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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) 2010, Rice University</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 Rice University 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_BASE_PLANNER_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_BASE_PLANNER_</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/ProblemDefinition.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/base/PlannerData.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &quot;ompl/base/PlannerTerminationCondition.h&quot;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &quot;ompl/util/Console.h&quot;</span>
<a name="l00045"></a>00045 <span class="preprocessor">#include &quot;ompl/util/Time.h&quot;</span>
<a name="l00046"></a>00046 <span class="preprocessor">#include &quot;ompl/util/ClassForward.h&quot;</span>
<a name="l00047"></a>00047 <span class="preprocessor">#include &lt;boost/function.hpp&gt;</span>
<a name="l00048"></a>00048 <span class="preprocessor">#include &lt;boost/concept_check.hpp&gt;</span>
<a name="l00049"></a>00049 <span class="preprocessor">#include &lt;boost/noncopyable.hpp&gt;</span>
<a name="l00050"></a>00050 <span class="preprocessor">#include &lt;string&gt;</span>
<a name="l00051"></a>00051 
<a name="l00052"></a>00052 <span class="keyword">namespace </span>ompl
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054 
<a name="l00055"></a>00055     <span class="keyword">namespace </span>base
<a name="l00056"></a>00056     {
<a name="l00057"></a>00057 
<a name="l00059"></a>00059         <a class="code" href="namespaceompl_1_1base.html#a746ce4d50a7f41d386a33d2a9ed069f8" title="Forward declaration of ompl::base::Goal.">ClassForward</a>(Planner);
<a name="l00060"></a>00060 
<a name="l00076"></a><a class="code" href="classompl_1_1base_1_1PlannerInputStates.html">00076</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1PlannerInputStates.html" title="Helper class to extract valid start &amp; goal states. Usually used internally by planners.">PlannerInputStates</a>
<a name="l00077"></a>00077         {
<a name="l00078"></a>00078         <span class="keyword">public</span>:
<a name="l00079"></a>00079 
<a name="l00081"></a><a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a20722a602321fb2c4cc102f2d2500842">00081</a>             <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a2fe6c7894683450b4a78cdb7a98137d8" title="Default constructor. No work is performed. A call to use() needs to be made, before making any calls ...">PlannerInputStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">PlannerPtr</a> &amp;planner) : planner_(planner.get())
<a name="l00082"></a>00082             {
<a name="l00083"></a>00083                 tempState_ = NULL;
<a name="l00084"></a>00084                 <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#ac75d731597972ffbd3c1d9e3d2dc6276" title="Set the space information and problem definition this class operates on, based on the available plann...">update</a>();
<a name="l00085"></a>00085             }
<a name="l00086"></a>00086 
<a name="l00088"></a><a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a50f4b865cb2d6c9d7e834be2482f6cbf">00088</a>             <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a2fe6c7894683450b4a78cdb7a98137d8" title="Default constructor. No work is performed. A call to use() needs to be made, before making any calls ...">PlannerInputStates</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Planner.html" title="Base class for a planner.">Planner</a> *planner) : planner_(planner)
<a name="l00089"></a>00089             {
<a name="l00090"></a>00090                 tempState_ = NULL;
<a name="l00091"></a>00091                 <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#ac75d731597972ffbd3c1d9e3d2dc6276" title="Set the space information and problem definition this class operates on, based on the available plann...">update</a>();
<a name="l00092"></a>00092             }
<a name="l00093"></a>00093 
<a name="l00097"></a><a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a2fe6c7894683450b4a78cdb7a98137d8">00097</a>             <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a2fe6c7894683450b4a78cdb7a98137d8" title="Default constructor. No work is performed. A call to use() needs to be made, before making any calls ...">PlannerInputStates</a>(<span class="keywordtype">void</span>) : planner_(NULL)
<a name="l00098"></a>00098             {
<a name="l00099"></a>00099                 tempState_ = NULL;
