);
<a name="l00138"></a>00138 motion->parent = existing;
<a name="l00139"></a>00139 motion->root = existing->root;
<a name="l00140"></a>00140
<a name="l00141"></a>00141 existing->lock.lock();
<a name="l00142"></a>00142 existing->children.push_back(motion);
<a name="l00143"></a>00143 existing->lock.unlock();
<a name="l00144"></a>00144
<a name="l00145"></a>00145 addMotion(tree, motion);
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="keywordflow">if</span> (checkSolution(rng, !startTree, tree, otherTree, motion, solution))
<a name="l00148"></a>00148 {
<a name="l00149"></a>00149 sol->lock.lock();
<a name="l00150"></a>00150 <span class="keywordflow">if</span> (!sol->found)
<a name="l00151"></a>00151 {
<a name="l00152"></a>00152 sol->found = <span class="keyword">true</span>;
<a name="l00153"></a>00153 PathGeometric *path = <span class="keyword">new</span> PathGeometric(si_);
<a name="l00154"></a>00154 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < solution.size() ; ++i)
<a name="l00155"></a>00155 path->states.push_back(si_->cloneState(solution[i]->state));
<a name="l00156"></a>00156 goal->setDifference(0.0);
<a name="l00157"></a>00157 goal->setSolutionPath(base::PathPtr(path));
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159 sol->lock.unlock();
<a name="l00160"></a>00160 }
<a name="l00161"></a>00161
<a name="l00162"></a>00162
<a name="l00163"></a>00163 loopLockCounter_.lock();
<a name="l00164"></a>00164 loopCounter_--;
<a name="l00165"></a>00165 <span class="keywordflow">if</span> (loopCounter_ == 0)
<a name="l00166"></a>00166 loopLock_.unlock();
<a name="l00167"></a>00167 loopLockCounter_.unlock();
<a name="l00168"></a>00168 }
<a name="l00169"></a>00169
<a name="l00170"></a>00170 si_->freeState(xstate);
<a name="l00171"></a>00171 }
<a name="l00172"></a>00172
<a name="l00173"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#a530a526d834942258dd8a9b3a834169c">00173</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1pSBL.html#a530a526d834942258dd8a9b3a834169c" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">ompl::geometric::pSBL::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="l00174"></a>00174 {
<a name="l00175"></a>00175 <a class="code" href="classompl_1_1base_1_1GoalState.html" title="Definition of a goal state.">base::GoalState</a> *goal = <span class="keyword">dynamic_cast<</span><a class="code" href="classompl_1_1base_1_1GoalState.html" title="Definition of a goal state.">base::GoalState</a>*<span class="keyword">></span>(pdef_->getGoal().get());
<a name="l00176"></a>00176
<a name="l00177"></a>00177 <span class="keywordflow">if</span> (!goal)
<a name="l00178"></a>00178 {
<a name="l00179"></a>00179 msg_.error(<span class="stringliteral">"Unknown type of goal (or goal undefined)"</span>);
<a name="l00180"></a>00180 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00181"></a>00181 }
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <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="l00184"></a>00184 {
<a name="l00185"></a>00185 <a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">Motion</a>(si_);
<a name="l00186"></a>00186 si_->copyState(motion->state, st);
<a name="l00187"></a>00187 motion->valid = <span class="keyword">true</span>;
<a name="l00188"></a>00188 motion->root = motion->state;
<a name="l00189"></a>00189 addMotion(tStart_, motion);
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191
<a name="l00192"></a>00192 <span class="keywordflow">if</span> (tGoal_.size == 0)
<a name="l00193"></a>00193 {
