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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_SBL_SBL_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_GEOMETRIC_PLANNERS_SBL_SBL_</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/base/ProjectionEvaluator.h&quot;</span>
<a name="l00042"></a>00042 <span class="preprocessor">#include &quot;ompl/datastructures/Grid.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="l00086"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html">00086</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1SBL.html" title="Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking.">SBL</a> : <span class="keyword">public</span> base::Planner
<a name="l00087"></a>00087         {
<a name="l00088"></a>00088         <span class="keyword">public</span>:
<a name="l00089"></a>00089 
<a name="l00091"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#afba6f0f7e5db8e5537c56b00c54ba778">00091</a>             <a class="code" href="classompl_1_1geometric_1_1SBL.html#afba6f0f7e5db8e5537c56b00c54ba778" title="The constructor needs the instance of the space information.">SBL</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;SBL&quot;</span>)
<a name="l00092"></a>00092             {
<a name="l00093"></a>00093                 <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="l00094"></a>00094                 <a class="code" href="classompl_1_1geometric_1_1SBL.html#afd6d54cc164f50d105aa615a2052daa6" title="The maximum length of a motion to be added in the tree.">maxDistance_</a> = 0.0;
<a name="l00095"></a>00095             }
<a name="l00096"></a>00096 
<a name="l00097"></a>00097             <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1geometric_1_1SBL.html" title="Single-Query Bi-Directional Probabilistic Roadmap Planner with Lazy Collision Checking.">SBL</a>(<span class="keywordtype">void</span>)
<a name="l00098"></a>00098             {
<a name="l00099"></a>00099                 <a class="code" href="classompl_1_1geometric_1_1SBL.html#a81f85bbfcf361a605b79d4ffecc72940" title="Free the memory allocated by the planner.">freeMemory</a>();
<a name="l00100"></a>00100             }
<a name="l00101"></a>00101 
<a name="l00104"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#a062c4fb5aaaf93b5cb2ab3a1fc1d9b7e">00104</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#a062c4fb5aaaf93b5cb2ab3a1fc1d9b7e" title="Set the projection evaluator. This class is able to compute the projection of a given state...">setProjectionEvaluator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a> &amp;projectionEvaluator)
<a name="l00105"></a>00105             {
<a name="l00106"></a>00106                 <a class="code" href="classompl_1_1geometric_1_1SBL.html#a63cfcb2e97c2a1904202ccc81569958c" title="The employed projection evaluator.">projectionEvaluator_</a> = projectionEvaluator;
<a name="l00107"></a>00107             }
<a name="l00108"></a>00108 
<a name="l00111"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#a95b5c3a3493d8b369ed878b57d6074b1">00111</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#a062c4fb5aaaf93b5cb2ab3a1fc1d9b7e" title="Set the projection evaluator. This class is able to compute the projection of a given state...">setProjectionEvaluator</a>(<span class="keyword">const</span> std::string &amp;name)
<a name="l00112"></a>00112             {
<a name="l00113"></a>00113                 <a class="code" href="classompl_1_1geometric_1_1SBL.html#a63cfcb2e97c2a1904202ccc81569958c" title="The employed projection evaluator.">projectionEvaluator_</a> = <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>-&gt;getStateSpace()-&gt;getProjection(name);
<a name="l00114"></a>00114             }
<a name="l00115"></a>00115 
<a name="l00117"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#ab774e567c7ef519ffc81c8029f6ad15b">00117</a>             <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a>&amp; <a class="code" href="classompl_1_1geometric_1_1SBL.html#ab774e567c7ef519ffc81c8029f6ad15b" title="Get the projection evaluator.">getProjectionEvaluator</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00118"></a>00118 <span class="keyword">            </span>{
<a name="l00119"></a>00119                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#a63cfcb2e97c2a1904202ccc81569958c" title="The employed projection evaluator.">projectionEvaluator_</a>;
<a name="l00120"></a>00120             }
<a name="l00121"></a>00121 
<a name="l00127"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#ae14bef7bf3d19c5fe29b439186b9d8ec">00127</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#ae14bef7bf3d19c5fe29b439186b9d8ec" title="Set the range the planner is supposed to use.">setRange</a>(<span class="keywordtype">double</span> distance)
<a name="l00128"></a>00128             {
<a name="l00129"></a>00129                 <a class="code" href="classompl_1_1geometric_1_1SBL.html#afd6d54cc164f50d105aa615a2052daa6" title="The maximum length of a motion to be added in the tree.">maxDistance_</a> = distance;
