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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_KPIECE_LBKPIECE1_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_</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/geometric/planners/kpiece/Discretization.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="l00081"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html">00081</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html" title="Lazy Bi-directional KPIECE with one level of discretization.">LBKPIECE1</a> : <span class="keyword">public</span> base::Planner
<a name="l00082"></a>00082         {
<a name="l00083"></a>00083         <span class="keyword">public</span>:
<a name="l00084"></a>00084 
<a name="l00086"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a8e0b666627ef259f53f1f61d39e0e144">00086</a>             <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a8e0b666627ef259f53f1f61d39e0e144" title="Constructor.">LBKPIECE1</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) : base::<a class="code" href="classompl_1_1base_1_1Planner.html#a404c3be95f77983e95a468e3a7032cc9" title="Constructor.">Planner</a>(si, <span class="stringliteral">&quot;LBKPIECE1&quot;</span>),
<a name="l00087"></a>00087                                                              <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aeced0b4215221d09d1469b378b96c971" title="The start tree.">dStart_</a>(boost::bind(&amp;<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html" title="Lazy Bi-directional KPIECE with one level of discretization.">LBKPIECE1</a>::<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ad0749f58ef83e7c6206646d0b6c22640" title="Free the memory for a motion.">freeMotion</a>, this, _1)),
<a name="l00088"></a>00088                                                              <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#afb985c691eff1d1e0dafc816c4278549" title="The goal tree.">dGoal_</a>(boost::bind(&amp;<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html" title="Lazy Bi-directional KPIECE with one level of discretization.">LBKPIECE1</a>::<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ad0749f58ef83e7c6206646d0b6c22640" title="Free the memory for a motion.">freeMotion</a>, this, _1))
<a name="l00089"></a>00089             {
<a name="l00090"></a>00090                 <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#a1620a159019faf720c550eeca5723f55a6fb685fa51055688c4e130094225b7f9" title="This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible...">base::GOAL_SAMPLEABLE_REGION</a>;
<a name="l00091"></a>00091 
<a name="l00092"></a>00092                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a2232185fbc0d75b6848e10cc08913299" title="When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion.">minValidPathFraction_</a> = 0.5;
<a name="l00093"></a>00093                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0d2971f710e5e969955bca7fd81136b2" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = 0.0;
<a name="l00094"></a>00094             }
<a name="l00095"></a>00095 
<a name="l00096"></a>00096             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html" title="Lazy Bi-directional KPIECE with one level of discretization.">LBKPIECE1</a>(<span class="keywordtype">void</span>)
<a name="l00097"></a>00097             {
<a name="l00098"></a>00098             }
<a name="l00099"></a>00099 
<a name="l00102"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ad1a19e34bbf41e4417193acdb9588a01">00102</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ad1a19e34bbf41e4417193acdb9588a01" 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> &amp;projectionEvaluator)
<a name="l00103"></a>00103             {
<a name="l00104"></a>00104                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0aa6ba979bea06453f4fee03e1159556" title="The employed projection evaluator.">projectionEvaluator_</a> = projectionEvaluator;
<a name="l00105"></a>00105             }
<a name="l00106"></a>00106 
<a name="l00109"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aea762724dae8ea9fb0dd505e5547f0a0">00109</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ad1a19e34bbf41e4417193acdb9588a01" 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 &amp;name)
<a name="l00110"></a>00110             {
<a name="l00111"></a>00111                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0aa6ba979bea06453f4fee03e1159556" title="The employed projection evaluator.">projectionEvaluator_</a> = <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>-&gt;getStateSpace()-&gt;getProjection(name);
<a name="l00112"></a>00112             }
<a name="l00113"></a>00113 
<a name="l00115"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ac45d99b0a1827d4e8b06952ebce265e8">00115</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>&amp; <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ac45d99b0a1827d4e8b06952ebce265e8" title="Get the projection evaluator.">getProjectionEvaluator</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> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0aa6ba979bea06453f4fee03e1159556" title="The employed projection evaluator.">projectionEvaluator_</a>;
<a name="l00118"></a>00118             }
<a name="l00119"></a>00119 
<a name="l00125"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a7f5b7bb07df09b0004126c544e767d05">00125</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a7f5b7bb07df09b0004126c544e767d05" title="Set the range the planner is supposed to use.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00126"></a>00126             {
<a name="l00127"></a>00127                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0d2971f710e5e969955bca7fd81136b2" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = distance;
<a name="l00128"></a>00128             }
<a name="l00129"></a>00129 