<a name="l00100"></a>00100                 <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a75e9b9d2fab9b24cf98eba799de348c7" title="Clear all stored information.">clear</a>();
<a name="l00101"></a>00101             }
<a name="l00102"></a>00102 
<a name="l00104"></a><a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a616775530a86ee49e8d1aca33fa3c3fb">00104</a>             <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a616775530a86ee49e8d1aca33fa3c3fb" title="Destructor. Clear allocated memory.">~PlannerInputStates</a>(<span class="keywordtype">void</span>)
<a name="l00105"></a>00105             {
<a name="l00106"></a>00106                 <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a75e9b9d2fab9b24cf98eba799de348c7" title="Clear all stored information.">clear</a>();
<a name="l00107"></a>00107             }
<a name="l00108"></a>00108 
<a name="l00110"></a>00110             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a75e9b9d2fab9b24cf98eba799de348c7" title="Clear all stored information.">clear</a>(<span class="keywordtype">void</span>);
<a name="l00111"></a>00111 
<a name="l00115"></a>00115             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#aef9cf9fa3142b98866960e21d23cf763" title="Forget how many states were returned by nextStart() and nextGoal() and return all states again...">restart</a>(<span class="keywordtype">void</span>);
<a name="l00116"></a>00116 
<a name="l00122"></a>00122             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#ac75d731597972ffbd3c1d9e3d2dc6276" title="Set the space information and problem definition this class operates on, based on the available plann...">update</a>(<span class="keywordtype">void</span>);
<a name="l00123"></a>00123 
<a name="l00132"></a>00132             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a839d05b48c0568ee69c2d069cac59a46" title="Set the space information and problem definition this class operates on, based on the available plann...">use</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.">SpaceInformationPtr</a> &amp;si, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html" title="A boost shared pointer wrapper for ompl::base::ProblemDefinition.">ProblemDefinitionPtr</a> &amp;pdef);
<a name="l00133"></a>00133 
<a name="l00142"></a>00142             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a839d05b48c0568ee69c2d069cac59a46" title="Set the space information and problem definition this class operates on, based on the available plann...">use</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">SpaceInformation</a> *si, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html" title="Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...">ProblemDefinition</a> *pdef);
<a name="l00143"></a>00143 
<a name="l00146"></a>00146             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a14c1e8b0dab406705098ace7152b9988" title="Check if the problem definition was set, start state are available and goal was set.">checkValidity</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00147"></a>00147 
<a name="l00150"></a>00150             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>* <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a6f4834c11eff3d11a31037b609fc04f9" title="Return the next valid start state or NULL if no more valid start states are available.">nextStart</a>(<span class="keywordtype">void</span>);
<a name="l00151"></a>00151 
<a name="l00160"></a>00160             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>* <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a76869c529ca398960c06179b420dfdbd" title="Same as above but only one attempt is made to find a valid goal.">nextGoal</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...">PlannerTerminationCondition</a> &amp;ptc);
<a name="l00161"></a>00161 
<a name="l00163"></a>00163             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>* <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a76869c529ca398960c06179b420dfdbd" title="Same as above but only one attempt is made to find a valid goal.">nextGoal</a>(<span class="keywordtype">void</span>);
<a name="l00164"></a>00164 
<a name="l00166"></a>00166             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a2b07eafe60651bc6e564a2d45d9ed53d" title="Check if there are more potential start states.">haveMoreStartStates</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00167"></a>00167 
<a name="l00169"></a>00169             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#ae4bd2a541d1d8a66254c56129c84f485" title="Check if there are more potential start states.">haveMoreGoalStates</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00170"></a>00170 