<a name="l00130"></a>00130             }
<a name="l00131"></a>00131 
<a name="l00133"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#af14dd9743a2c9b6aca45fac80aa863be">00133</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#af14dd9743a2c9b6aca45fac80aa863be" title="Get the range the planner is using.">getRange</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00134"></a>00134 <span class="keyword">            </span>{
<a name="l00135"></a>00135                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#afd6d54cc164f50d105aa615a2052daa6" title="The maximum length of a motion to be added in the tree.">maxDistance_</a>;
<a name="l00136"></a>00136             }
<a name="l00137"></a>00137 
<a name="l00138"></a>00138             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#aa49720ab997e4b14d2eb8afc4b4c3341" 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="l00139"></a>00139 
<a name="l00140"></a>00140             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#a189047f6ea684c283b12d1365249e9f2" 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="l00141"></a>00141 
<a name="l00142"></a>00142             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#acac3c7d4b736c95d54c904c145a0c2e6" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00143"></a>00143 
<a name="l00144"></a>00144             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#a5d8ac60361bd040a03d6fcdba7da29cd" 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="l00145"></a>00145 
<a name="l00146"></a>00146         <span class="keyword">protected</span>:
<a name="l00147"></a>00147 
<a name="l00148"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#adca1d632efd76669d07abf356526b33b">00148</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html" title="Representation of a motion.">Motion</a>;
<a name="l00149"></a>00149 
<a name="l00151"></a>00151             <span class="keyword">typedef</span> std::vector&lt;Motion*&gt; <a class="code" href="classompl_1_1geometric_1_1SBL.html#adca1d632efd76669d07abf356526b33b" title="An array of motions.">MotionSet</a>;
<a name="l00152"></a>00152 
<a name="l00154"></a><a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html">00154</a>             <span class="keyword">class </span><a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html" title="Representation of a motion.">Motion</a>
<a name="l00155"></a>00155             {
<a name="l00156"></a>00156             <span class="keyword">public</span>:
<a name="l00157"></a>00157 
<a name="l00159"></a><a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#afcd515ab6dc7b9a8e3a80eedace81829">00159</a>                 <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#afcd515ab6dc7b9a8e3a80eedace81829" title="Default constructor. Allocates no memory.">Motion</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#ab4c75449dee78c54accf15a27e45a138" title="The root of the tree this motion would get to, if we were to follow parent pointers.">root</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#a1961e2628ac13bd2946f32a0df0e0644" title="The state this motion leads to.">state</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#a6909be2bcc8fc942027be974fc583035" title="The parent motion -- it contains the state this motion originates at.">parent</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#af10d75ce5c240a98e1ccf1daa34e3d26" title="Flag indicating whether this motion has been checked for validity.">valid</a>(false)
<a name="l00160"></a>00160                 {
<a name="l00161"></a>00161                 }
<a name="l00162"></a>00162 
<a name="l00164"></a><a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#a3457c79596453ae61dcf30e745a52169">00164</a>                 <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#afcd515ab6dc7b9a8e3a80eedace81829" title="Default constructor. Allocates no memory.">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_1SBL_1_1Motion.html#ab4c75449dee78c54accf15a27e45a138" title="The root of the tree this motion would get to, if we were to follow parent pointers.">root</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#a1961e2628ac13bd2946f32a0df0e0644" title="The state this motion leads to.">state</a>(si-&gt;allocState()), <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#a6909be2bcc8fc942027be974fc583035" title="The parent motion -- it contains the state this motion originates at.">parent</a>(NULL), <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#af10d75ce5c240a98e1ccf1daa34e3d26" title="Flag indicating whether this motion has been checked for validity.">valid</a>(false)
<a name="l00165"></a>00165                 {
<a name="l00166"></a>00166                 }
<a name="l00167"></a>00167 
<a name="l00168"></a>00168                 ~<a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00169"></a>00169                 {
<a name="l00170"></a>00170                 }
<a name="l00171"></a>00171 
