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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) 2011, 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">/* Authors: Alejandro Perez, Sertac Karaman, Ioan Sucan */</span>
<a name="l00036"></a>00036 
<a name="l00037"></a>00037 <span class="preprocessor">#ifndef OMPL_CONTRIB_RRT_STAR_RRTSTAR_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_CONTRIB_RRT_STAR_RRTSTAR_</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 <span class="preprocessor">#include &quot;ompl/base/spaces/RealVectorStateSpace.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;limits&gt;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00045"></a>00045 
<a name="l00046"></a>00046 
<a name="l00047"></a>00047 <span class="keyword">namespace </span>ompl
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049 
<a name="l00050"></a>00050     <span class="keyword">namespace </span>geometric
<a name="l00051"></a>00051     {
<a name="l00052"></a>00052 
<a name="l00077"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html">00077</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1RRTstar.html" title="Optimal Rapidly-exploring Random Trees.">RRTstar</a> : <span class="keyword">public</span> base::Planner
<a name="l00078"></a>00078         {
<a name="l00079"></a>00079         <span class="keyword">public</span>:
<a name="l00080"></a>00080 
<a name="l00081"></a>00081             <a class="code" href="classompl_1_1geometric_1_1RRTstar.html" title="Optimal Rapidly-exploring Random Trees.">RRTstar</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_1base_1_1Planner.html#a404c3be95f77983e95a468e3a7032cc9" title="Constructor.">base::Planner</a>(si, <span class="stringliteral">&quot;RRTstar&quot;</span>)
<a name="l00082"></a>00082             {
<a name="l00083"></a>00083                 <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365" title="The specifications of the planner (its capabilities)">specs_</a>.approximateSolutions = <span class="keyword">true</span>;
<a name="l00084"></a>00084                 <a class="code" href="classompl_1_1base_1_1Planner.html#a4311ea7a0470f0e0f76cb1656d63e365" title="The specifications of the planner (its capabilities)">specs_</a>.optimizingPaths = <span class="keyword">true</span>;
<a name="l00085"></a>00085 
<a name="l00086"></a>00086                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#ae20251dbc5dbc0f9bdfb4c72141fbe13" 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="l00087"></a>00087                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#ac63a1848f74d9b61604d012d4e9cc87d" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = 0.0;
<a name="l00088"></a>00088                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#acd205182363ddb113eecc33fccf3aac4" title="Maximum radius the planner uses to find near neighbors and rewire.">ballRadiusMax_</a> = 0.0;
<a name="l00089"></a>00089                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a46b38b7842e523378235e37c33dd2822" title="Shrink rate of radius the planner uses to find near neighbors and rewire.">ballRadiusConst_</a> = 1.0;
<a name="l00090"></a>00090                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a7cb1f7e0fbf61224324231de92d320cd" title="Option to delay and reduce collision checking within iterations.">delayCC_</a> = <span class="keyword">true</span>;
<a name="l00091"></a>00091             }
<a name="l00092"></a>00092 
<a name="l00093"></a>00093             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1RRTstar.html" title="Optimal Rapidly-exploring Random Trees.">RRTstar</a>(<span class="keywordtype">void</span>)
<a name="l00094"></a>00094             {
<a name="l00095"></a>00095                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#af9bda7b7034b88cdf388d53c8e8b5d16" title="Free the memory allocated by this planner.">freeMemory</a>();
<a name="l00096"></a>00096             }
<a name="l00097"></a>00097 
<a name="l00098"></a>00098             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a9deb3ad92188d3a18fcb50d82d75fd40" 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="l00099"></a>00099 
<a name="l00100"></a>00100             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a2567e9e17a498c7d4b3379aff014356e" 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="l00101"></a>00101 
<a name="l00102"></a>00102             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a791e9f29a37b0dbcd651ce0b8fbce3b8" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00103"></a>00103 
<a name="l00113"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a2ffc63f0014372c460a63c549be44bbb">00113</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a2ffc63f0014372c460a63c549be44bbb" title="Set the goal bias.">setGoalBias</a>(<span class="keywordtype">double</span> goalBias)
<a name="l00114"></a>00114             {
<a name="l00115"></a>00115                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#ae20251dbc5dbc0f9bdfb4c72141fbe13" 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="l00116"></a>00116             }
<a name="l00117"></a>00117 