<a name="l00174"></a><a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a72a68d85cbfbe67359c27d53b7b921cd">00174</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#a72a68d85cbfbe67359c27d53b7b921cd" title="Get the number of start states from the problem definition that were already seen, including invalid ones.">getSeenStartStatesCount</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00175"></a>00175 <span class="keyword">            </span>{
<a name="l00176"></a>00176                 <span class="keywordflow">return</span> addedStartStates_;
<a name="l00177"></a>00177             }
<a name="l00178"></a>00178 
<a name="l00180"></a><a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#af22d3914810d3f47bf6b60f8b9e53584">00180</a>             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html#af22d3914810d3f47bf6b60f8b9e53584" title="Get the number of sampled goal states, including invalid ones.">getSampledGoalsCount</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00181"></a>00181 <span class="keyword">            </span>{
<a name="l00182"></a>00182                 <span class="keywordflow">return</span> sampledGoalsCount_;
<a name="l00183"></a>00183             }
<a name="l00184"></a>00184 
<a name="l00185"></a>00185         <span class="keyword">private</span>:
<a name="l00186"></a>00186 
<a name="l00187"></a>00187             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1Planner.html" title="Base class for a planner.">Planner</a>              *planner_;
<a name="l00188"></a>00188 
<a name="l00189"></a>00189             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                addedStartStates_;
<a name="l00190"></a>00190             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                sampledGoalsCount_;
<a name="l00191"></a>00191             <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">State</a>                      *tempState_;
<a name="l00192"></a>00192 
<a name="l00193"></a>00193             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html" title="Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...">ProblemDefinition</a>    *pdef_;
<a name="l00194"></a>00194             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">SpaceInformation</a>     *si_;
<a name="l00195"></a>00195         };
<a name="l00196"></a>00196 
<a name="l00198"></a><a class="code" href="structompl_1_1base_1_1PlannerSpecs.html">00198</a>         <span class="keyword">struct </span><a class="code" href="structompl_1_1base_1_1PlannerSpecs.html" title="Properties that planners may have.">PlannerSpecs</a>
<a name="l00199"></a>00199         {
<a name="l00200"></a>00200             <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html" title="Properties that planners may have.">PlannerSpecs</a>(<span class="keywordtype">void</span>) : <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#ac8a946673fef335d7a802d9ee8436804" title="The type of goal specification the planner can use.">recognizedGoal</a>(<a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55a63728e6f4a505262163e918202bd1785" title="This bit is set if casting to generic goal regions (ompl::base::Goal) is possible. This bit shold always be set.">GOAL_ANY</a>), <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a7ef07a003ebc248097f479168d75a1e3" title="Flag indicating whether multiple threads are used in the computation of the planner.">multithreaded</a>(<span class="keyword">false</span>), <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#ae2facc9260851b161577e36f5a4baefc" title="Flag indicating whether the planner is able to compute approximate solutions.">approximateSolutions</a>(<span class="keyword">false</span>),
<a name="l00201"></a>00201                                  <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a83869b1cd49a91e29b0b926188402a0a" title="Flag indicating whether the planner attempts to optimize the path and reduce its length until the max...">optimizingPaths</a>(<span class="keyword">false</span>), <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a21f60315a43d50ea675a2a68d3fe2ad3" title="Flag indicating whether probabilities of success are computed by the planner.">estimatingProbabilities</a>(<span class="keyword">false</span>)
<a name="l00202"></a>00202             {
<a name="l00203"></a>00203             }
<a name="l00204"></a>00204 