<a name="l00173"></a><a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#ab4c75449dee78c54accf15a27e45a138">00173</a>                 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *<a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#ab4c75449dee78c54accf15a27e45a138" title="The root of the tree this motion would get to, if we were to follow parent pointers.">root</a>;
<a name="l00174"></a>00174 
<a name="l00176"></a><a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#a1961e2628ac13bd2946f32a0df0e0644">00176</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_1SBL_1_1Motion.html#a1961e2628ac13bd2946f32a0df0e0644" title="The state this motion leads to.">state</a>;
<a name="l00177"></a>00177 
<a name="l00179"></a><a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#a6909be2bcc8fc942027be974fc583035">00179</a>                 <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html" title="Representation of a motion.">Motion</a>            *<a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#a6909be2bcc8fc942027be974fc583035" title="The parent motion -- it contains the state this motion originates at.">parent</a>;
<a name="l00180"></a>00180 
<a name="l00182"></a><a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#af10d75ce5c240a98e1ccf1daa34e3d26">00182</a>                 <span class="keywordtype">bool</span>               <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#af10d75ce5c240a98e1ccf1daa34e3d26" title="Flag indicating whether this motion has been checked for validity.">valid</a>;
<a name="l00183"></a>00183 
<a name="l00185"></a><a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#a7fb9efdcee594786f85fba6acd6a8fdd">00185</a>                 <a class="code" href="classompl_1_1geometric_1_1SBL.html#adca1d632efd76669d07abf356526b33b" title="An array of motions.">MotionSet</a>          <a class="code" href="classompl_1_1geometric_1_1SBL_1_1Motion.html#a7fb9efdcee594786f85fba6acd6a8fdd" title="The set of motions descending from the current motion.">children</a>;
<a name="l00186"></a>00186             };
<a name="l00187"></a>00187 
<a name="l00189"></a><a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html">00189</a>             <span class="keyword">struct </span><a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html" title="Representation of a search tree. Two instances will be used. One for start and one for goal...">TreeData</a>
<a name="l00190"></a>00190             {
<a name="l00191"></a>00191                 <a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html" title="Representation of a search tree. Two instances will be used. One for start and one for goal...">TreeData</a>(<span class="keywordtype">void</span>) : <a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html#a06d446c1f27927f0155ecaff80520d7e" title="The grid of motions corresponding to this tree.">grid</a>(0), <a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html#a5468bf9faf38d010765fda43bdfedbca" title="The number of motions (in total) from the tree.">size</a>(0)
<a name="l00192"></a>00192                 {
<a name="l00193"></a>00193                 }
<a name="l00194"></a>00194 
<a name="l00196"></a><a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html#a06d446c1f27927f0155ecaff80520d7e">00196</a>                 <a class="code" href="classompl_1_1Grid.html">Grid&lt;MotionSet&gt;</a> <a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html#a06d446c1f27927f0155ecaff80520d7e" title="The grid of motions corresponding to this tree.">grid</a>;
<a name="l00197"></a>00197 
<a name="l00199"></a><a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html#a5468bf9faf38d010765fda43bdfedbca">00199</a>                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>    <a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html#a5468bf9faf38d010765fda43bdfedbca" title="The number of motions (in total) from the tree.">size</a>;
<a name="l00200"></a>00200             };
<a name="l00201"></a>00201 
<a name="l00203"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#a81f85bbfcf361a605b79d4ffecc72940">00203</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#a81f85bbfcf361a605b79d4ffecc72940" title="Free the memory allocated by the planner.">freeMemory</a>(<span class="keywordtype">void</span>)
<a name="l00204"></a>00204             {
<a name="l00205"></a>00205                 <a class="code" href="classompl_1_1geometric_1_1SBL.html#afcf4e0a17d9ac8fe70e296213aac32bd" title="Free the memory used by the motions contained in a grid.">freeGridMotions</a>(<a class="code" href="classompl_1_1geometric_1_1SBL.html#a33a1bf5cb144b453e4b69855e19f3d18" title="The start tree.">tStart_</a>.<a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html#a06d446c1f27927f0155ecaff80520d7e" title="The grid of motions corresponding to this tree.">grid</a>);