<a name="l00119"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a17be62cd17d978d18570c31c7bac2c68">00119</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a17be62cd17d978d18570c31c7bac2c68" title="Get the goal bias the planner is using.">getGoalBias</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00120"></a>00120 <span class="keyword">            </span>{
<a name="l00121"></a>00121                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#ae20251dbc5dbc0f9bdfb4c72141fbe13" 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="l00122"></a>00122             }
<a name="l00123"></a>00123 
<a name="l00129"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#abc09caed4e70c8660ea63170ff4a399c">00129</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#abc09caed4e70c8660ea63170ff4a399c" title="Set the range the planner is supposed to use.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00130"></a>00130             {
<a name="l00131"></a>00131                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#ac63a1848f74d9b61604d012d4e9cc87d" title="The maximum length of a motion to be added to a tree.">maxDistance_</a> = distance;
<a name="l00132"></a>00132             }
<a name="l00133"></a>00133 
<a name="l00135"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a5040cbb53c695b53fd5c5a1d944573ed">00135</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a5040cbb53c695b53fd5c5a1d944573ed" title="Get the range the planner is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00136"></a>00136 <span class="keyword">            </span>{
<a name="l00137"></a>00137                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#ac63a1848f74d9b61604d012d4e9cc87d" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00138"></a>00138             }
<a name="l00139"></a>00139 
<a name="l00149"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a897a451c7562ce856b2e61adf725546d">00149</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a897a451c7562ce856b2e61adf725546d" title="When the planner attempts to rewire the tree, it does so by looking at some of the neighbors within a...">setBallRadiusConstant</a>(<span class="keywordtype">double</span> ballRadiusConstant)
<a name="l00150"></a>00150             {
<a name="l00151"></a>00151                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a46b38b7842e523378235e37c33dd2822" title="Shrink rate of radius the planner uses to find near neighbors and rewire.">ballRadiusConst_</a> = ballRadiusConstant;
<a name="l00152"></a>00152             }
<a name="l00153"></a>00153 
<a name="l00157"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a9d33fbb74b0ac8407ead96f517639ed7">00157</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a9d33fbb74b0ac8407ead96f517639ed7" title="Get the multiplicative factor used in the computation of the radius whithin which tree rewiring is do...">getBallRadiusConstant</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00158"></a>00158 <span class="keyword">            </span>{
<a name="l00159"></a>00159                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a46b38b7842e523378235e37c33dd2822" title="Shrink rate of radius the planner uses to find near neighbors and rewire.">ballRadiusConst_</a>;
<a name="l00160"></a>00160             }
<a name="l00161"></a>00161 
<a name="l00170"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a9ff91f9ed93f86b012ff27c5aa1e7873">00170</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a9ff91f9ed93f86b012ff27c5aa1e7873" title="When the planner attempts to rewire the tree, it does so by looking at some of the neighbors within a...">setMaxBallRadius</a>(<span class="keywordtype">double</span> maxBallRadius)
<a name="l00171"></a>00171             {
<a name="l00172"></a>00172                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#acd205182363ddb113eecc33fccf3aac4" title="Maximum radius the planner uses to find near neighbors and rewire.">ballRadiusMax_</a> = maxBallRadius;
<a name="l00173"></a>00173             }
<a name="l00174"></a>00174 
<a name="l00177"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a31c0e82a35afa30a8657b254ebfae0e8">00177</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a31c0e82a35afa30a8657b254ebfae0e8" title="Get the maximum radius the planner uses in the tree rewiring step.">getMaxBallRadius</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00178"></a>00178 <span class="keyword">            </span>{
<a name="l00179"></a>00179                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#acd205182363ddb113eecc33fccf3aac4" title="Maximum radius the planner uses to find near neighbors and rewire.">ballRadiusMax_</a>;
<a name="l00180"></a>00180             }
<a name="l00181"></a>00181 
<a name="l00183"></a>00183             <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="l00184"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#aeb67ea7353dedd2f5c7babbe29ece00e">00184</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#aeb67ea7353dedd2f5c7babbe29ece00e" title="Set a different nearest neighbors datastructure.">setNearestNeighbors</a>(<span class="keywordtype">void</span>)
<a name="l00185"></a>00185             {
