Sophie

Sophie

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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_CONTROL_PLANNERS_KPIECE_KPIECE1_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_CONTROL_PLANNERS_KPIECE_KPIECE1_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include &quot;ompl/control/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/GridB.h&quot;</span>
<a name="l00043"></a>00043 <span class="preprocessor">#include &lt;vector&gt;</span>
<a name="l00044"></a>00044 <span class="preprocessor">#include &lt;set&gt;</span>
<a name="l00045"></a>00045 
<a name="l00046"></a>00046 <span class="keyword">namespace </span>ompl
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048 
<a name="l00049"></a>00049     <span class="keyword">namespace </span>control
<a name="l00050"></a>00050     {
<a name="l00051"></a>00051 
<a name="l00079"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html">00079</a>         <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1KPIECE1.html" title="Kinodynamic Planning by Interior-Exterior Cell Exploration.">KPIECE1</a> : <span class="keyword">public</span> base::Planner
<a name="l00080"></a>00080         {
<a name="l00081"></a>00081         <span class="keyword">public</span>:
<a name="l00082"></a>00082 
<a name="l00084"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a87c0b2ee46e47c9a1801145b0daebc02">00084</a>             <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a87c0b2ee46e47c9a1801145b0daebc02" title="Constructor.">KPIECE1</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::control::SpaceInformation.">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;KPIECE1&quot;</span>)
<a name="l00085"></a>00085             {
<a name="l00086"></a>00086                 <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="l00087"></a>00087 
<a name="l00088"></a>00088                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a36a9d68f59822ab36d22555f03c21bb6" title="The base::SpaceInformation cast as control::SpaceInformation, for convenience.">siC_</a> = si.get();
<a name="l00089"></a>00089                 nCloseSamples_ = 30;
<a name="l00090"></a>00090                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#ab2c9045ae1dea39ec8902c8db6dc5fba" 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="l00091"></a>00091                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a82d7b8f19142433b9f9998035ab05d99" title="The fraction of time to focus exploration on the border of the grid.">selectBorderFraction_</a> = 0.8;
<a name="l00092"></a>00092                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aad6c54edab2467b1cf8f9d264f2a12ff" title="When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...">badScoreFactor_</a> = 0.45;
<a name="l00093"></a>00093                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a658be23e1f8f18d6ca40bf8ea8379a73" title="When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...">goodScoreFactor_</a> = 0.9;
<a name="l00094"></a>00094                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a1b01940872b5850fa2b7ba1bf0e361b3" title="The tree datastructure.">tree_</a>.<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html#adc7ec645bceae45e2a46b4204f41ea06" title="A grid containing motions, imposed on a projection of the state space.">grid</a>.<a class="code" href="classompl_1_1GridB.html#a89bffe3573ef977f63b4ab4ff7759705">onCellUpdate</a>(<a class="code" href="classompl_1_1control_1_1KPIECE1.html#a2ebe6aabe8320df6dd05715830b9a8f6" title="This function is provided as a calback to the grid datastructure to update the importance of a cell...">computeImportance</a>, NULL);
<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_1control_1_1KPIECE1.html" title="Kinodynamic Planning by Interior-Exterior Cell Exploration.">KPIECE1</a>(<span class="keywordtype">void</span>)
<a name="l00098"></a>00098             {
<a name="l00099"></a>00099                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#afce78dec22f27d705a1168c6d57ce048" title="Free all the memory allocated by this planner.">freeMemory</a>();
<a name="l00100"></a>00100             }
<a name="l00101"></a>00101 
<a name="l00102"></a>00102             <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a3657eec6c44eed95482f5c0a0c73acb7" 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="l00103"></a>00103 
<a name="l00104"></a>00104             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a1d1600006ab94f51443cd485757d2b12" title="Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00105"></a>00105 
<a name="l00113"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a7ae0dcc65f65227a9b1f5311df603048">00113</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a7ae0dcc65f65227a9b1f5311df603048">setGoalBias</a>(<span class="keywordtype">double</span> goalBias)
