Sophie

Sophie

distrib > Fedora > 14 > x86_64 > media > updates > by-pkgid > e7618febbb9cbed15bb79e326774c050 > files > 181

ompl-devel-0.9.5-1.fc14.i686.rpm

<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml; charset=UTF-8"/>
<title>OMPL: src/ompl/geometric/planners/rrt/LazyRRT.h Source File</title>
<meta name="author" content="Ioan A. Șucan, Mark Moll, Lydia E. Kavraki">
<link rel="stylesheet" href="../css/screen.css" type="text/css" media="screen, projection">
<link rel="stylesheet" href="../css/print.css" type="text/css" media="print">
<!--[if lt IE 7]>
<script type="text/javascript" src="../js/jquery/jquery.js"></script>
<script type="text/javascript" src="../js/jquery/jquery.dropdown.js"></script>
<![endif]-->
<script type="text/javaScript" src="search/search.js"></script>
<script type="text/javascript">
  var _gaq = _gaq || [];
  _gaq.push(['_setAccount', 'UA-9156598-2']);
  _gaq.push(['_trackPageview']);
  (function() {
    var ga = document.createElement('script'); ga.type = 'text/javascript'; ga.async = true;
    ga.src = ('https:' == document.location.protocol ? 'https://ssl' : 'http://www') + '.google-analytics.com/ga.js';
    var s = document.getElementsByTagName('script')[0]; s.parentNode.insertBefore(ga, s);
  })();
</script>
</head>
<body onload='searchBox.OnSelectItem(0);'>
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search API');
--></script>
<div class="navigation" id="top">
  <div class="tabs" id="ompltitle">
    <ul class="tablist">
      <li>The Open Motion Planning Library</li>
      <li id="searchli">
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search API" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)"
               onblur="searchBox.OnSearchFieldFocus(false)"
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>

  <ul id="nav" class="dropdown">
    <li class="first"><a href="index.html">Home</a></li>
    <li><a href="download.html">Download</a></li>
    <li><a href="documentation.html">Documentation</a></li>
    <li><span class="dir">Code API</span>
      <ul>
        <li><a href="api_overview.html">API Overview</a></li>
        <li><a href="namespaces.html">Namespaces</a></li>
        <li><a href="annotated.html">Classes</a></li>
        <li><a href="files.html">Files</a></li>
        <li><a href="dirs.html">Directories</a></li>
      </ul>
    </li>
    <li><span class="dir">Community</span>
      <ul>
        <li><a href="developers.html">Developers</a></li>
        <li><a href="thirdparty.html">Contributions</a></li>
        <li><a href="education.html">Education</a></li>
        <li><a href="gallery.html">Gallery</a></li>
      </ul>
    </li>
    <li><span class="dir">About</span>
      <ul>
        <li><a href="license.html">License</a></li>
        <li><a href="citations.html">Citations</a></li>
        <li><a href="acknowledgements.html">Acknowledgments</a></li>
        <li><a href="contact.html">Contact Us</a></li>
      </ul>
    </li>
  </ul>
</div>

<!--- window showing the filter options -->
<div id="MSearchSelectWindow"
  onmouseover="return searchBox.OnSearchSelectShow()"
  onmouseout="return searchBox.OnSearchSelectHide()"
  onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
  <iframe src="" frameborder="0"name="MSearchResults" id="MSearchResults"></iframe>
</div>

