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<div class="title">pSBL.h</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">#ifndef OMPL_GEOMETRIC_PLANNERS_SBL_pSBL_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_SBL_pSBL_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/geometric/planners/PlannerIncludes.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/base/ProjectionEvaluator.h"</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include "ompl/base/StateSamplerArray.h"</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include "ompl/datastructures/Grid.h"</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include <boost/thread/mutex.hpp></span>
<a name="l00045"></a>00045 <span class="preprocessor">#include <vector></span>
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keyword">namespace </span>ompl
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="keyword">namespace </span>geometric
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052
<a name="l00088"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html">00088</a> <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1pSBL.html" title="Parallel Single-query Bi-directional Lazy collision checking planner.">pSBL</a> : <span class="keyword">public</span> base::Planner
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 <span class="keyword">public</span>:
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <a class="code" href="classompl_1_1geometric_1_1pSBL.html" title="Parallel Single-query Bi-directional Lazy collision checking planner.">pSBL</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> &si) : <a class="code" href="classompl_1_1base_1_1Planner.html#a404c3be95f77983e95a468e3a7032cc9" title="Constructor.">base::Planner</a>(si, <span class="stringliteral">"pSBL"</span>),
<a name="l00093"></a>00093 samplerArray_(si)
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365" title="The specifications of the planner (its capabilities)">specs_</a>.recognizedGoal = <a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a451d783254d6bb398c15495e87bc1b86" title="This bit is set if casting to goal state (ompl::base::GoalState) is possible.">base::GOAL_STATE</a>;
<a name="l00096"></a>00096 <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="l00097"></a>00097 maxDistance_ = 0.0;
<a name="l00098"></a>00098 <a class="code" href="classompl_1_1geometric_1_1pSBL.html#aa4ac4755ecdf651d5d0e584cbf742393" title="Set the number of threads the planner should use. Default is 2.">setThreadCount</a>(2);
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100
<a name="l00101"></a>00101 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1pSBL.html" title="Parallel Single-query Bi-directional Lazy collision checking planner.">pSBL</a>(<span class="keywordtype">void</span>)
<a name="l00102"></a>00102 {
<a name="l00103"></a>00103 freeMemory();
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105
<a name="l00108"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#a8c706561dc3d5256a69f8aff5a6a4dab">00108</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pSBL.html#a8c706561dc3d5256a69f8aff5a6a4dab" 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> &projectionEvaluator)
<a name="l00109"></a>00109 {
<a name="l00110"></a>00110 projectionEvaluator_ = projectionEvaluator;
<a name="l00111"></a>00111 }
<a name="l00112"></a>00112
<a name="l00115"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#a3ef968832cbe29236891c5ae731219fc">00115</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pSBL.html#a8c706561dc3d5256a69f8aff5a6a4dab" 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 &name)
<a name="l00116"></a>00116 {
<a name="l00117"></a>00117 projectionEvaluator_ = <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>->getStateSpace()->getProjection(name);
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119
<a name="l00121"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#a20eedcfed1958742d8544019c9b0aa1b">00121</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>& <a class="code" href="classompl_1_1geometric_1_1pSBL.html#a20eedcfed1958742d8544019c9b0aa1b" title="Get the projection evaluator.">getProjectionEvaluator</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00122"></a>00122 <span class="keyword"> </span>{
<a name="l00123"></a>00123 <span class="keywordflow">return</span> projectionEvaluator_;
<a name="l00124"></a>00124 }
<a name="l00125"></a>00125