<a name="l00194"></a>00194 <span class="keywordflow">if</span> (si_->satisfiesBounds(goal-><a class="code" href="classompl_1_1base_1_1GoalState.html#ad35d1a357b23dae86eb5e34f0cc92670" title="The goal state.">state</a>) && si_->isValid(goal-><a class="code" href="classompl_1_1base_1_1GoalState.html#ad35d1a357b23dae86eb5e34f0cc92670" title="The goal state.">state</a>))
<a name="l00195"></a>00195 {
<a name="l00196"></a>00196 <a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">Motion</a>(si_);
<a name="l00197"></a>00197 si_->copyState(motion->state, goal-><a class="code" href="classompl_1_1base_1_1GoalState.html#ad35d1a357b23dae86eb5e34f0cc92670" title="The goal state.">state</a>);
<a name="l00198"></a>00198 motion->valid = <span class="keyword">true</span>;
<a name="l00199"></a>00199 motion->root = motion->state;
<a name="l00200"></a>00200 addMotion(tGoal_, motion);
<a name="l00201"></a>00201 }
<a name="l00202"></a>00202 <span class="keywordflow">else</span>
<a name="l00203"></a>00203 msg_.error(<span class="stringliteral">"Goal state is invalid!"</span>);
<a name="l00204"></a>00204 }
<a name="l00205"></a>00205
<a name="l00206"></a>00206 <span class="keywordflow">if</span> (tStart_.size == 0 || tGoal_.size == 0)
<a name="l00207"></a>00207 {
<a name="l00208"></a>00208 msg_.error(<span class="stringliteral">"Motion planning trees could not be initialized!"</span>);
<a name="l00209"></a>00209 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00210"></a>00210 }
<a name="l00211"></a>00211
<a name="l00212"></a>00212 samplerArray_.resize(threadCount_);
<a name="l00213"></a>00213
<a name="l00214"></a>00214 msg_.inform(<span class="stringliteral">"Starting with %d states"</span>, (<span class="keywordtype">int</span>)(tStart_.size + tGoal_.size));
<a name="l00215"></a>00215
<a name="l00216"></a>00216 <a class="code" href="structompl_1_1geometric_1_1pSBL_1_1SolutionInfo.html">SolutionInfo</a> sol;
<a name="l00217"></a>00217 sol.found = <span class="keyword">false</span>;
<a name="l00218"></a>00218 loopCounter_ = 0;
<a name="l00219"></a>00219
<a name="l00220"></a>00220 std::vector<boost::thread*> th(threadCount_);
<a name="l00221"></a>00221 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < threadCount_ ; ++i)
<a name="l00222"></a>00222 th[i] = <span class="keyword">new</span> boost::thread(boost::bind(&pSBL::threadSolve, <span class="keyword">this</span>, i, ptc, &sol));
<a name="l00223"></a>00223 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < threadCount_ ; ++i)
<a name="l00224"></a>00224 {
<a name="l00225"></a>00225 th[i]->join();
<a name="l00226"></a>00226 <span class="keyword">delete</span> th[i];
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228
<a name="l00229"></a>00229 msg_.inform(<span class="stringliteral">"Created %u (%u start + %u goal) states in %u cells (%u start + %u goal)"</span>, tStart_.size + tGoal_.size, tStart_.size, tGoal_.size,
<a name="l00230"></a>00230 tStart_.grid.size() + tGoal_.grid.size(), tStart_.grid.size(), tGoal_.grid.size());
<a name="l00231"></a>00231
<a name="l00232"></a>00232 <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="l00233"></a>00233 }
<a name="l00234"></a>00234
<a name="l00235"></a>00235 <span class="keywordtype">bool</span> ompl::geometric::pSBL::checkSolution(<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> &rng, <span class="keywordtype">bool</span> start, TreeData &tree, TreeData &otherTree, Motion *motion, std::vector<Motion*> &solution)
<a name="l00236"></a>00236 {
<a name="l00237"></a>00237 <a class="code" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid<MotionSet>::Coord</a> coord;