<a name="l00131"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#afdbd6890a499d8862517c672c34e6fbe">00131</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#afdbd6890a499d8862517c672c34e6fbe" title="Get the range the planner is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00132"></a>00132 <span class="keyword">            </span>{
<a name="l00133"></a>00133                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0d2971f710e5e969955bca7fd81136b2" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00134"></a>00134             }
<a name="l00141"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a75bf4fdda87e444fe86ad1c5280e20eb">00141</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a75bf4fdda87e444fe86ad1c5280e20eb" title="Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...">setBorderFraction</a>(<span class="keywordtype">double</span> bp)
<a name="l00142"></a>00142             {
<a name="l00143"></a>00143                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aeced0b4215221d09d1469b378b96c971" title="The start tree.">dStart_</a>.setBorderFraction(bp);
<a name="l00144"></a>00144                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#afb985c691eff1d1e0dafc816c4278549" title="The goal tree.">dGoal_</a>.setBorderFraction(bp);
<a name="l00145"></a>00145             }
<a name="l00146"></a>00146 
<a name="l00149"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ad4f8762348eeec30097af5f4cddcc725">00149</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ad4f8762348eeec30097af5f4cddcc725" title="Get the fraction of time to focus exploration on boundary.">getBorderFraction</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00150"></a>00150 <span class="keyword">            </span>{
<a name="l00151"></a>00151                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aeced0b4215221d09d1469b378b96c971" title="The start tree.">dStart_</a>.getBorderFraction();
<a name="l00152"></a>00152             }
<a name="l00153"></a>00153 
<a name="l00160"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a127a917b708457b75841ab0fcbdc0f5d">00160</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a127a917b708457b75841ab0fcbdc0f5d" title="When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction.">setMinValidPathFraction</a>(<span class="keywordtype">double</span> fraction)
<a name="l00161"></a>00161             {
<a name="l00162"></a>00162                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a2232185fbc0d75b6848e10cc08913299" title="When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion.">minValidPathFraction_</a> = fraction;
<a name="l00163"></a>00163             }
<a name="l00164"></a>00164 
<a name="l00166"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a7db34d3bc827bff590052d51f572022c">00166</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a7db34d3bc827bff590052d51f572022c" title="Get the value of the fraction set by setMinValidPathFraction()">getMinValidPathFraction</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00167"></a>00167 <span class="keyword">            </span>{
<a name="l00168"></a>00168                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a2232185fbc0d75b6848e10cc08913299" title="When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion.">minValidPathFraction_</a>;
<a name="l00169"></a>00169             }
<a name="l00170"></a>00170 
<a name="l00171"></a>00171             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a06220eee58f4cdcdea6343e364230b61" 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="l00172"></a>00172 
<a name="l00173"></a>00173             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a5d689bbf5aa6dfa1e448cf926a786344" 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="l00174"></a>00174             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aa4685d21273a059d11866f225b92eb71" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00175"></a>00175 
<a name="l00176"></a>00176             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aa6e1f100b606a36ebc7fe9f6c9645c44" 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="l00177"></a>00177 
<a name="l00178"></a>00178         <span class="keyword">protected</span>:
<a name="l00179"></a>00179 
<a name="l00181"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html">00181</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>
<a name="l00182"></a>00182             {
<a name="l00183"></a>00183             <span class="keyword">public</span>:
<a name="l00184"></a>00184 
<a name="l00185"></a>00185                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aed3e73c089b6bf639c95d3eded41346d" title="Flag indicating whether this motion has been checked for validity.">valid</a>(<span class="keyword">false</span>)
<a name="l00186"></a>00186                 {
<a name="l00187"></a>00187                 }
<a name="l00188"></a>00188 
<a name="l00190"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aae061391718efcded6e346f2ea6ce243">00190</a>                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">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) : <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>(si-&gt;allocState()), <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aed3e73c089b6bf639c95d3eded41346d" title="Flag indicating whether this motion has been checked for validity.">valid</a>(false)
<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_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00195"></a>00195                 {
<a name="l00196"></a>00196                 }
<a name="l00197"></a>00197 
<a name="l00199"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505">00199</a>                 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a>   *<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a8c1ec81c132808c43d8eac4ae1215505" title="The root state (start state) that leads to this motion.">root</a>;