<a name="l00131"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#a684881ad135214cf17dc1d417a921805">00131</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1pSBL.html#a684881ad135214cf17dc1d417a921805" title="Set the range the planner is supposed to use.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 maxDistance_ = distance;
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135
<a name="l00137"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#a47a7c09e116767f3f65bdcddb27efe06">00137</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1pSBL.html#a47a7c09e116767f3f65bdcddb27efe06" title="Get the range the planner is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00138"></a>00138 <span class="keyword"> </span>{
<a name="l00139"></a>00139 <span class="keywordflow">return</span> maxDistance_;
<a name="l00140"></a>00140 }
<a name="l00141"></a>00141
<a name="l00143"></a>00143 <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.">setThreadCount</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nthreads);
<a name="l00144"></a>00144
<a name="l00146"></a><a class="code" href="classompl_1_1geometric_1_1pSBL.html#af708e182215462c0f20e3898bc8ba058">00146</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1pSBL.html#af708e182215462c0f20e3898bc8ba058" title="Get the thread count.">getThreadCount</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00147"></a>00147 <span class="keyword"> </span>{
<a name="l00148"></a>00148 <span class="keywordflow">return</span> threadCount_;
<a name="l00149"></a>00149 }
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="keyword">virtual</span> <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...">setup</a>(<span class="keywordtype">void</span>);
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keyword">virtual</span> <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...">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="l00154"></a>00154
<a name="l00155"></a>00155 <span class="keyword">virtual</span> <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...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00156"></a>00156
<a name="l00157"></a>00157 <span class="keyword">virtual</span> <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...">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="l00158"></a>00158
<a name="l00159"></a>00159 <span class="keyword">protected</span>:
<a name="l00160"></a>00160
<a name="l00161"></a>00161 <span class="keyword">class </span>Motion;
<a name="l00162"></a>00162 <span class="keyword">typedef</span> std::vector<Motion*> MotionSet;
<a name="l00163"></a>00163
<a name="l00164"></a><a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">00164</a> <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">Motion</a>
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166 <span class="keyword">public</span>:
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">Motion</a>(<span class="keywordtype">void</span>) : root(NULL), state(NULL), parent(NULL), valid(<span class="keyword">false</span>)
<a name="l00169"></a>00169 {
<a name="l00170"></a>00170 }
<a name="l00171"></a>00171
<a name="l00172"></a>00172 <a class="code" href="classompl_1_1geometric_1_1pSBL_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> &si) : root(NULL), state(si->allocState()), parent(NULL), valid(<span class="keyword">false</span>)
<a name="l00173"></a>00173 {
<a name="l00174"></a>00174 }
<a name="l00175"></a>00175
<a name="l00176"></a>00176 ~<a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00177"></a>00177 {
<a name="l00178"></a>00178 }
<a name="l00179"></a>00179
<a name="l00180"></a>00180 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *root;
<a name="l00181"></a>00181 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state;
<a name="l00182"></a>00182 <a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">Motion</a> *parent;
<a name="l00183"></a>00183 <span class="keywordtype">bool</span> valid;
<a name="l00184"></a>00184 MotionSet children;
<a name="l00185"></a>00185 boost::mutex lock;
<a name="l00186"></a>00186 };
<a name="l00187"></a>00187
<a name="l00188"></a><a class="code" href="structompl_1_1geometric_1_1pSBL_1_1TreeData.html">00188</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1geometric_1_1pSBL_1_1TreeData.html">TreeData</a>
<a name="l00189"></a>00189 {
<a name="l00190"></a>00190 <a class="code" href="structompl_1_1geometric_1_1pSBL_1_1TreeData.html">TreeData</a>(<span class="keywordtype">void</span>) : grid(0), size(0)