<a name="l00206"></a><a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#ac8a946673fef335d7a802d9ee8436804">00206</a>             <a class="code" href="namespaceompl_1_1base.html#a1620a159019faf720c550eeca5723f55" title="The type of goal.">GoalType</a> <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#ac8a946673fef335d7a802d9ee8436804" title="The type of goal specification the planner can use.">recognizedGoal</a>;
<a name="l00207"></a>00207 
<a name="l00209"></a><a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a7ef07a003ebc248097f479168d75a1e3">00209</a>             <span class="keywordtype">bool</span>     <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a7ef07a003ebc248097f479168d75a1e3" title="Flag indicating whether multiple threads are used in the computation of the planner.">multithreaded</a>;
<a name="l00210"></a>00210 
<a name="l00212"></a><a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#ae2facc9260851b161577e36f5a4baefc">00212</a>             <span class="keywordtype">bool</span>     <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#ae2facc9260851b161577e36f5a4baefc" title="Flag indicating whether the planner is able to compute approximate solutions.">approximateSolutions</a>;
<a name="l00213"></a>00213 
<a name="l00216"></a><a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a83869b1cd49a91e29b0b926188402a0a">00216</a>             <span class="keywordtype">bool</span>     <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a83869b1cd49a91e29b0b926188402a0a" title="Flag indicating whether the planner attempts to optimize the path and reduce its length until the max...">optimizingPaths</a>;
<a name="l00217"></a>00217 
<a name="l00219"></a><a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a21f60315a43d50ea675a2a68d3fe2ad3">00219</a>             <span class="keywordtype">bool</span>     <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html#a21f60315a43d50ea675a2a68d3fe2ad3" title="Flag indicating whether probabilities of success are computed by the planner.">estimatingProbabilities</a>;
<a name="l00220"></a>00220         };
<a name="l00221"></a>00221 
<a name="l00223"></a><a class="code" href="classompl_1_1base_1_1Planner.html">00223</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1base_1_1Planner.html" title="Base class for a planner.">Planner</a> : <span class="keyword">private</span> boost::noncopyable
<a name="l00224"></a>00224         {
<a name="l00225"></a>00225 
<a name="l00226"></a>00226         <span class="keyword">public</span>:
<a name="l00227"></a>00227 
<a name="l00229"></a>00229             <a class="code" href="classompl_1_1base_1_1Planner.html#a404c3be95f77983e95a468e3a7032cc9" title="Constructor.">Planner</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.">SpaceInformationPtr</a> &amp;si, <span class="keyword">const</span> std::string &amp;name);
<a name="l00230"></a>00230 
<a name="l00232"></a><a class="code" href="classompl_1_1base_1_1Planner.html#a2a927f469de8ed4800124b8647e90ff2">00232</a>             <span class="keyword">virtual</span> <a class="code" href="classompl_1_1base_1_1Planner.html#a2a927f469de8ed4800124b8647e90ff2" title="Destructor.">~Planner</a>(<span class="keywordtype">void</span>)
<a name="l00233"></a>00233             {
<a name="l00234"></a>00234             }
<a name="l00235"></a>00235 
<a name="l00237"></a>00237             <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt;
<a name="l00238"></a><a class="code" href="classompl_1_1base_1_1Planner.html#a8bfc5a1bb13e225916d50efcb25babda">00238</a>             T* <a class="code" href="classompl_1_1base_1_1Planner.html#a8bfc5a1bb13e225916d50efcb25babda" title="Cast this instance to a desired type.">as</a>(<span class="keywordtype">void</span>)
<a name="l00239"></a>00239             {
<a name="l00241"></a>00241                 BOOST_CONCEPT_ASSERT((boost::Convertible&lt;T*, Planner*&gt;));
<a name="l00242"></a>00242 
<a name="l00243"></a>00243                 <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span>T*<span class="keyword">&gt;</span>(<span class="keyword">this</span>);
<a name="l00244"></a>00244             }
<a name="l00245"></a>00245 
<a name="l00247"></a>00247             <span class="keyword">template</span>&lt;<span class="keyword">class</span> T&gt;
<a name="l00248"></a><a class="code" href="classompl_1_1base_1_1Planner.html#ad85a6b1b927e6ab39f60cb4f06d2e860">00248</a>             <span class="keyword">const</span> T* <a class="code" href="classompl_1_1base_1_1Planner.html#a8bfc5a1bb13e225916d50efcb25babda" title="Cast this instance to a desired type.">as</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00249"></a>00249 <span class="keyword">            </span>{