<a name="l00186"></a>00186                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a69ae88bb055b2bfdb920ca198325ba6e" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>.reset(<span class="keyword">new</span> NN&lt;Motion*&gt;());
<a name="l00187"></a>00187             }
<a name="l00188"></a>00188 
<a name="l00196"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a67848bffdda2ddcfbac59b358907e1b9">00196</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a67848bffdda2ddcfbac59b358907e1b9" title="Option that delays collision checking procedures. When it is enabled, all neighbors are sorted by cos...">setDelayCC</a>(<span class="keywordtype">bool</span> delayCC)
<a name="l00197"></a>00197             {
<a name="l00198"></a>00198                 <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a7cb1f7e0fbf61224324231de92d320cd" title="Option to delay and reduce collision checking within iterations.">delayCC_</a> = delayCC;
<a name="l00199"></a>00199             }
<a name="l00200"></a>00200 
<a name="l00202"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a9f34a548cb6568ec6fc27907e51322b6">00202</a>             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a9f34a548cb6568ec6fc27907e51322b6" title="Get the state of the delayed collision checking option.">getDelayCC</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00203"></a>00203 <span class="keyword">            </span>{
<a name="l00204"></a>00204                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a7cb1f7e0fbf61224324231de92d320cd" title="Option to delay and reduce collision checking within iterations.">delayCC_</a>;
<a name="l00205"></a>00205             }
<a name="l00206"></a>00206 
<a name="l00207"></a>00207             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a3965b77803f61b612ce63f91c3cdfcb7" 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="l00208"></a>00208 
<a name="l00209"></a>00209         <span class="keyword">protected</span>:
<a name="l00210"></a>00210 
<a name="l00211"></a>00211 
<a name="l00213"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html">00213</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html" title="Representation of a motion.">Motion</a>
<a name="l00214"></a>00214             {
<a name="l00215"></a>00215             <span class="keyword">public</span>:
<a name="l00216"></a>00216 
<a name="l00217"></a>00217                 <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#af26b3af216daafb9dd4e5d593b310588" title="The state contained by the motion.">state</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#ac925497a707b8fe5d096047d4a042e81" title="The parent motion in the exploration tree.">parent</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#a784a5134ca79c58f20f555626ca308e5" title="The cost of this motion.">cost</a>(0.0)
<a name="l00218"></a>00218                 {
<a name="l00219"></a>00219                 }
<a name="l00220"></a>00220 
<a name="l00222"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#a9160d69f161f72ea8ff7371a0e018f7f">00222</a>                 <a class="code" href="classompl_1_1geometric_1_1RRTstar_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_1RRTstar_1_1Motion.html#af26b3af216daafb9dd4e5d593b310588" title="The state contained by the motion.">state</a>(si-&gt;allocState()), <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#ac925497a707b8fe5d096047d4a042e81" title="The parent motion in the exploration tree.">parent</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#a784a5134ca79c58f20f555626ca308e5" title="The cost of this motion.">cost</a>(0.0)
<a name="l00223"></a>00223                 {
<a name="l00224"></a>00224                 }
<a name="l00225"></a>00225 
<a name="l00226"></a>00226                 ~<a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00227"></a>00227                 {
<a name="l00228"></a>00228                 }
<a name="l00229"></a>00229 
<a name="l00231"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#af26b3af216daafb9dd4e5d593b310588">00231</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_1RRTstar_1_1Motion.html#af26b3af216daafb9dd4e5d593b310588" title="The state contained by the motion.">state</a>;
<a name="l00232"></a>00232 
<a name="l00234"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#ac925497a707b8fe5d096047d4a042e81">00234</a>                 <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html" title="Representation of a motion.">Motion</a>            *<a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#ac925497a707b8fe5d096047d4a042e81" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00235"></a>00235 
<a name="l00237"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#a784a5134ca79c58f20f555626ca308e5">00237</a>                 <span class="keywordtype">double</span>             <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#a784a5134ca79c58f20f555626ca308e5" title="The cost of this motion.">cost</a>;
<a name="l00238"></a>00238             };
<a name="l00239"></a>00239 
<a name="l00241"></a>00241             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#af9bda7b7034b88cdf388d53c8e8b5d16" title="Free the memory allocated by this planner.">freeMemory</a>(<span class="keywordtype">void</span>);
<a name="l00242"></a>00242 