<a name="l00238"></a>00238 projectionEvaluator_->computeCoordinates(motion->state, coord);
<a name="l00239"></a>00239
<a name="l00240"></a>00240 otherTree.lock.lock();
<a name="l00241"></a>00241 <a class="code" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid<MotionSet>::Cell</a>* cell = otherTree.grid.<a class="code" href="classompl_1_1Grid.html#ae563fea4e6a46c741682b6dcbe93ce54" title="Get the cell at a specified coordinate.">getCell</a>(coord);
<a name="l00242"></a>00242
<a name="l00243"></a>00243 <span class="keywordflow">if</span> (cell && !cell->data.<a class="code" href="classompl_1_1Grid.html#af91ee958440919adc378ab2ae3b49fd8" title="Check if the grid is empty.">empty</a>())
<a name="l00244"></a>00244 {
<a name="l00245"></a>00245 Motion *connectOther = cell->data[rng.<a class="code" href="classompl_1_1RNG.html#ad122fd3309d2a2c72ca1dd665c1a2803" title="Generate a random integer within given bounds: [lower_bound, upper_bound].">uniformInt</a>(0, cell->data.<a class="code" href="classompl_1_1Grid.html#a94c2dd5667093608a10aa91a46f42dfa" title="Check the size of the grid.">size</a>() - 1)];
<a name="l00246"></a>00246 otherTree.lock.unlock();
<a name="l00247"></a>00247
<a name="l00248"></a>00248 <span class="keywordflow">if</span> (pdef_->getGoal()->isStartGoalPairValid(start ? motion->root : connectOther->root, start ? connectOther->root : motion->root))
<a name="l00249"></a>00249 {
<a name="l00250"></a>00250 Motion *connect = <span class="keyword">new</span> Motion(si_);
<a name="l00251"></a>00251
<a name="l00252"></a>00252 si_->copyState(connect->state, connectOther->state);
<a name="l00253"></a>00253 connect->parent = motion;
<a name="l00254"></a>00254 connect->root = motion->root;
<a name="l00255"></a>00255
<a name="l00256"></a>00256 motion->lock.lock();
<a name="l00257"></a>00257 motion->children.push_back(connect);
<a name="l00258"></a>00258 motion->lock.unlock();
<a name="l00259"></a>00259
<a name="l00260"></a>00260 addMotion(tree, connect);
<a name="l00261"></a>00261
<a name="l00262"></a>00262 <span class="keywordflow">if</span> (isPathValid(tree, connect) && isPathValid(otherTree, connectOther))
<a name="l00263"></a>00263 {
<a name="l00264"></a>00264 <span class="comment">/* extract the motions and put them in solution vector */</span>
<a name="l00265"></a>00265
<a name="l00266"></a>00266 std::vector<Motion*> mpath1;
<a name="l00267"></a>00267 <span class="keywordflow">while</span> (motion != NULL)
<a name="l00268"></a>00268 {
<a name="l00269"></a>00269 mpath1.push_back(motion);
<a name="l00270"></a>00270 motion = motion->parent;
<a name="l00271"></a>00271 }
<a name="l00272"></a>00272
<a name="l00273"></a>00273 std::vector<Motion*> mpath2;
<a name="l00274"></a>00274 <span class="keywordflow">while</span> (connectOther != NULL)
<a name="l00275"></a>00275 {
<a name="l00276"></a>00276 mpath2.push_back(connectOther);
<a name="l00277"></a>00277 connectOther = connectOther->parent;
<a name="l00278"></a>00278 }
<a name="l00279"></a>00279
<a name="l00280"></a>00280 <span class="keywordflow">if</span> (!start)
<a name="l00281"></a>00281 mpath1.swap(mpath2);
<a name="l00282"></a>00282
<a name="l00283"></a>00283 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath1.size() - 1 ; i >= 0 ; --i)
<a name="l00284"></a>00284 solution.push_back(mpath1[i]);
<a name="l00285"></a>00285 solution.insert(solution.end(), mpath2.begin(), mpath2.end());
<a name="l00286"></a>00286
<a name="l00287"></a>00287 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00288"></a>00288 }
<a name="l00289"></a>00289 }
<a name="l00290"></a>00290 }