<a name="l00114"></a>00114             {
<a name="l00115"></a>00115                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#ab2c9045ae1dea39ec8902c8db6dc5fba" 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_1control_1_1KPIECE1.html#a5c43dfe345558e90a41bfd1bb177453b">00119</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a5c43dfe345558e90a41bfd1bb177453b">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_1control_1_1KPIECE1.html#ab2c9045ae1dea39ec8902c8db6dc5fba" 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="l00130"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a4988400ad57005ea77f248966102a0bf">00130</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a4988400ad57005ea77f248966102a0bf" title="Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...">setBorderFraction</a>(<span class="keywordtype">double</span> bp)
<a name="l00131"></a>00131             {
<a name="l00132"></a>00132                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a82d7b8f19142433b9f9998035ab05d99" title="The fraction of time to focus exploration on the border of the grid.">selectBorderFraction_</a> = bp;
<a name="l00133"></a>00133             }
<a name="l00134"></a>00134 
<a name="l00137"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#aaad3c303425dbc9b8df526ba44f69083">00137</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aaad3c303425dbc9b8df526ba44f69083" title="Get the fraction of time to focus exploration on boundary.">getBorderFraction</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00138"></a>00138 <span class="keyword">            </span>{
<a name="l00139"></a>00139                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a82d7b8f19142433b9f9998035ab05d99" title="The fraction of time to focus exploration on the border of the grid.">selectBorderFraction_</a>;
<a name="l00140"></a>00140             }
<a name="l00141"></a>00141 
<a name="l00142"></a>00142 
<a name="l00149"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#ac53ac0fbc5c66acc6bfde7e9cbe79b1a">00149</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#ac53ac0fbc5c66acc6bfde7e9cbe79b1a" title="When extending a motion from a cell, the extension can be successful or it can fail. If the extension is successful, the score of the cell is multiplied by good. If the extension fails, the score of the cell is multiplied by bad. These numbers should be in the range (0, 1].">setCellScoreFactor</a>(<span class="keywordtype">double</span> good, <span class="keywordtype">double</span> bad)
<a name="l00150"></a>00150             {
<a name="l00151"></a>00151                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a658be23e1f8f18d6ca40bf8ea8379a73" title="When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...">goodScoreFactor_</a> = good;
<a name="l00152"></a>00152                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aad6c54edab2467b1cf8f9d264f2a12ff" title="When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...">badScoreFactor_</a> = bad;
<a name="l00153"></a>00153             }
<a name="l00154"></a>00154 
<a name="l00157"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#aabc75a6dea7ea564b3d18f4181496cf1">00157</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aabc75a6dea7ea564b3d18f4181496cf1" title="Get the factor that is multiplied to a cell&#39;s score if extending a motion from that cell succeeded...">getGoodCellScoreFactor</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_1control_1_1KPIECE1.html#a658be23e1f8f18d6ca40bf8ea8379a73" title="When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...">goodScoreFactor_</a>;
<a name="l00160"></a>00160             }
<a name="l00161"></a>00161 
<a name="l00164"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#ac8598a2a8ade5d523e30bef7e6d26f7e">00164</a>             <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#ac8598a2a8ade5d523e30bef7e6d26f7e" title="Get the factor that is multiplied to a cell&#39;s score if extending a motion from that cell failed...">getBadCellScoreFactor</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00165"></a>00165 <span class="keyword">            </span>{
<a name="l00166"></a>00166                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aad6c54edab2467b1cf8f9d264f2a12ff" title="When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...">badScoreFactor_</a>;
<a name="l00167"></a>00167             }
<a name="l00168"></a>00168 
<a name="l00171"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#ad4335a199d26c963954d2327b3a41e55">00171</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#ad4335a199d26c963954d2327b3a41e55" 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="l00172"></a>00172             {
<a name="l00173"></a>00173                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a70c6382ee0b1a777a9e51f0a5b37873e" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">projectionEvaluator_</a> = projectionEvaluator;