<a name="l00251"></a>00251                 BOOST_CONCEPT_ASSERT((boost::Convertible&lt;T*, Planner*&gt;));
<a name="l00252"></a>00252 
<a name="l00253"></a>00253                 <span class="keywordflow">return</span> <span class="keyword">static_cast&lt;</span><span class="keyword">const </span>T*<span class="keyword">&gt;</span>(<span class="keyword">this</span>);
<a name="l00254"></a>00254             }
<a name="l00255"></a>00255 
<a name="l00257"></a>00257             <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.">SpaceInformationPtr</a>&amp; <a class="code" href="classompl_1_1base_1_1Planner.html#abd67578122e0570d660a4fed1e9c29f9" title="Get the space information this planner is using.">getSpaceInformation</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00258"></a>00258 
<a name="l00260"></a>00260             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html" title="A boost shared pointer wrapper for ompl::base::ProblemDefinition.">ProblemDefinitionPtr</a>&amp; <a class="code" href="classompl_1_1base_1_1Planner.html#a36418059931204dbbd3a0dc148a6c560" title="Get the problem definition the planner is trying to solve.">getProblemDefinition</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00261"></a>00261 
<a name="l00263"></a>00263             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html" title="Helper class to extract valid start &amp; goal states. Usually used internally by planners.">PlannerInputStates</a>&amp; <a class="code" href="classompl_1_1base_1_1Planner.html#aa44f2bd4c2c9ded89c6d09df668ed28c" title="Get the planner input states.">getPlannerInputStates</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00264"></a>00264 
<a name="l00269"></a>00269             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Planner.html#add968ea14f1aa3d3bffc110da3e1d031" title="Set the problem definition for the planner. The problem needs to be set before calling solve()...">setProblemDefinition</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html" title="A boost shared pointer wrapper for ompl::base::ProblemDefinition.">ProblemDefinitionPtr</a> &amp;pdef);
<a name="l00270"></a>00270 
<a name="l00283"></a>00283             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Planner.html#acc87e95df04aa24ec52e24281c9fc223" 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...">PlannerTerminationCondition</a> &amp;ptc) = 0;
<a name="l00284"></a>00284 
<a name="l00287"></a>00287             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Planner.html#acc87e95df04aa24ec52e24281c9fc223" 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="namespaceompl_1_1base.html#a23037e2dfd720e4b1b7b4d1c6b09ba1d" title="Signature for functions that decide whether termination conditions have been met for a planner...">PlannerTerminationConditionFn</a> &amp;ptc, <span class="keywordtype">double</span> checkInterval);
<a name="l00288"></a>00288 
<a name="l00292"></a>00292             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Planner.html#acc87e95df04aa24ec52e24281c9fc223" title="Function that can solve the motion planning problem. This function can be called multiple times on th...">solve</a>(<span class="keywordtype">double</span> solveTime);
<a name="l00293"></a>00293 
<a name="l00297"></a>00297             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Planner.html#a7e99408ada6e1572a14509fd566ae8b8" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00298"></a>00298 
<a name="l00305"></a>00305             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Planner.html#afaaf08c87f8797803fbeb60771635ea5" 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.">PlannerData</a> &amp;data) <span class="keyword">const</span>;
<a name="l00306"></a>00306 
<a name="l00308"></a>00308             <span class="keyword">const</span> std::string&amp; <a class="code" href="classompl_1_1base_1_1Planner.html#a79bac96f3b6f6e07c24f4b407054f8a3" title="Get the name of the planner.">getName</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00309"></a>00309 
<a name="l00311"></a>00311             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Planner.html#a99bb12c016b06563aab6bba5cdbed01e" title="Set the name of the planner.">setName</a>(<span class="keyword">const</span> std::string &amp;name);
<a name="l00312"></a>00312 