<a name="l00291"></a>00291 <span class="keywordflow">else</span>
<a name="l00292"></a>00292 otherTree.lock.unlock();
<a name="l00293"></a>00293
<a name="l00294"></a>00294 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00295"></a>00295 }
<a name="l00296"></a>00296
<a name="l00297"></a>00297 <span class="keywordtype">bool</span> ompl::geometric::pSBL::isPathValid(TreeData &tree, Motion *motion)
<a name="l00298"></a>00298 {
<a name="l00299"></a>00299 std::vector<Motion*> mpath;
<a name="l00300"></a>00300
<a name="l00301"></a>00301 <span class="comment">/* construct the solution path */</span>
<a name="l00302"></a>00302 <span class="keywordflow">while</span> (motion != NULL)
<a name="l00303"></a>00303 {
<a name="l00304"></a>00304 mpath.push_back(motion);
<a name="l00305"></a>00305 motion = motion->parent;
<a name="l00306"></a>00306 }
<a name="l00307"></a>00307
<a name="l00308"></a>00308 <span class="keywordtype">bool</span> result = <span class="keyword">true</span>;
<a name="l00309"></a>00309
<a name="l00310"></a>00310 <span class="comment">/* check the path */</span>
<a name="l00311"></a>00311 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath.size() - 1 ; result && i >= 0 ; --i)
<a name="l00312"></a>00312 {
<a name="l00313"></a>00313 mpath[i]->lock.lock();
<a name="l00314"></a>00314 <span class="keywordflow">if</span> (!mpath[i]->valid)
<a name="l00315"></a>00315 {
<a name="l00316"></a>00316 <span class="keywordflow">if</span> (si_->checkMotion(mpath[i]->parent->state, mpath[i]->state))
<a name="l00317"></a>00317 mpath[i]->valid = <span class="keyword">true</span>;
<a name="l00318"></a>00318 <span class="keywordflow">else</span>
<a name="l00319"></a>00319 {
<a name="l00320"></a>00320 <span class="comment">// remember we need to remove this motion</span>
<a name="l00321"></a>00321 PendingRemoveMotion prm;
<a name="l00322"></a>00322 prm.tree = &tree;
<a name="l00323"></a>00323 prm.motion = mpath[i];
<a name="l00324"></a>00324 removeList_.lock.lock();
<a name="l00325"></a>00325 removeList_.motions.push_back(prm);
<a name="l00326"></a>00326 removeList_.lock.unlock();
<a name="l00327"></a>00327 result = <span class="keyword">false</span>;
<a name="l00328"></a>00328 }
<a name="l00329"></a>00329 }
<a name="l00330"></a>00330 mpath[i]->lock.unlock();
<a name="l00331"></a>00331 }
<a name="l00332"></a>00332
<a name="l00333"></a>00333 <span class="keywordflow">return</span> result;
<a name="l00334"></a>00334 }
<a name="l00335"></a>00335
<a name="l00336"></a>00336 <a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">ompl::geometric::pSBL::Motion</a>* ompl::geometric::pSBL::selectMotion(RNG &rng, TreeData &tree)
<a name="l00337"></a>00337 {
<a name="l00338"></a>00338 <span class="keywordtype">double</span> sum = 0.0;
<a name="l00339"></a>00339 Grid<MotionSet>::Cell* cell = NULL;
<a name="l00340"></a>00340 tree.lock.lock();
<a name="l00341"></a>00341 <span class="keywordtype">double</span> prob = rng.uniform01() * (tree.grid.size() - 1);
<a name="l00342"></a>00342 <span class="keywordflow">for</span> (<a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">Grid<MotionSet>::iterator</a> it = tree.grid.begin(); it != tree.grid.end() ; ++it)
<a name="l00343"></a>00343 {
<a name="l00344"></a>00344 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="l00345"></a>00345 <span class="keywordflow">if</span> (prob < sum)
<a name="l00346"></a>00346 {
<a name="l00347"></a>00347 cell = it->second;
<a name="l00348"></a>00348 <span class="keywordflow">break</span>;
<a name="l00349"></a>00349 }
<a name="l00350"></a>00350 }