<a name="l00174"></a>00174             }
<a name="l00175"></a>00175 
<a name="l00178"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a473c623e87dcc01f62a05d67e7d9d079">00178</a>             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#ad4335a199d26c963954d2327b3a41e55" 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="l00179"></a>00179             {
<a name="l00180"></a>00180                 <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a70c6382ee0b1a777a9e51f0a5b37873e" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">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="l00181"></a>00181             }
<a name="l00182"></a>00182 
<a name="l00184"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a933648827ca51aaa4f55f85f5266ba53">00184</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_1control_1_1KPIECE1.html#a933648827ca51aaa4f55f85f5266ba53" title="Get the projection evaluator.">getProjectionEvaluator</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00185"></a>00185 <span class="keyword">            </span>{
<a name="l00186"></a>00186                 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a70c6382ee0b1a777a9e51f0a5b37873e" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">projectionEvaluator_</a>;
<a name="l00187"></a>00187             }
<a name="l00188"></a>00188 
<a name="l00189"></a>00189             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#ac44309c34010882907e825e3c8115bc7" 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="l00190"></a>00190             <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a96505c47a5ad0d5aa0723f52d2af561d" 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="l00191"></a>00191 
<a name="l00192"></a>00192         <span class="keyword">protected</span>:
<a name="l00193"></a>00193 
<a name="l00195"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html">00195</a>             <span class="keyword">struct </span><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>
<a name="l00196"></a>00196             {
<a name="l00197"></a>00197                 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(<span class="keywordtype">void</span>) : <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>(NULL), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a836b3d7b3e4124c4d68217010b0532d9" title="The control contained by this motion.">control</a>(NULL), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#ab14529232da27f7615c62729cd2cf616" title="The number of steps the control is applied for.">steps</a>(0), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a73d2e565dc1a88298f14bf3f0ba379fb" title="The parent motion in the exploration tree.">parent</a>(NULL)
<a name="l00198"></a>00198                 {
<a name="l00199"></a>00199                 }
<a name="l00200"></a>00200 
<a name="l00202"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a5c1f4b334723fd0481bf1699ddae6063">00202</a>                 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">SpaceInformation</a> *si) : <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>(si-&gt;allocState()), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a836b3d7b3e4124c4d68217010b0532d9" title="The control contained by this motion.">control</a>(si-&gt;allocControl()), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#ab14529232da27f7615c62729cd2cf616" title="The number of steps the control is applied for.">steps</a>(0), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a73d2e565dc1a88298f14bf3f0ba379fb" title="The parent motion in the exploration tree.">parent</a>(NULL)
<a name="l00203"></a>00203                 {
<a name="l00204"></a>00204                 }
<a name="l00205"></a>00205 
<a name="l00206"></a>00206                 ~<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00207"></a>00207                 {
<a name="l00208"></a>00208                 }
<a name="l00209"></a>00209 
<a name="l00211"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8">00211</a>                 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a>       *<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>;
<a name="l00212"></a>00212 
<a name="l00214"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a836b3d7b3e4124c4d68217010b0532d9">00214</a>                 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a>           *<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a836b3d7b3e4124c4d68217010b0532d9" title="The control contained by this motion.">control</a>;
<a name="l00215"></a>00215 
<a name="l00217"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#ab14529232da27f7615c62729cd2cf616">00217</a>                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>       <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#ab14529232da27f7615c62729cd2cf616" title="The number of steps the control is applied for.">steps</a>;
