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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_RRT_RRT_CONNECT_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_</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/datastructures/NearestNeighbors.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="l00063"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html">00063</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html" title="RRT-Connect (RRTConnect)">RRTConnect</a> : <span class="keyword">public</span> base::Planner
<a name="l00064"></a>00064         {
<a name="l00065"></a>00065         <span class="keyword">public</span>:
<a name="l00066"></a>00066 
<a name="l00068"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a918795ad317b8cee40184c3e289f8d51">00068</a>             <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a918795ad317b8cee40184c3e289f8d51" title="Constructor.">RRTConnect</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;RRTConnect&quot;</span>)
<a name="l00069"></a>00069             {
<a name="l00070"></a>00070                 <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="l00071"></a>00071                 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a299caf818f757d96793d1bc092a665b3" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = 0.0;
<a name="l00072"></a>00072             }
<a name="l00073"></a>00073 
<a name="l00074"></a>00074             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1RRTConnect.html" title="RRT-Connect (RRTConnect)">RRTConnect</a>(<span class="keywordtype">void</span>)
<a name="l00075"></a>00075             {
<a name="l00076"></a>00076                 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a9d0cee3c86dff92db60fe02806f5a27c" title="Free the memory allocated by this planner.">freeMemory</a>();
<a name="l00077"></a>00077             }
<a name="l00078"></a>00078 
<a name="l00079"></a>00079             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a32e3f019f790cb85b1f97a6cacb02e02" 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="l00080"></a>00080 
<a name="l00081"></a>00081             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#ad092b4c369524ec515a0e034ca0841a8" 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="l00082"></a>00082 
<a name="l00083"></a>00083             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a326036b610e5499a9a670ea4710e8836" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00084"></a>00084 
<a name="l00090"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6d672e3b8c4e5f09719a5db74c75ca41">00090</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6d672e3b8c4e5f09719a5db74c75ca41" title="Set the range the planner is supposed to use.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00091"></a>00091             {
<a name="l00092"></a>00092                 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a299caf818f757d96793d1bc092a665b3" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = distance;
<a name="l00093"></a>00093             }
<a name="l00094"></a>00094 
<a name="l00096"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a3f06e1c02794be2aa0772c24a884e23d">00096</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a3f06e1c02794be2aa0772c24a884e23d" title="Get the range the planner is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00097"></a>00097 <span class="keyword">            </span>{
<a name="l00098"></a>00098                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a299caf818f757d96793d1bc092a665b3" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00099"></a>00099             }
<a name="l00100"></a>00100 
<a name="l00102"></a>00102             <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="l00103"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#aaba0205ad436dc8d4e339ce5d06c159a">00103</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#aaba0205ad436dc8d4e339ce5d06c159a" title="Set a different nearest neighbors datastructure.">setNearestNeighbors</a>(<span class="keywordtype">void</span>)
<a name="l00104"></a>00104             {
<a name="l00105"></a>00105                 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a91ce4e34b670b36588fdcc7030fe692d" title="The start tree.">tStart_</a>.reset(<span class="keyword">new</span> NN&lt;Motion*&gt;());
<a name="l00106"></a>00106                 <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#aeeb74200ede46e3d1eef584325ec1484" title="The goal tree.">tGoal_</a>.reset(<span class="keyword">new</span> NN&lt;Motion*&gt;());
<a name="l00107"></a>00107             }
<a name="l00108"></a>00108 
<a name="l00109"></a>00109             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a860d8f7ab5c9b791dac4bf4aaaf305e6" 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="l00110"></a>00110 
<a name="l00111"></a>00111         <span class="keyword">protected</span>:
<a name="l00112"></a>00112 
<a name="l00114"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html">00114</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>
<a name="l00115"></a>00115             {
<a name="l00116"></a>00116             <span class="keyword">public</span>:
<a name="l00117"></a>00117 
<a name="l00118"></a>00118                 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>) : root(NULL), state(NULL), parent(NULL)
<a name="l00119"></a>00119                 {
<a name="l00120"></a>00120                     parent = NULL;
<a name="l00121"></a>00121                     state  = NULL;
<a name="l00122"></a>00122                 }
<a name="l00123"></a>00123 
<a name="l00124"></a>00124                 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_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) : root(NULL), state(si-&gt;allocState()), parent(NULL)
<a name="l00125"></a>00125                 {
<a name="l00126"></a>00126                 }
<a name="l00127"></a>00127 
<a name="l00128"></a>00128                 ~<a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00129"></a>00129                 {
<a name="l00130"></a>00130                 }
<a name="l00131"></a>00131 
<a name="l00132"></a>00132                 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *root;
<a name="l00133"></a>00133                 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a>       *state;