<div class="container">
  <div class="span-22 push-2 first last">
  <div>
<!-- Generated by Doxygen 1.7.4 -->
<script type="text/javascript"><!--
var searchBox = new SearchBox("searchBox", "search",false,'Search');
--></script>
  <div id="nav-path" class="navpath">
    <ul>
      <li class="navelem"><a class="el" href="dir_f5421e52a658cd938113ed6044324834.html">src</a>      </li>
      <li class="navelem"><a class="el" href="dir_ae92c2ff78847f0cb49b545f9089bbbc.html">ompl</a>      </li>
      <li class="navelem"><a class="el" href="dir_09c87af92e12dad9ad42621ff12ca21c.html">geometric</a>      </li>
      <li class="navelem"><a class="el" href="dir_ea5fd944e8f903b1c975832ff4982cc4.html">planners</a>      </li>
      <li class="navelem"><a class="el" href="dir_890a98498d27a04732c22f6c5c9a3258.html">rrt</a>      </li>
    </ul>
  </div>
</div>
<div class="header">
  <div class="headertitle">
<div class="title">LazyRRT.h</div>  </div>
</div>
<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00002"></a>00002 <span class="comment">/*********************************************************************</span>
<a name="l00003"></a>00003 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00004"></a>00004 <span class="comment">*</span>
<a name="l00005"></a>00005 <span class="comment">*  Copyright (c) 2008, Willow Garage, Inc.</span>
<a name="l00006"></a>00006 <span class="comment">*  All rights reserved.</span>
<a name="l00007"></a>00007 <span class="comment">*</span>
<a name="l00008"></a>00008 <span class="comment">*  Redistribution and use in source and binary forms, with or without</span>
<a name="l00009"></a>00009 <span class="comment">*  modification, are permitted provided that the following conditions</span>
<a name="l00010"></a>00010 <span class="comment">*  are met:</span>
<a name="l00011"></a>00011 <span class="comment">*</span>
<a name="l00012"></a>00012 <span class="comment">*   * Redistributions of source code must retain the above copyright</span>
<a name="l00013"></a>00013 <span class="comment">*     notice, this list of conditions and the following disclaimer.</span>
<a name="l00014"></a>00014 <span class="comment">*   * Redistributions in binary form must reproduce the above</span>
<a name="l00015"></a>00015 <span class="comment">*     copyright notice, this list of conditions and the following</span>
<a name="l00016"></a>00016 <span class="comment">*     disclaimer in the documentation and/or other materials provided</span>
<a name="l00017"></a>00017 <span class="comment">*     with the distribution.</span>
<a name="l00018"></a>00018 <span class="comment">*   * Neither the name of the Willow Garage nor the names of its</span>
<a name="l00019"></a>00019 <span class="comment">*     contributors may be used to endorse or promote products derived</span>
<a name="l00020"></a>00020 <span class="comment">*     from this software without specific prior written permission.</span>
<a name="l00021"></a>00021 <span class="comment">*</span>
<a name="l00022"></a>00022 <span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00023"></a>00023 <span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00024"></a>00024 <span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00025"></a>00025 <span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00026"></a>00026 <span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00027"></a>00027 <span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00028"></a>00028 <span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00029"></a>00029 <span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00030"></a>00030 <span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00031"></a>00031 <span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00032"></a>00032 <span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00033"></a>00033 <span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00034"></a>00034 <span class="comment">*********************************************************************/</span>
<a name="l00035"></a>00035 
<a name="l00036"></a>00036 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00037"></a>00037 
<a name="l00038"></a>00038 <span class="preprocessor">#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_</span>
<a name="l00040"></a>00040 <span class="preprocessor"></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include &quot;ompl/geometric/planners/PlannerIncludes.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/datastructures/NearestNeighbors.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00044"></a>00044 
<a name="l00045"></a>00045 <span class="keyword">namespace </span>ompl
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 
<a name="l00048"></a>00048     <span class="keyword">namespace </span>geometric
<a name="l00049"></a>00049     {
<a name="l00050"></a>00050 
<a name="l00081"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html">00081</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html" title="Lazy RRT.">LazyRRT</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_1LazyRRT.html#a2dc07de136a0b403de8c6a3a1522e37b">00086</a>             <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a2dc07de136a0b403de8c6a3a1522e37b" title="Constructor.">LazyRRT</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;LazyRRT&quot;</span>)
<a name="l00087"></a>00087             {
<a name="l00088"></a>00088                 <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a10e6b543e9422141d63192733e47dd55" title="The fraction of time the goal is picked as the state to expand towards (if such a state is available)...">goalBias_</a> = 0.05;
<a name="l00089"></a>00089                 <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a612432cabf814516d250b47fb5e0d62a" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = 0.0;
<a name="l00090"></a>00090             }
<a name="l00091"></a>00091 
<a name="l00092"></a>00092             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1LazyRRT.html" title="Lazy RRT.">LazyRRT</a>(<span class="keywordtype">void</span>)
<a name="l00093"></a>00093             {
<a name="l00094"></a>00094                 <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a21ce9a20731d24c7222375897bed6e10" title="Free the memory allocated by this planner.">freeMemory</a>();