<a name="l00218"></a>00218 
<a name="l00220"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a73d2e565dc1a88298f14bf3f0ba379fb">00220</a>                 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>            *<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a73d2e565dc1a88298f14bf3f0ba379fb" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00221"></a>00221             };
<a name="l00222"></a>00222 
<a name="l00224"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html">00224</a>             <span class="keyword">struct </span><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html" title="The data held by a cell in the grid of motions.">CellData</a>
<a name="l00225"></a>00225             {
<a name="l00226"></a>00226                 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html" title="The data held by a cell in the grid of motions.">CellData</a>(<span class="keywordtype">void</span>) : <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a531cdcbac68c1a3fbb7f2ac56801039e" title="A measure of coverage for this cell. For this implementation, this is the sum of motion durations...">coverage</a>(0.0), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a01b88d8a637b048ca9d109b461269e2c" title="The number of times this cell has been selected for expansion.">selections</a>(1), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#aca42e758ded07ce32667187d7dd7b4d8" title="A heuristic score computed based on distance to goal (if available), successes and failures at expand...">score</a>(1.0), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#ae63f5e3119484afb8596664674d51f55" title="The iteration at which this cell was created.">iteration</a>(0), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a283ef0009818505dac610b6bbc25968c" title="The computed importance (based on other class members)">importance</a>(0.0)
<a name="l00227"></a>00227                 {
<a name="l00228"></a>00228                 }
<a name="l00229"></a>00229 
<a name="l00230"></a>00230                 ~<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html" title="The data held by a cell in the grid of motions.">CellData</a>(<span class="keywordtype">void</span>)
<a name="l00231"></a>00231                 {
<a name="l00232"></a>00232                 }
<a name="l00233"></a>00233 
<a name="l00235"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#ab69f0d7fed0ca988a13449c78c7e7177">00235</a>                 std::vector&lt;Motion*&gt; <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#ab69f0d7fed0ca988a13449c78c7e7177" title="The set of motions contained in this grid cell.">motions</a>;
<a name="l00236"></a>00236 
<a name="l00240"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a531cdcbac68c1a3fbb7f2ac56801039e">00240</a>                 <span class="keywordtype">double</span>               <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a531cdcbac68c1a3fbb7f2ac56801039e" title="A measure of coverage for this cell. For this implementation, this is the sum of motion durations...">coverage</a>;
<a name="l00241"></a>00241 
<a name="l00244"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a01b88d8a637b048ca9d109b461269e2c">00244</a>                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>         <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a01b88d8a637b048ca9d109b461269e2c" title="The number of times this cell has been selected for expansion.">selections</a>;
<a name="l00245"></a>00245 
<a name="l00249"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#aca42e758ded07ce32667187d7dd7b4d8">00249</a>                 <span class="keywordtype">double</span>               <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#aca42e758ded07ce32667187d7dd7b4d8" title="A heuristic score computed based on distance to goal (if available), successes and failures at expand...">score</a>;
<a name="l00250"></a>00250 
<a name="l00252"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#ae63f5e3119484afb8596664674d51f55">00252</a>                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>         <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#ae63f5e3119484afb8596664674d51f55" title="The iteration at which this cell was created.">iteration</a>;
<a name="l00253"></a>00253 
<a name="l00255"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a283ef0009818505dac610b6bbc25968c">00255</a>                 <span class="keywordtype">double</span>               <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a283ef0009818505dac610b6bbc25968c" title="The computed importance (based on other class members)">importance</a>;
<a name="l00256"></a>00256             };
<a name="l00257"></a>00257 