<a name="l00191"></a>00191 {
<a name="l00192"></a>00192 }
<a name="l00193"></a>00193
<a name="l00194"></a>00194 <a class="code" href="classompl_1_1Grid.html">Grid<MotionSet></a> grid;
<a name="l00195"></a>00195 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size;
<a name="l00196"></a>00196 boost::mutex lock;
<a name="l00197"></a>00197 };
<a name="l00198"></a>00198
<a name="l00199"></a><a class="code" href="structompl_1_1geometric_1_1pSBL_1_1SolutionInfo.html">00199</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1geometric_1_1pSBL_1_1SolutionInfo.html">SolutionInfo</a>
<a name="l00200"></a>00200 {
<a name="l00201"></a>00201 std::vector<Motion*> solution;
<a name="l00202"></a>00202 <span class="keywordtype">bool</span> found;
<a name="l00203"></a>00203 boost::mutex lock;
<a name="l00204"></a>00204 };
<a name="l00205"></a>00205
<a name="l00206"></a><a class="code" href="structompl_1_1geometric_1_1pSBL_1_1PendingRemoveMotion.html">00206</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1geometric_1_1pSBL_1_1PendingRemoveMotion.html">PendingRemoveMotion</a>
<a name="l00207"></a>00207 {
<a name="l00208"></a>00208 <a class="code" href="structompl_1_1geometric_1_1pSBL_1_1TreeData.html">TreeData</a> *tree;
<a name="l00209"></a>00209 <a class="code" href="classompl_1_1geometric_1_1pSBL_1_1Motion.html">Motion</a> *motion;
<a name="l00210"></a>00210 };
<a name="l00211"></a>00211
<a name="l00212"></a><a class="code" href="structompl_1_1geometric_1_1pSBL_1_1MotionsToBeRemoved.html">00212</a> <span class="keyword">struct </span><a class="code" href="structompl_1_1geometric_1_1pSBL_1_1MotionsToBeRemoved.html">MotionsToBeRemoved</a>
<a name="l00213"></a>00213 {
<a name="l00214"></a>00214 std::vector<PendingRemoveMotion> motions;
<a name="l00215"></a>00215 boost::mutex lock;
<a name="l00216"></a>00216 };
<a name="l00217"></a>00217
<a name="l00218"></a>00218 <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> &ptc, <a class="code" href="structompl_1_1geometric_1_1pSBL_1_1SolutionInfo.html">SolutionInfo</a> *sol);
<a name="l00219"></a>00219
<a name="l00220"></a>00220 <span class="keywordtype">void</span> freeMemory(<span class="keywordtype">void</span>)
<a name="l00221"></a>00221 {
<a name="l00222"></a>00222 freeGridMotions(tStart_.grid);
<a name="l00223"></a>00223 freeGridMotions(tGoal_.grid);
<a name="l00224"></a>00224 }
<a name="l00225"></a>00225
<a name="l00226"></a>00226 <span class="keywordtype">void</span> freeGridMotions(<a class="code" href="classompl_1_1Grid.html">Grid<MotionSet></a> &grid);
<a name="l00227"></a>00227
<a name="l00228"></a>00228 <span class="keywordtype">void</span> addMotion(TreeData &tree, Motion *motion);
<a name="l00229"></a>00229 Motion* selectMotion(<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, TreeData &tree);
<a name="l00230"></a>00230 <span class="keywordtype">void</span> removeMotion(TreeData &tree, Motion *motion, std::map<Motion*, bool> &seen);
<a name="l00231"></a>00231 <span class="keywordtype">bool</span> isPathValid(TreeData &tree, Motion *motion);
<a name="l00232"></a>00232 <span class="keywordtype">bool</span> 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="l00233"></a>00233
<a name="l00234"></a>00234
<a name="l00235"></a>00235 <a class="code" href="classompl_1_1base_1_1StateSamplerArray.html">base::StateSamplerArray<base::ValidStateSampler></a> samplerArray_;
<a name="l00236"></a>00236 <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a> projectionEvaluator_;
<a name="l00237"></a>00237
<a name="l00238"></a>00238 TreeData tStart_;
<a name="l00239"></a>00239 TreeData tGoal_;
<a name="l00240"></a>00240
<a name="l00241"></a>00241 MotionsToBeRemoved removeList_;
<a name="l00242"></a>00242 boost::mutex loopLock_;
<a name="l00243"></a>00243 boost::mutex loopLockCounter_;
<a name="l00244"></a>00244 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> loopCounter_;
<a name="l00245"></a>00245
<a name="l00246"></a>00246 <span class="keywordtype">double</span> maxDistance_;
<a name="l00247"></a>00247
<a name="l00248"></a>00248 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> threadCount_;
<a name="l00249"></a>00249 };
<a name="l00250"></a>00250
<a name="l00251"></a>00251 }
<a name="l00252"></a>00252 }
<a name="l00253"></a>00253
<a name="l00254"></a>00254 <span class="preprocessor">#endif</span>
</pre></div></div>
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