<a name="l00200"></a>00200 
<a name="l00202"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990">00202</a>                 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a>         *<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aa8e2b686b5de213e2fd0221927086990" title="The state contained by this motion.">state</a>;
<a name="l00203"></a>00203 
<a name="l00205"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4">00205</a>                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>              *<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a6a7023de2ed53ea46eccb659c81b33c4" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00206"></a>00206 
<a name="l00208"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aed3e73c089b6bf639c95d3eded41346d">00208</a>                 <span class="keywordtype">bool</span>                 <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#aed3e73c089b6bf639c95d3eded41346d" title="Flag indicating whether this motion has been checked for validity.">valid</a>;
<a name="l00209"></a>00209 
<a name="l00211"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189">00211</a>                 std::vector&lt;Motion*&gt; <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html#a9eda8240f08dc71cbed843f6d12bd189" title="The set of motions descending from the current motion.">children</a>;
<a name="l00212"></a>00212             };
<a name="l00213"></a>00213 
<a name="l00215"></a>00215             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ad0749f58ef83e7c6206646d0b6c22640" title="Free the memory for a motion.">freeMotion</a>(<a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *motion);
<a name="l00216"></a>00216 
<a name="l00218"></a>00218             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a17099eefde5f6bbcc95fc9c0492c25af" title="Remove a motion from a tree of motions.">removeMotion</a>(<a class="code" href="classompl_1_1geometric_1_1Discretization.html" title="One-level discretization used for KPIECE.">Discretization&lt;Motion&gt;</a> &amp;disc, <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* motion);
<a name="l00219"></a>00219 
<a name="l00225"></a>00225             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aa018c98afa53ab5a27ae60d9336b3d75" title="Since solutions are computed in a lazy fashion, once trees are connected, the solution found needs to...">isPathValid</a>(<a class="code" href="classompl_1_1geometric_1_1Discretization.html" title="One-level discretization used for KPIECE.">Discretization&lt;Motion&gt;</a> &amp;disc, <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* motion, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *temp);
<a name="l00226"></a>00226 
<a name="l00228"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ae02c891235992920b5c0e7b69f554c9d">00228</a>             <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">base::StateSamplerPtr</a>              <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#ae02c891235992920b5c0e7b69f554c9d" title="The employed state sampler.">sampler_</a>;
<a name="l00229"></a>00229 
<a name="l00231"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0aa6ba979bea06453f4fee03e1159556">00231</a>             <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_1LBKPIECE1.html#a0aa6ba979bea06453f4fee03e1159556" title="The employed projection evaluator.">projectionEvaluator_</a>;
<a name="l00232"></a>00232 
<a name="l00234"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aeced0b4215221d09d1469b378b96c971">00234</a>             <a class="code" href="classompl_1_1geometric_1_1Discretization.html" title="One-level discretization used for KPIECE.">Discretization&lt;Motion&gt;</a>                     <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#aeced0b4215221d09d1469b378b96c971" title="The start tree.">dStart_</a>;
<a name="l00235"></a>00235 
<a name="l00237"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#afb985c691eff1d1e0dafc816c4278549">00237</a>             <a class="code" href="classompl_1_1geometric_1_1Discretization.html" title="One-level discretization used for KPIECE.">Discretization&lt;Motion&gt;</a>                     <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#afb985c691eff1d1e0dafc816c4278549" title="The goal tree.">dGoal_</a>;
<a name="l00238"></a>00238 
<a name="l00244"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a2232185fbc0d75b6848e10cc08913299">00244</a>             <span class="keywordtype">double</span>                                     <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a2232185fbc0d75b6848e10cc08913299" title="When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion.">minValidPathFraction_</a>;
<a name="l00245"></a>00245 
<a name="l00247"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0d2971f710e5e969955bca7fd81136b2">00247</a>             <span class="keywordtype">double</span>                                     <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a0d2971f710e5e969955bca7fd81136b2" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00248"></a>00248 
<a name="l00250"></a><a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a479b1ca98e2f83020e1a9063c388ef92">00250</a>             <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>                                        <a class="code" href="classompl_1_1geometric_1_1LBKPIECE1.html#a479b1ca98e2f83020e1a9063c388ef92" title="The random number generator.">rng_</a>;
<a name="l00251"></a>00251         };
<a name="l00252"></a>00252 
<a name="l00253"></a>00253     }
<a name="l00254"></a>00254 }
<a name="l00255"></a>00255 
<a name="l00256"></a>00256 
<a name="l00257"></a>00257 <span class="preprocessor">#endif</span>
</pre></div></div>
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  <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> &bull;
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