<a name="l00095"></a>00095             }
<a name="l00096"></a>00096 
<a name="l00097"></a>00097             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#ab8a78fadcee41bf3049db08449f03d44" 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="l00098"></a>00098 
<a name="l00099"></a>00099             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a89e32e1117a14b0b92cb572d6782a338" 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="l00100"></a>00100 
<a name="l00101"></a>00101             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a317cca896afd2f10cc258ae0bc12c40f" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00102"></a>00102 
<a name="l00112"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a10f898a72e483d07aeb1c342da680647">00112</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a10f898a72e483d07aeb1c342da680647" title="Set the goal biasing.">setGoalBias</a>(<span class="keywordtype">double</span> goalBias)
<a name="l00113"></a>00113             {
<a name="l00114"></a>00114                 <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a10e6b543e9422141d63192733e47dd55" title="The fraction of time the goal is picked as the state to expand towards (if such a state is available)...">goalBias_</a> = goalBias;
<a name="l00115"></a>00115             }
<a name="l00116"></a>00116 
<a name="l00118"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a28ec024c05f74939f21c01e47dcf78d6">00118</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a28ec024c05f74939f21c01e47dcf78d6" title="Get the goal bias the planner is using.">getGoalBias</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00119"></a>00119 <span class="keyword">            </span>{
<a name="l00120"></a>00120                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a10e6b543e9422141d63192733e47dd55" title="The fraction of time the goal is picked as the state to expand towards (if such a state is available)...">goalBias_</a>;
<a name="l00121"></a>00121             }
<a name="l00122"></a>00122 
<a name="l00128"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a3ad217eae43c5334c541ca1b970cd05a">00128</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a3ad217eae43c5334c541ca1b970cd05a" title="Set the range the planner is supposed to use.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00129"></a>00129             {
<a name="l00130"></a>00130                 <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a612432cabf814516d250b47fb5e0d62a" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = distance;
<a name="l00131"></a>00131             }
<a name="l00132"></a>00132 
<a name="l00134"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a3ae7f85c0d6ca5ba725fc2983ef28fa6">00134</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a3ae7f85c0d6ca5ba725fc2983ef28fa6" title="Get the range the planner is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00135"></a>00135 <span class="keyword">            </span>{
<a name="l00136"></a>00136                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a612432cabf814516d250b47fb5e0d62a" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00137"></a>00137             }
<a name="l00138"></a>00138 
<a name="l00140"></a>00140             <span class="keyword">template</span>&lt;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> T&gt; <span class="keyword">class </span>NN&gt;
<a name="l00141"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a488c07ee63b76ac6803bd6db3802c2cf">00141</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a488c07ee63b76ac6803bd6db3802c2cf" title="Set a different nearest neighbors datastructure.">setNearestNeighbors</a>(<span class="keywordtype">void</span>)
<a name="l00142"></a>00142             {
<a name="l00143"></a>00143                 <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a1ae555b97d79c365ad4c2f83a92cb3b1" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>.reset(<span class="keyword">new</span> NN&lt;Motion*&gt;());
<a name="l00144"></a>00144             }
<a name="l00145"></a>00145 
<a name="l00146"></a>00146             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#aa4450cc175b9dc5d69982d62167ca21f" title="Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...">setup</a>(<span class="keywordtype">void</span>);
<a name="l00147"></a>00147 
<a name="l00148"></a>00148         <span class="keyword">protected</span>:
<a name="l00149"></a>00149 
<a name="l00151"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html">00151</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a>
<a name="l00152"></a>00152             {
<a name="l00153"></a>00153             <span class="keyword">public</span>:
<a name="l00154"></a>00154 
<a name="l00155"></a>00155                 <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be" title="The parent motion in the exploration tree.">parent</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abfb04aece324f8c752b1070cf03247de" title="Flag indicating whether this motion has been validated.">valid</a>(<span class="keyword">false</span>)
<a name="l00156"></a>00156                 {
<a name="l00157"></a>00157                 }
<a name="l00158"></a>00158 
<a name="l00160"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#af7627ac68593b7e94950836c05fc617e">00160</a>                 <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">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_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>(si-&gt;allocState()), <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be" title="The parent motion in the exploration tree.">parent</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abfb04aece324f8c752b1070cf03247de" title="Flag indicating whether this motion has been validated.">valid</a>(false)
<a name="l00161"></a>00161                 {
<a name="l00162"></a>00162                 }
<a name="l00163"></a>00163 
<a name="l00164"></a>00164                 ~<a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00165"></a>00165                 {
<a name="l00166"></a>00166                 }
<a name="l00167"></a>00167 