<a name="l00351"></a>00351 <span class="keywordflow">if</span> (!cell && tree.grid.size() > 0)
<a name="l00352"></a>00352 cell = tree.grid.begin()->second;
<a name="l00353"></a>00353 <a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">ompl::geometric::pSBL::Motion</a>* result = cell->data[rng.uniformInt(0, cell->data.size() - 1)];
<a name="l00354"></a>00354 tree.lock.unlock();
<a name="l00355"></a>00355 <span class="keywordflow">return</span> result;
<a name="l00356"></a>00356 }
<a name="l00357"></a>00357
<a name="l00358"></a>00358 <span class="keywordtype">void</span> ompl::geometric::pSBL::removeMotion(TreeData &tree, Motion *motion, std::map<Motion*, bool> &seen)
<a name="l00359"></a>00359 {
<a name="l00360"></a>00360 <span class="comment">/* remove from grid */</span>
<a name="l00361"></a>00361 seen[motion] = <span class="keyword">true</span>;
<a name="l00362"></a>00362
<a name="l00363"></a>00363 <a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Grid<MotionSet>::Coord</a> coord;
<a name="l00364"></a>00364 projectionEvaluator_->computeCoordinates(motion->state, coord);
<a name="l00365"></a>00365 Grid<MotionSet>::Cell* 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="l00366"></a>00366 <span class="keywordflow">if</span> (cell)
<a name="l00367"></a>00367 {
<a name="l00368"></a>00368 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < cell->data.size(); ++i)
<a name="l00369"></a>00369 <span class="keywordflow">if</span> (cell->data[i] == motion)
<a name="l00370"></a>00370 {
<a name="l00371"></a>00371 cell->data.erase(cell->data.begin() + i);
<a name="l00372"></a>00372 tree.size--;
<a name="l00373"></a>00373 <span class="keywordflow">break</span>;
<a name="l00374"></a>00374 }
<a name="l00375"></a>00375 <span class="keywordflow">if</span> (cell->data.empty())
<a name="l00376"></a>00376 {
<a name="l00377"></a>00377 tree.grid.remove(cell);
<a name="l00378"></a>00378 tree.grid.destroyCell(cell);
<a name="l00379"></a>00379 }
<a name="l00380"></a>00380 }
<a name="l00381"></a>00381
<a name="l00382"></a>00382 <span class="comment">/* remove self from parent list */</span>
<a name="l00383"></a>00383
<a name="l00384"></a>00384 <span class="keywordflow">if</span> (motion->parent)
<a name="l00385"></a>00385 {
<a name="l00386"></a>00386 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motion->parent->children.size() ; ++i)
<a name="l00387"></a>00387 <span class="keywordflow">if</span> (motion->parent->children[i] == motion)
<a name="l00388"></a>00388 {
<a name="l00389"></a>00389 motion->parent->children.erase(motion->parent->children.begin() + i);
<a name="l00390"></a>00390 <span class="keywordflow">break</span>;
<a name="l00391"></a>00391 }
<a name="l00392"></a>00392 }
<a name="l00393"></a>00393
<a name="l00394"></a>00394 <span class="comment">/* remove children */</span>
<a name="l00395"></a>00395 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motion->children.size() ; ++i)
<a name="l00396"></a>00396 {
<a name="l00397"></a>00397 motion->children[i]->parent = NULL;
<a name="l00398"></a>00398 removeMotion(tree, motion->children[i], seen);
<a name="l00399"></a>00399 }
<a name="l00400"></a>00400
<a name="l00401"></a>00401 <span class="keywordflow">if</span> (motion->state)
<a name="l00402"></a>00402 si_->freeState(motion->state);
<a name="l00403"></a>00403 <span class="keyword">delete</span> motion;
<a name="l00404"></a>00404 }
<a name="l00405"></a>00405
<a name="l00406"></a>00406 <span class="keywordtype">void</span> ompl::geometric::pSBL::addMotion(TreeData &tree, Motion *motion)
<a name="l00407"></a>00407 {