<a name="l00314"></a>00314             <span class="keyword">const</span> <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html" title="Properties that planners may have.">PlannerSpecs</a>&amp; <a class="code" href="classompl_1_1base_1_1Planner.html#a4bb041dbd7b894a46b71bda3a90f2273" title="Return the specifications (capabilities of this planner)">getSpecs</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00315"></a>00315 
<a name="l00320"></a>00320             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Planner.html#a948cef726b875317e53ea0f21af40efc" 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="l00321"></a>00321 
<a name="l00326"></a>00326             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1base_1_1Planner.html#ac28fad162751216095efed0f08fe1da9" title="Check to see if the planner is in a working state (setup has been called, a goal was set...">checkValidity</a>(<span class="keywordtype">void</span>);
<a name="l00327"></a>00327 
<a name="l00329"></a>00329             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1base_1_1Planner.html#a2e8966fccd27780c580fd80b89c3221e" title="Check if setup() was called for this planner.">isSetup</a>(<span class="keywordtype">void</span>) <span class="keyword">const</span>;
<a name="l00330"></a>00330 
<a name="l00331"></a>00331         <span class="keyword">protected</span>:
<a name="l00332"></a>00332 
<a name="l00334"></a><a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e">00334</a>             <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">SpaceInformationPtr</a>  <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>;
<a name="l00335"></a>00335 
<a name="l00337"></a><a class="code" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5">00337</a>             <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html" title="A boost shared pointer wrapper for ompl::base::ProblemDefinition.">ProblemDefinitionPtr</a> <a class="code" href="classompl_1_1base_1_1Planner.html#a6bbb3dcc3d1604977e319d52c16ef7e5" title="The user set problem definition.">pdef_</a>;
<a name="l00338"></a>00338 
<a name="l00340"></a><a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436">00340</a>             <a class="code" href="classompl_1_1base_1_1PlannerInputStates.html" title="Helper class to extract valid start &amp; goal states. Usually used internally by planners.">PlannerInputStates</a>   <a class="code" href="classompl_1_1base_1_1Planner.html#a1c6ac45d44026aae6df87f3295d67436" title="Utility class to extract valid input states.">pis_</a>;
<a name="l00341"></a>00341 
<a name="l00343"></a><a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97">00343</a>             std::string          <a class="code" href="classompl_1_1base_1_1Planner.html#a806de82eeff9ef9231963a9851524b97" title="The name of this planner.">name_</a>;
<a name="l00344"></a>00344 
<a name="l00346"></a><a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365">00346</a>             <a class="code" href="structompl_1_1base_1_1PlannerSpecs.html" title="Properties that planners may have.">PlannerSpecs</a>         <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365" title="The specifications of the planner (its capabilities)">specs_</a>;
<a name="l00347"></a>00347 
<a name="l00349"></a><a class="code" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed">00349</a>             <span class="keywordtype">bool</span>                 <a class="code" href="classompl_1_1base_1_1Planner.html#adba44a4ee27079c5b258a2ebed719eed" title="Flag indicating whether setup() has been called.">setup_</a>;
<a name="l00350"></a>00350 
<a name="l00352"></a><a class="code" href="classompl_1_1base_1_1Planner.html#a3d9d2154392751bd02c542fcdd9279f1">00352</a>             <a class="code" href="classompl_1_1msg_1_1Interface.html" title="The piece of code that desires interaction with an action or an output handler should use an instance...">msg::Interface</a>       <a class="code" href="classompl_1_1base_1_1Planner.html#a3d9d2154392751bd02c542fcdd9279f1" title="Console interface.">msg_</a>;
<a name="l00353"></a>00353         };
<a name="l00354"></a>00354 
<a name="l00356"></a><a class="code" href="namespaceompl_1_1base.html#a52191d97eed3ef76517fd4f6f94d27a9">00356</a>         <span class="keyword">typedef</span> boost::function1&lt;PlannerPtr, const SpaceInformationPtr&amp;&gt; <a class="code" href="namespaceompl_1_1base.html#a52191d97eed3ef76517fd4f6f94d27a9" title="Definition of a function that can allocate a planner.">PlannerAllocator</a>;
<a name="l00357"></a>00357     }
<a name="l00358"></a>00358 }
<a name="l00359"></a>00359 
<a name="l00360"></a>00360 <span class="preprocessor">#endif</span>
</pre></div></div>
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