<a name="l00206"></a>00206                 <a class="code" href="classompl_1_1geometric_1_1SBL.html#afcf4e0a17d9ac8fe70e296213aac32bd" title="Free the memory used by the motions contained in a grid.">freeGridMotions</a>(<a class="code" href="classompl_1_1geometric_1_1SBL.html#ad917d94e5877b0a1f65c861e73329c58" title="The goal tree.">tGoal_</a>.<a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html#a06d446c1f27927f0155ecaff80520d7e" title="The grid of motions corresponding to this tree.">grid</a>);
<a name="l00207"></a>00207             }
<a name="l00208"></a>00208 
<a name="l00210"></a>00210             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#afcf4e0a17d9ac8fe70e296213aac32bd" title="Free the memory used by the motions contained in a grid.">freeGridMotions</a>(<a class="code" href="classompl_1_1Grid.html">Grid&lt;MotionSet&gt;</a> &amp;grid);
<a name="l00211"></a>00211 
<a name="l00213"></a>00213             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#aa7aaf57300e6a8474aade8c2b9899454" title="Add a motion to a tree.">addMotion</a>(TreeData &amp;tree, Motion *motion);
<a name="l00214"></a>00214 
<a name="l00216"></a>00216             Motion* <a class="code" href="classompl_1_1geometric_1_1SBL.html#afb79a0fdc7fc54251d6ef246cdbf2a0c" title="Select a motion from a tree.">selectMotion</a>(TreeData &amp;tree);
<a name="l00217"></a>00217 
<a name="l00219"></a>00219             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#a61d240f219227b2476df8d534289a200" title="Remove a motion from a tree.">removeMotion</a>(TreeData &amp;tree, Motion *motion);
<a name="l00220"></a>00220 
<a name="l00226"></a>00226             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#a5c290474f7aadefb7c5ed24bcab832be" title="Since solutions are computed in a lazy fashion, once trees are connected, the solution found needs to...">isPathValid</a>(TreeData &amp;tree, Motion *motion);
<a name="l00227"></a>00227 
<a name="l00229"></a>00229             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1SBL.html#af71623082dc34713a0584baddf327bf1" title="Check if a solution can be obtained by connecting two trees using a specified motion.">checkSolution</a>(<span class="keywordtype">bool</span> start, TreeData &amp;tree, TreeData &amp;otherTree, Motion *motion, std::vector&lt;Motion*&gt; &amp;solution);
<a name="l00230"></a>00230 
<a name="l00232"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#a6e21ebdb80aa3df138b711f739458929">00232</a>             <a class="code" href="classompl_1_1base_1_1ValidStateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::ValidStateSampler.">base::ValidStateSamplerPtr</a>                 <a class="code" href="classompl_1_1geometric_1_1SBL.html#a6e21ebdb80aa3df138b711f739458929" title="The employed state sampler.">sampler_</a>;
<a name="l00233"></a>00233 
<a name="l00235"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#a63cfcb2e97c2a1904202ccc81569958c">00235</a>             <a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a>               <a class="code" href="classompl_1_1geometric_1_1SBL.html#a63cfcb2e97c2a1904202ccc81569958c" title="The employed projection evaluator.">projectionEvaluator_</a>;
<a name="l00236"></a>00236 
<a name="l00238"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#a33a1bf5cb144b453e4b69855e19f3d18">00238</a>             <a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html" title="Representation of a search tree. Two instances will be used. One for start and one for goal...">TreeData</a>                                   <a class="code" href="classompl_1_1geometric_1_1SBL.html#a33a1bf5cb144b453e4b69855e19f3d18" title="The start tree.">tStart_</a>;
<a name="l00239"></a>00239 
<a name="l00241"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#ad917d94e5877b0a1f65c861e73329c58">00241</a>             <a class="code" href="structompl_1_1geometric_1_1SBL_1_1TreeData.html" title="Representation of a search tree. Two instances will be used. One for start and one for goal...">TreeData</a>                                   <a class="code" href="classompl_1_1geometric_1_1SBL.html#ad917d94e5877b0a1f65c861e73329c58" title="The goal tree.">tGoal_</a>;
<a name="l00242"></a>00242 
<a name="l00244"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#afd6d54cc164f50d105aa615a2052daa6">00244</a>             <span class="keywordtype">double</span>                                     <a class="code" href="classompl_1_1geometric_1_1SBL.html#afd6d54cc164f50d105aa615a2052daa6" title="The maximum length of a motion to be added in the tree.">maxDistance_</a>;
<a name="l00245"></a>00245 
<a name="l00247"></a><a class="code" href="classompl_1_1geometric_1_1SBL.html#afffdc21c6d41c1de3a55daebac85cff0">00247</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_1SBL.html#afffdc21c6d41c1de3a55daebac85cff0" title="The random number generator to be used.">rng_</a>;
<a name="l00248"></a>00248         };
<a name="l00249"></a>00249 
<a name="l00250"></a>00250     }
<a name="l00251"></a>00251 }
<a name="l00252"></a>00252 
<a name="l00253"></a>00253 <span class="preprocessor">#endif</span>
</pre></div></div>
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