<a name="l00260"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1OrderCellsByImportance.html">00260</a>             <span class="keyword">struct </span><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1OrderCellsByImportance.html" title="Definintion of an operator passed to the Grid structure, to order cells by importance.">OrderCellsByImportance</a>
<a name="l00261"></a>00261             {
<a name="l00262"></a>00262                 <span class="keywordtype">bool</span> operator()(<span class="keyword">const</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html" title="The data held by a cell in the grid of motions.">CellData</a> * <span class="keyword">const</span> a, <span class="keyword">const</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html" title="The data held by a cell in the grid of motions.">CellData</a> * <span class="keyword">const</span> b)<span class="keyword"> const</span>
<a name="l00263"></a>00263 <span class="keyword">                </span>{
<a name="l00264"></a>00264                     <span class="keywordflow">return</span> a-&gt;<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a283ef0009818505dac610b6bbc25968c" title="The computed importance (based on other class members)">importance</a> &gt; b-&gt;<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a283ef0009818505dac610b6bbc25968c" title="The computed importance (based on other class members)">importance</a>;
<a name="l00265"></a>00265                 }
<a name="l00266"></a>00266             };
<a name="l00267"></a>00267 
<a name="l00269"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#ac6017f07f862183beaecc6e908c1ca13">00269</a>             <span class="keyword">typedef</span> <a class="code" href="classompl_1_1GridB.html">GridB&lt;CellData*, OrderCellsByImportance&gt;</a> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#ac6017f07f862183beaecc6e908c1ca13" title="The datatype for the maintained grid datastructure.">Grid</a>;
<a name="l00270"></a>00270 
<a name="l00272"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html">00272</a>             <span class="keyword">struct </span><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html" title="Information about a known good sample (closer to the goal than others)">CloseSample</a>
<a name="l00273"></a>00273             {
<a name="l00275"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#afb293ee16b551768ecd97082abab5273">00275</a>                 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#afb293ee16b551768ecd97082abab5273" title="Constructor fully initializes the content of this structure.">CloseSample</a>(<a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Grid::Cell</a> *c, <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *m, <span class="keywordtype">double</span> d) : <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a45ab9285bc2bb91069a3e32e0b8ba25a" title="The cell of the motion that is close to the goal.">cell</a>(c), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a294eb16d2c240b1c128ad742dfa4aef1" title="The motion that is close to the goal.">motion</a>(m), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a3a0e10fa636211192ab9bc409d603956" title="The distance to the goal. This value is increased over time, as the number of selections for this sam...">distance</a>(d)
<a name="l00276"></a>00276                 {
<a name="l00277"></a>00277                 }
<a name="l00278"></a>00278 
<a name="l00280"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a45ab9285bc2bb91069a3e32e0b8ba25a">00280</a>                 <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Grid::Cell</a> *<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a45ab9285bc2bb91069a3e32e0b8ba25a" title="The cell of the motion that is close to the goal.">cell</a>;
<a name="l00281"></a>00281 
<a name="l00283"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a294eb16d2c240b1c128ad742dfa4aef1">00283</a>                 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>     *<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a294eb16d2c240b1c128ad742dfa4aef1" title="The motion that is close to the goal.">motion</a>;
<a name="l00284"></a>00284 
<a name="l00286"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a3a0e10fa636211192ab9bc409d603956">00286</a>                 <span class="keywordtype">double</span>      <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a3a0e10fa636211192ab9bc409d603956" title="The distance to the goal. This value is increased over time, as the number of selections for this sam...">distance</a>;
<a name="l00287"></a>00287 
<a name="l00289"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#ac9e76908dac01e5e699629b9e4f1af2d">00289</a>                 <span class="keywordtype">bool</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#ac9e76908dac01e5e699629b9e4f1af2d" title="Sort samples in accordance to their distance to the goal.">operator&lt;</a>(<span class="keyword">const</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html" title="Information about a known good sample (closer to the goal than others)">CloseSample</a> &amp;other)<span class="keyword"> const</span>