<a name="l00408"></a>00408 <a class="code" href="classompl_1_1Grid.html#ada6a72bd91ec78dd8a0806c00055d917" title="Definition of a coordinate within this grid.">Grid<MotionSet>::Coord</a> coord;
<a name="l00409"></a>00409 projectionEvaluator_->computeCoordinates(motion->state, coord);
<a name="l00410"></a>00410 tree.lock.lock();
<a name="l00411"></a>00411 Grid<MotionSet>::Cell* cell = tree.grid.getCell(coord);
<a name="l00412"></a>00412 <span class="keywordflow">if</span> (cell)
<a name="l00413"></a>00413 cell->data.push_back(motion);
<a name="l00414"></a>00414 <span class="keywordflow">else</span>
<a name="l00415"></a>00415 {
<a name="l00416"></a>00416 cell = tree.grid.createCell(coord);
<a name="l00417"></a>00417 cell->data.push_back(motion);
<a name="l00418"></a>00418 tree.grid.add(cell);
<a name="l00419"></a>00419 }
<a name="l00420"></a>00420 tree.size++;
<a name="l00421"></a>00421 tree.lock.unlock();
<a name="l00422"></a>00422 }
<a name="l00423"></a>00423
<a name="l00424"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#ab9f5004971fe0571e6145a64e4a8772c">00424</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pSBL.html#ab9f5004971fe0571e6145a64e4a8772c" title="Get information about the current run of the motion planner. Repeated calls to this function will upd...">ompl::geometric::pSBL::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="l00425"></a>00425 <span class="keyword"></span>{
<a name="l00426"></a>00426 Planner::getPlannerData(data);
<a name="l00427"></a>00427
<a name="l00428"></a>00428 std::vector<MotionSet> motions;
<a name="l00429"></a>00429 tStart_.grid.getContent(motions);
<a name="l00430"></a>00430 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00431"></a>00431 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < motions[i].size() ; ++j)
<a name="l00432"></a>00432 {
<a name="l00433"></a>00433 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="l00434"></a>00434 data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a8de56c12227187dbb8d2c81af916f146" title="Assign a tag to a state.">tagState</a>(motions[i][j]->state, 1);
<a name="l00435"></a>00435 }
<a name="l00436"></a>00436
<a name="l00437"></a>00437 motions.clear();
<a name="l00438"></a>00438 tGoal_.grid.getContent(motions);
<a name="l00439"></a>00439 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00440"></a>00440 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < motions[i].size() ; ++j)
<a name="l00441"></a>00441 {
<a name="l00442"></a>00442 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="l00443"></a>00443 data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a8de56c12227187dbb8d2c81af916f146" title="Assign a tag to a state.">tagState</a>(motions[i][j]->state, 2);
<a name="l00444"></a>00444 }
<a name="l00445"></a>00445 }
<a name="l00446"></a>00446
<a name="l00447"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#aa4ac4755ecdf651d5d0e584cbf742393">00447</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pSBL.html#aa4ac4755ecdf651d5d0e584cbf742393" title="Set the number of threads the planner should use. Default is 2.">ompl::geometric::pSBL::setThreadCount</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nthreads)
<a name="l00448"></a>00448 {
<a name="l00449"></a>00449 assert(nthreads > 0);
<a name="l00450"></a>00450 threadCount_ = nthreads;
<a name="l00451"></a>00451 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
<div class="gray">Generated on Sun Oct 9 2011 23:04:40 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
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