<a name="l00169"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d">00169</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_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>;
<a name="l00170"></a>00170 
<a name="l00172"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be">00172</a>                 <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a>               *<a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#a7cf8143be840e71b21fa8837507f50be" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00173"></a>00173 
<a name="l00175"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abfb04aece324f8c752b1070cf03247de">00175</a>                 <span class="keywordtype">bool</span>                  <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abfb04aece324f8c752b1070cf03247de" title="Flag indicating whether this motion has been validated.">valid</a>;
<a name="l00176"></a>00176 
<a name="l00178"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#aede9f2698536438cb1e651537f6c9abb">00178</a>                 std::vector&lt;Motion*&gt;  <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#aede9f2698536438cb1e651537f6c9abb" title="The set of motions that descend from this one.">children</a>;
<a name="l00179"></a>00179             };
<a name="l00180"></a>00180 
<a name="l00182"></a>00182             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a21ce9a20731d24c7222375897bed6e10" title="Free the memory allocated by this planner.">freeMemory</a>(<span class="keywordtype">void</span>);
<a name="l00183"></a>00183 
<a name="l00185"></a>00185             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a52db5160e4d6d95b94fd24ca0e8ed7ed" title="Remove a motion from the tree datastructure.">removeMotion</a>(<a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *motion);
<a name="l00186"></a>00186 
<a name="l00188"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#aba8dc49513af11bcb4c9d4d819a59a55">00188</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#aba8dc49513af11bcb4c9d4d819a59a55" title="Compute distance between motions (actually distance between contained states)">distanceFunction</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a>* a, <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html" title="Representation of a motion.">Motion</a>* b)<span class="keyword"> const</span>
<a name="l00189"></a>00189 <span class="keyword">            </span>{
<a name="l00190"></a>00190                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>-&gt;distance(a-&gt;<a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>, b-&gt;<a class="code" href="classompl_1_1geometric_1_1LazyRRT_1_1Motion.html#abe60e6fad09f70801cae054c6c44a05d" title="The state contained by the motion.">state</a>);
<a name="l00191"></a>00191             }
<a name="l00192"></a>00192 
<a name="l00194"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a5aa999ccbedbabb3fa1fddc4f32ba868">00194</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_1LazyRRT.html#a5aa999ccbedbabb3fa1fddc4f32ba868" title="State sampler.">sampler_</a>;
<a name="l00195"></a>00195 
<a name="l00197"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a1ae555b97d79c365ad4c2f83a92cb3b1">00197</a>             boost::shared_ptr&lt; NearestNeighbors&lt;Motion*&gt; &gt; <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a1ae555b97d79c365ad4c2f83a92cb3b1" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>;
<a name="l00198"></a>00198 
<a name="l00200"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a10e6b543e9422141d63192733e47dd55">00200</a>             <span class="keywordtype">double</span>                                         <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a10e6b543e9422141d63192733e47dd55" title="The fraction of time the goal is picked as the state to expand towards (if such a state is available)...">goalBias_</a>;
<a name="l00201"></a>00201 
<a name="l00203"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a612432cabf814516d250b47fb5e0d62a">00203</a>             <span class="keywordtype">double</span>                                         <a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a612432cabf814516d250b47fb5e0d62a" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00204"></a>00204 
<a name="l00206"></a><a class="code" href="classompl_1_1geometric_1_1LazyRRT.html#a95998cdb5bc1e7fd7c49c9d5edfd586f">00206</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_1LazyRRT.html#a95998cdb5bc1e7fd7c49c9d5edfd586f" title="The random number generator.">rng_</a>;
<a name="l00207"></a>00207 
<a name="l00208"></a>00208         };
<a name="l00209"></a>00209 
<a name="l00210"></a>00210     }
<a name="l00211"></a>00211 }
<a name="l00212"></a>00212 
<a name="l00213"></a>00213 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
<a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(0)"><span class="SelectionMark">&#160;</span>All</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(1)"><span class="SelectionMark">&#160;</span>Classes</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(2)"><span class="SelectionMark">&#160;</span>Namespaces</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(3)"><span class="SelectionMark">&#160;</span>Functions</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(4)"><span class="SelectionMark">&#160;</span>Variables</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(5)"><span class="SelectionMark">&#160;</span>Typedefs</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(6)"><span class="SelectionMark">&#160;</span>Enumerations</a><a class="SelectItem" href="javascript:void(0)" onclick="searchBox.OnSelectItem(7)"><span class="SelectionMark">&#160;</span>Enumerator</a></div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

</div>

<div class="footer span-22 push-2 last">
  <a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> &bull;
  <a href="http://www.cs.rice.edu">Department of Computer Science</a> &bull;
  <a href="http://www.rice.edu">Rice University</a><br>
  <div class="gray">Generated on Sun Oct 9 2011 23:04:40 by&#160;<a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
</div>
</div>
</body>
</html>

Perl :: Catalyst :: PostgreSQL :: RPM Valid HTML 4.01 Transitional