<a name="l00290"></a>00290 <span class="keyword">                </span>{
<a name="l00291"></a>00291                     <span class="keywordflow">return</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a3a0e10fa636211192ab9bc409d603956" title="The distance to the goal. This value is increased over time, as the number of selections for this sam...">distance</a> &lt; other.<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSample.html#a3a0e10fa636211192ab9bc409d603956" title="The distance to the goal. This value is increased over time, as the number of selections for this sam...">distance</a>;
<a name="l00292"></a>00292                 }
<a name="l00293"></a>00293             };
<a name="l00294"></a>00294 
<a name="l00296"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html">00296</a>             <span class="keyword">struct </span><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html" title="Bounded set of good samples.">CloseSamples</a>
<a name="l00297"></a>00297             {
<a name="l00299"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a00b4a458d197bcfe828f77e8fecda9f5">00299</a>                 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a00b4a458d197bcfe828f77e8fecda9f5" title="Construct an object to maintain a set of at most size samples.">CloseSamples</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> size) : <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a3114c01101069dcddc15aff3d62d344e" title="Maximum number of samples to maintain.">maxSize</a>(size)
<a name="l00300"></a>00300                 {
<a name="l00301"></a>00301                 }
<a name="l00302"></a>00302 
<a name="l00308"></a>00308                 <span class="keywordtype">bool</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a66405fda7ce9ca4c06eb1f9e12b5589b" title="Evaluate whether motion motion, part of cell cell is good enough to be part of the set of samples clo...">consider</a>(<a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Grid::Cell</a> *cell, <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *motion, <span class="keywordtype">double</span> distance);
<a name="l00309"></a>00309 
<a name="l00315"></a>00315                 <span class="keywordtype">bool</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a9b909ea64b900cf5ee3dea7aece7ecde" title="Select the top sample (closest to the goal) and update its position in the set subsequently (pretend ...">selectMotion</a>(<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* &amp;smotion, <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Grid::Cell</a>* &amp;scell);
<a name="l00316"></a>00316 
<a name="l00318"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#ac5b1825c72167c9007d5d36246a4c7c3">00318</a>                 <span class="keywordtype">bool</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#ac5b1825c72167c9007d5d36246a4c7c3" title="Return true if samples can be selected from this set.">canSample</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00319"></a>00319 <span class="keyword">                </span>{
<a name="l00320"></a>00320                     <span class="keywordflow">return</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#ab7c97105a696566d4ed22bf429eadffa" title="The maintained samples.">samples</a>.size() &gt; 0;
<a name="l00321"></a>00321                 }
<a name="l00322"></a>00322 
<a name="l00324"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a3114c01101069dcddc15aff3d62d344e">00324</a>                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>          <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a3114c01101069dcddc15aff3d62d344e" title="Maximum number of samples to maintain.">maxSize</a>;
<a name="l00325"></a>00325 
<a name="l00327"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#ab7c97105a696566d4ed22bf429eadffa">00327</a>                 std::set&lt;CloseSample&gt; <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#ab7c97105a696566d4ed22bf429eadffa" title="The maintained samples.">samples</a>;
<a name="l00328"></a>00328             };
<a name="l00329"></a>00329 
<a name="l00330"></a>00330 
<a name="l00332"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html">00332</a>             <span class="keyword">struct </span><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html" title="The data defining a tree of motions for this algorithm.">TreeData</a>
<a name="l00333"></a>00333             {