<a name="l00244"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#aebaecbe24e3baabfd941b8ca1df1301b">00244</a>             <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#aebaecbe24e3baabfd941b8ca1df1301b" title="Sort the near neighbors by cost.">compareMotion</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html" title="Representation of a motion.">Motion</a>* a, <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html" title="Representation of a motion.">Motion</a>* b)
<a name="l00245"></a>00245             {
<a name="l00246"></a>00246                 <span class="keywordflow">return</span> (a-&gt;<a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#a784a5134ca79c58f20f555626ca308e5" title="The cost of this motion.">cost</a> &lt; b-&gt;<a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#a784a5134ca79c58f20f555626ca308e5" title="The cost of this motion.">cost</a>);
<a name="l00247"></a>00247             }
<a name="l00248"></a>00248 
<a name="l00250"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a31a4b56088352e6e2d12300e2c4bc3bf">00250</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a31a4b56088352e6e2d12300e2c4bc3bf" 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_1RRTstar_1_1Motion.html" title="Representation of a motion.">Motion</a>* a, <span class="keyword">const</span> <a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html" title="Representation of a motion.">Motion</a>* b)<span class="keyword"> const</span>
<a name="l00251"></a>00251 <span class="keyword">            </span>{
<a name="l00252"></a>00252                 <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_1RRTstar_1_1Motion.html#af26b3af216daafb9dd4e5d593b310588" title="The state contained by the motion.">state</a>, b-&gt;<a class="code" href="classompl_1_1geometric_1_1RRTstar_1_1Motion.html#af26b3af216daafb9dd4e5d593b310588" title="The state contained by the motion.">state</a>);
<a name="l00253"></a>00253             }
<a name="l00254"></a>00254 
<a name="l00256"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a217157cf8281f4da5f68f62c9423235c">00256</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_1RRTstar.html#a217157cf8281f4da5f68f62c9423235c" title="State sampler.">sampler_</a>;
<a name="l00257"></a>00257 
<a name="l00259"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a69ae88bb055b2bfdb920ca198325ba6e">00259</a>             boost::shared_ptr&lt; NearestNeighbors&lt;Motion*&gt; &gt; <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a69ae88bb055b2bfdb920ca198325ba6e" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>;
<a name="l00260"></a>00260 
<a name="l00262"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#ae20251dbc5dbc0f9bdfb4c72141fbe13">00262</a>             <span class="keywordtype">double</span>                                         <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#ae20251dbc5dbc0f9bdfb4c72141fbe13" 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="l00263"></a>00263 
<a name="l00265"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#ac63a1848f74d9b61604d012d4e9cc87d">00265</a>             <span class="keywordtype">double</span>                                         <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#ac63a1848f74d9b61604d012d4e9cc87d" title="The maximum length of a motion to be added to a tree.">maxDistance_</a>;
<a name="l00266"></a>00266 
<a name="l00268"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#abceef0ae95921f2f58278864e1fe425a">00268</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_1RRTstar.html#abceef0ae95921f2f58278864e1fe425a" title="The random number generator.">rng_</a>;
<a name="l00269"></a>00269 
<a name="l00271"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a46b38b7842e523378235e37c33dd2822">00271</a>             <span class="keywordtype">double</span>                                         <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a46b38b7842e523378235e37c33dd2822" title="Shrink rate of radius the planner uses to find near neighbors and rewire.">ballRadiusConst_</a>;
<a name="l00272"></a>00272 
<a name="l00274"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#acd205182363ddb113eecc33fccf3aac4">00274</a>             <span class="keywordtype">double</span>                                         <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#acd205182363ddb113eecc33fccf3aac4" title="Maximum radius the planner uses to find near neighbors and rewire.">ballRadiusMax_</a>;
<a name="l00275"></a>00275 
<a name="l00277"></a><a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a7cb1f7e0fbf61224324231de92d320cd">00277</a>             <span class="keywordtype">bool</span>                                           <a class="code" href="classompl_1_1geometric_1_1RRTstar.html#a7cb1f7e0fbf61224324231de92d320cd" title="Option to delay and reduce collision checking within iterations.">delayCC_</a>;
<a name="l00278"></a>00278 
<a name="l00279"></a>00279         };
<a name="l00280"></a>00280 
<a name="l00281"></a>00281     }
<a name="l00282"></a>00282 }
<a name="l00283"></a>00283 
<a name="l00284"></a>00284 <span class="preprocessor">#endif</span>
</pre></div></div>
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