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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_HCIK_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_IK_HCIK_</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 
<a name="l00043"></a>00043 <span class="keyword">namespace </span>ompl
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 
<a name="l00046"></a>00046     <span class="keyword">namespace </span>geometric
<a name="l00047"></a>00047     {
<a name="l00048"></a>00048 
<a name="l00060"></a><a class="code" href="classompl_1_1geometric_1_1HCIK.html">00060</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1HCIK.html" title="Inverse Kinematics with Hill Climbing.">HCIK</a>
<a name="l00061"></a>00061         {
<a name="l00062"></a>00062         <span class="keyword">public</span>:
<a name="l00063"></a>00063 
<a name="l00065"></a><a class="code" href="classompl_1_1geometric_1_1HCIK.html#aa123751429e0ebf0e4627ccece005a16">00065</a>             <a class="code" href="classompl_1_1geometric_1_1HCIK.html#aa123751429e0ebf0e4627ccece005a16" title="Constructor.">HCIK</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) : si_(si), maxImproveSteps_(2), checkValidity_(true)
<a name="l00066"></a>00066             {
<a name="l00067"></a>00067             }
<a name="l00068"></a>00068 
<a name="l00069"></a>00069             ~<a class="code" href="classompl_1_1geometric_1_1HCIK.html" title="Inverse Kinematics with Hill Climbing.">HCIK</a>(<span class="keywordtype">void</span>)
<a name="l00070"></a>00070             {
<a name="l00071"></a>00071             }
<a name="l00072"></a>00072 
<a name="l00076"></a>00076             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1HCIK.html#a2a82e7ac320e75f612c76eb9eb2ccbf6" title="Try to improve a state (reduce distance to goal). The updates are performed by sampling near the stat...">tryToImprove</a>(<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> nearDistance, <span class="keywordtype">double</span> *betterGoalDistance = NULL) <span class="keyword">const</span>;
<a name="l00077"></a>00077 
<a name="l00079"></a><a class="code" href="classompl_1_1geometric_1_1HCIK.html#a699b9621de551da2b4165d90b105a6dc">00079</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1HCIK.html#a699b9621de551da2b4165d90b105a6dc" title="Set the number of steps to perform.">setMaxImproveSteps</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> steps)
<a name="l00080"></a>00080             {
<a name="l00081"></a>00081                 maxImproveSteps_ = steps;
<a name="l00082"></a>00082             }
<a name="l00083"></a>00083 
<a name="l00085"></a><a class="code" href="classompl_1_1geometric_1_1HCIK.html#a49ab046cc7bc7606765a316333b52be2">00085</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1geometric_1_1HCIK.html#a49ab046cc7bc7606765a316333b52be2" title="Get the number of steps to perform.">getMaxImproveSteps</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00086"></a>00086 <span class="keyword">            </span>{
<a name="l00087"></a>00087                 <span class="keywordflow">return</span> maxImproveSteps_;
<a name="l00088"></a>00088             }
<a name="l00089"></a>00089 
<a name="l00091"></a><a class="code" href="classompl_1_1geometric_1_1HCIK.html#a7421212424711b101e72569163af786c">00091</a>             <span class="keywordtype">void</span> <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>(<span class="keywordtype">bool</span> valid)
<a name="l00092"></a>00092             {
<a name="l00093"></a>00093                 checkValidity_ = valid;
<a name="l00094"></a>00094             }
<a name="l00095"></a>00095 
<a name="l00097"></a><a class="code" href="classompl_1_1geometric_1_1HCIK.html#a49007c2324587a10656c39c30150b4f0">00097</a>             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1HCIK.html#a49007c2324587a10656c39c30150b4f0" 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="l00098"></a>00098 <span class="keyword">            </span>{
<a name="l00099"></a>00099                 <span class="keywordflow">return</span> checkValidity_;
<a name="l00100"></a>00100             }
<a name="l00101"></a>00101 
<a name="l00102"></a>00102         <span class="keyword">private</span>:
<a name="l00103"></a>00103 
<a name="l00104"></a>00104             <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="l00105"></a>00105 <span class="keyword">            </span>{
<a name="l00106"></a>00106                 <span class="keywordflow">return</span> checkValidity_ ? si_-&gt;isValid(state) : <span class="keyword">true</span>;
<a name="l00107"></a>00107             }
<a name="l00108"></a>00108 
<a name="l00109"></a>00109             <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 name="l00110"></a>00110             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>              maxImproveSteps_;
<a name="l00111"></a>00111             <span class="keywordtype">bool</span>                      checkValidity_;
<a name="l00112"></a>00112         };
<a name="l00113"></a>00113 
<a name="l00114"></a>00114     }
<a name="l00115"></a>00115 
<a name="l00116"></a>00116 }
<a name="l00117"></a>00117 
<a name="l00118"></a>00118 <span class="preprocessor">#endif</span>
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