<a name="l00334"></a>00334                 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html" title="The data defining a tree of motions for this algorithm.">TreeData</a>(<span class="keywordtype">void</span>) : <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html#adc7ec645bceae45e2a46b4204f41ea06" title="A grid containing motions, imposed on a projection of the state space.">grid</a>(0), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html#aaa3be4422f1dd0ce9e05f29e0b1989dc" title="The total number of motions (there can be multiple per cell) in the grid.">size</a>(0), <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html#aa7f9ba5f20aea73fc97e568f67415292" title="The number of iterations performed on this tree.">iteration</a>(1)
<a name="l00335"></a>00335                 {
<a name="l00336"></a>00336                 }
<a name="l00337"></a>00337 
<a name="l00340"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html#adc7ec645bceae45e2a46b4204f41ea06">00340</a>                 <a class="code" href="classompl_1_1GridB.html">Grid</a>         <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html#adc7ec645bceae45e2a46b4204f41ea06" title="A grid containing motions, imposed on a projection of the state space.">grid</a>;
<a name="l00341"></a>00341 
<a name="l00344"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html#aaa3be4422f1dd0ce9e05f29e0b1989dc">00344</a>                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html#aaa3be4422f1dd0ce9e05f29e0b1989dc" title="The total number of motions (there can be multiple per cell) in the grid.">size</a>;
<a name="l00345"></a>00345 
<a name="l00347"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html#aa7f9ba5f20aea73fc97e568f67415292">00347</a>                 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html#aa7f9ba5f20aea73fc97e568f67415292" title="The number of iterations performed on this tree.">iteration</a>;
<a name="l00348"></a>00348             };
<a name="l00349"></a>00349 
<a name="l00353"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a2ebe6aabe8320df6dd05715830b9a8f6">00353</a>             <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a2ebe6aabe8320df6dd05715830b9a8f6" title="This function is provided as a calback to the grid datastructure to update the importance of a cell...">computeImportance</a>(<a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Grid::Cell</a> *cell, <span class="keywordtype">void</span>*)
<a name="l00354"></a>00354             {
<a name="l00355"></a>00355                 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html" title="The data held by a cell in the grid of motions.">CellData</a> &amp;cd = *(cell-&gt;data);
<a name="l00356"></a>00356                 cd.<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a283ef0009818505dac610b6bbc25968c" title="The computed importance (based on other class members)">importance</a> =  cd.<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#aca42e758ded07ce32667187d7dd7b4d8" title="A heuristic score computed based on distance to goal (if available), successes and failures at expand...">score</a> / ((cell-&gt;neighbors + 1) * cd.<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a531cdcbac68c1a3fbb7f2ac56801039e" title="A measure of coverage for this cell. For this implementation, this is the sum of motion durations...">coverage</a> * cd.<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CellData.html#a01b88d8a637b048ca9d109b461269e2c" title="The number of times this cell has been selected for expansion.">selections</a>);
<a name="l00357"></a>00357             }
<a name="l00358"></a>00358 
<a name="l00360"></a>00360             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#afce78dec22f27d705a1168c6d57ce048" title="Free all the memory allocated by this planner.">freeMemory</a>(<span class="keywordtype">void</span>);
<a name="l00361"></a>00361 
<a name="l00363"></a>00363             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aec771aaaa50e1496e6fd9c23b83329c1" title="Free the memory for the motions contained in a grid.">freeGridMotions</a>(<a class="code" href="classompl_1_1Grid.html" title="Representation of a simple grid.">Grid</a> &amp;grid);
<a name="l00364"></a>00364 
<a name="l00366"></a>00366             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aeb06ee1915eb20b77051fe2c748543cb" title="Free the memory for the data contained in a grid cell.">freeCellData</a>(CellData *cdata);
<a name="l00367"></a>00367 
<a name="l00369"></a>00369             <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aae241d048cceab3783d403ecf5a07ff6" title="Free the memory for a motion.">freeMotion</a>(Motion *motion);
<a name="l00370"></a>00370 
<a name="l00376"></a>00376                 <a class="code" href="structompl_1_1Grid_1_1Cell.html" title="Definition of a cell in this grid.">Grid::Cell</a>* <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a06a2eec0db4a8ba9d44e57bb9395043b" title="Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...">addMotion</a>(Motion* motion, <span class="keywordtype">double</span> dist);
<a name="l00377"></a>00377 