<a name="l00134"></a>00134                 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>            *parent;
<a name="l00135"></a>00135 
<a name="l00136"></a>00136             };
<a name="l00137"></a>00137 
<a name="l00139"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a605e6a7c713167b8655d06a8a30b91ef">00139</a>             <span class="keyword">typedef</span> boost::shared_ptr&lt; NearestNeighbors&lt;Motion*&gt; &gt; <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a605e6a7c713167b8655d06a8a30b91ef" title="A nearest-neighbor datastructure representing a tree of motions.">TreeData</a>;
<a name="l00140"></a>00140 
<a name="l00142"></a><a class="code" href="structompl_1_1geometric_1_1RRTConnect_1_1TreeGrowingInfo.html">00142</a>             <span class="keyword">struct </span><a class="code" href="structompl_1_1geometric_1_1RRTConnect_1_1TreeGrowingInfo.html" title="Information attached to growing a tree of motions (used internally)">TreeGrowingInfo</a>
<a name="l00143"></a>00143             {
<a name="l00144"></a>00144                 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a>         *xstate;
<a name="l00145"></a>00145                 <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>              *xmotion;
<a name="l00146"></a>00146             };
<a name="l00147"></a>00147 
<a name="l00149"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4b">00149</a>             <span class="keyword">enum</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4b" title="The state of the tree after an attempt to extend it.">GrowState</a>
<a name="l00150"></a>00150                 {
<a name="l00152"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4ba8c504cf08c1829a11f98ce4d6f38320b">00152</a>                     <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4ba8c504cf08c1829a11f98ce4d6f38320b" title="no progress has been made">TRAPPED</a>,
<a name="l00154"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4ba0969940dcdb34f22e1a1ce0c9129e7ca">00154</a>                     <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4ba0969940dcdb34f22e1a1ce0c9129e7ca" title="progress has been made towards the randomly sampled state">ADVANCED</a>,
<a name="l00156"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4baf7876405ca61b09872f30ab8c79a12eb">00156</a>                     <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4baf7876405ca61b09872f30ab8c79a12eb" title="the randomly sampled state was reached">REACHED</a>
<a name="l00157"></a>00157                 };
<a name="l00158"></a>00158 
<a name="l00160"></a>00160             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a9d0cee3c86dff92db60fe02806f5a27c" title="Free the memory allocated by this planner.">freeMemory</a>(<span class="keywordtype">void</span>);
<a name="l00161"></a>00161 
<a name="l00163"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a96e7a7a8ed32a88c490204fcb8847fb5">00163</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a96e7a7a8ed32a88c490204fcb8847fb5" 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_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>* a, <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1RRTConnect_1_1Motion.html" title="Representation of a motion.">Motion</a>* b)<span class="keyword"> const</span>
<a name="l00164"></a>00164 <span class="keyword">            </span>{
<a name="l00165"></a>00165                 <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;state, b-&gt;state);
<a name="l00166"></a>00166             }
<a name="l00167"></a>00167 
<a name="l00169"></a>00169             <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a6df5b0ed7234e4a70f82fd84f3e83c4b" title="The state of the tree after an attempt to extend it.">GrowState</a> <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a140a2bf524fe7c39dfbe1e8d5f55fe80" title="Grow a tree towards a random state.">growTree</a>(<a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a605e6a7c713167b8655d06a8a30b91ef" title="A nearest-neighbor datastructure representing a tree of motions.">TreeData</a> &amp;tree, TreeGrowingInfo &amp;tgi, Motion *rmotion);
<a name="l00170"></a>00170 
<a name="l00172"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#abb9c22bc9815d896ae9c029b2047b0da">00172</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_1RRTConnect.html#abb9c22bc9815d896ae9c029b2047b0da" title="State sampler.">sampler_</a>;
<a name="l00173"></a>00173 
<a name="l00175"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a91ce4e34b670b36588fdcc7030fe692d">00175</a>             <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a605e6a7c713167b8655d06a8a30b91ef" title="A nearest-neighbor datastructure representing a tree of motions.">TreeData</a>                      <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a91ce4e34b670b36588fdcc7030fe692d" title="The start tree.">tStart_</a>;
<a name="l00176"></a>00176 
<a name="l00178"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#aeeb74200ede46e3d1eef584325ec1484">00178</a>             <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a605e6a7c713167b8655d06a8a30b91ef" title="A nearest-neighbor datastructure representing a tree of motions.">TreeData</a>                      <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#aeeb74200ede46e3d1eef584325ec1484" title="The goal tree.">tGoal_</a>;
<a name="l00179"></a>00179 
<a name="l00181"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a299caf818f757d96793d1bc092a665b3">00181</a>             <span class="keywordtype">double</span>                        <a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a299caf818f757d96793d1bc092a665b3" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00182"></a>00182 
<a name="l00184"></a><a class="code" href="classompl_1_1geometric_1_1RRTConnect.html#a89885ce34b34c5c880993f3ad553bffa">00184</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_1RRTConnect.html#a89885ce34b34c5c880993f3ad553bffa" title="The random number generator.">rng_</a>;
<a name="l00185"></a>00185         };
<a name="l00186"></a>00186 
<a name="l00187"></a>00187     }
<a name="l00188"></a>00188 }
<a name="l00189"></a>00189 
<a name="l00190"></a>00190 <span class="preprocessor">#endif</span>
</pre></div></div>
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