<a name="l00381"></a>00381             <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aafdef92d11259e650f28615b921f22e3" title="Select a motion and the cell it is part of from the grid of motions. This is where preference is give...">selectMotion</a>(Motion* &amp;smotion, <a class="code" href="structompl_1_1Grid_1_1Cell.html" title="Definition of a cell in this grid.">Grid::Cell</a>* &amp;scell);
<a name="l00382"></a>00382 
<a name="l00386"></a>00386             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#ad0174932ec4a02461cb900b8937cb5e2" title="When generated motions are to be added to the tree of motions, they often need to be split...">findNextMotion</a>(<span class="keyword">const</span> std::vector&lt;Grid::Coord&gt; &amp;coords, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> count);
<a name="l00387"></a>00387 
<a name="l00389"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a604b39fdd3616f208bbee56608db9028">00389</a>             <a class="code" href="classompl_1_1control_1_1ControlSamplerPtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSampler.">ControlSamplerPtr</a>             <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a604b39fdd3616f208bbee56608db9028" title="A control sampler.">controlSampler_</a>;
<a name="l00390"></a>00390 
<a name="l00392"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a1b01940872b5850fa2b7ba1bf0e361b3">00392</a>             <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1TreeData.html" title="The data defining a tree of motions for this algorithm.">TreeData</a>                      <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a1b01940872b5850fa2b7ba1bf0e361b3" title="The tree datastructure.">tree_</a>;
<a name="l00393"></a>00393 
<a name="l00395"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a36a9d68f59822ab36d22555f03c21bb6">00395</a>             <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">SpaceInformation</a>       *<a class="code" href="classompl_1_1control_1_1KPIECE1.html#a36a9d68f59822ab36d22555f03c21bb6" title="The base::SpaceInformation cast as control::SpaceInformation, for convenience.">siC_</a>;
<a name="l00396"></a>00396 
<a name="l00400"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a70c6382ee0b1a777a9e51f0a5b37873e">00400</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_1control_1_1KPIECE1.html#a70c6382ee0b1a777a9e51f0a5b37873e" title="This algorithm uses a discretization (a grid) to guide the exploration. The exploration is imposed on...">projectionEvaluator_</a>;
<a name="l00401"></a>00401 
<a name="l00405"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a658be23e1f8f18d6ca40bf8ea8379a73">00405</a>             <span class="keywordtype">double</span>                        <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a658be23e1f8f18d6ca40bf8ea8379a73" title="When extending a motion from a cell, the extension can be successful. If it is, the score of the cell...">goodScoreFactor_</a>;
<a name="l00406"></a>00406 
<a name="l00410"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#aad6c54edab2467b1cf8f9d264f2a12ff">00410</a>             <span class="keywordtype">double</span>                        <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aad6c54edab2467b1cf8f9d264f2a12ff" title="When extending a motion from a cell, the extension can fail. If it is, the score of the cell is multi...">badScoreFactor_</a>;
<a name="l00411"></a>00411 
<a name="l00412"></a>00412             <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>                  nCloseSamples_;
<a name="l00413"></a>00413 
<a name="l00416"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a82d7b8f19142433b9f9998035ab05d99">00416</a>             <span class="keywordtype">double</span>                        <a class="code" href="classompl_1_1control_1_1KPIECE1.html#a82d7b8f19142433b9f9998035ab05d99" title="The fraction of time to focus exploration on the border of the grid.">selectBorderFraction_</a>;
<a name="l00417"></a>00417 
<a name="l00419"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#ab2c9045ae1dea39ec8902c8db6dc5fba">00419</a>             <span class="keywordtype">double</span>                        <a class="code" href="classompl_1_1control_1_1KPIECE1.html#ab2c9045ae1dea39ec8902c8db6dc5fba" 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="l00420"></a>00420 
<a name="l00422"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a4ebcf5ecd31311092b2e69a43698879f">00422</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_1control_1_1KPIECE1.html#a4ebcf5ecd31311092b2e69a43698879f" title="The random number generator.">rng_</a>;
<a name="l00423"></a>00423         };
<a name="l00424"></a>00424 
<a name="l00425"></a>00425     }
<a name="l00426"></a>00426 }
<a name="l00427"></a>00427 
<a name="l00428"></a>00428 <span class="preprocessor">#endif</span>
</pre></div></div>
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