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<div class="title">KPIECE1.cpp</div> </div>
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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">* "AS IS" 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">#include "ompl/control/planners/kpiece/KPIECE1.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/base/GoalSampleableRegion.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/tools/config/SelfConfig.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <limits></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <cassert></span>
<a name="l00043"></a>00043
<a name="l00044"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#ac44309c34010882907e825e3c8115bc7">00044</a> <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...">ompl::control::KPIECE1::setup</a>(<span class="keywordtype">void</span>)
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <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...">Planner::setup</a>();
<a name="l00047"></a>00047 <a class="code" href="classompl_1_1SelfConfig.html" title="This class contains methods that automatically configure various parameters for motion planning...">SelfConfig</a> sc(<a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>, <a class="code" href="classompl_1_1base_1_1Planner.html#a79bac96f3b6f6e07c24f4b407054f8a3" title="Get the name of the planner.">getName</a>());
<a name="l00048"></a>00048 sc.<a class="code" href="classompl_1_1SelfConfig.html#ad2b1dc5899d8fab0744bacab31bc1661" title="If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...">configureProjectionEvaluator</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="l00049"></a>00049
<a name="l00050"></a>00050 <span class="keywordflow">if</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> < std::numeric_limits<double>::epsilon() || <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> > 1.0)
<a name="l00051"></a>00051 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Bad cell score factor must be in the range (0,1]"</span>);
<a name="l00052"></a>00052 <span class="keywordflow">if</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> < std::numeric_limits<double>::epsilon() || <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> > 1.0)
<a name="l00053"></a>00053 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Good cell score factor must be in the range (0,1]"</span>);
<a name="l00054"></a>00054 <span class="keywordflow">if</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> < std::numeric_limits<double>::epsilon() || <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> > 1.0)
<a name="l00055"></a>00055 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"The fraction of time spent selecting border cells must be in the range (0,1]"</span>);
<a name="l00056"></a>00056
<a name="l00057"></a>00057 <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_1GridN.html#a8f301e691e48294e1e216d1c7971aa9d">setDimension</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>->getDimension());
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00060"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a1d1600006ab94f51443cd485757d2b12">00060</a> <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...">ompl::control::KPIECE1::clear</a>(<span class="keywordtype">void</span>)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 Planner::clear();
<a name="l00063"></a>00063 controlSampler_.reset();
<a name="l00064"></a>00064 freeMemory();
<a name="l00065"></a>00065 tree_.grid.clear();
<a name="l00066"></a>00066 tree_.size = 0;
<a name="l00067"></a>00067 tree_.iteration = 1;
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069
<a name="l00070"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#afce78dec22f27d705a1168c6d57ce048">00070</a> <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.">ompl::control::KPIECE1::freeMemory</a>(<span class="keywordtype">void</span>)
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 freeGridMotions(tree_.grid);
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074
<a name="l00075"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#aec771aaaa50e1496e6fd9c23b83329c1">00075</a> <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.">ompl::control::KPIECE1::freeGridMotions</a>(<a class="code" href="classompl_1_1GridB.html">Grid</a> &grid)
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 <span class="keywordflow">for</span> (<a class="code" href="classompl_1_1Grid.html#ac85bc047c9574aea0fb08c1c53701eb9" title="We only allow const iterators.">Grid::iterator</a> it = grid.<a class="code" href="classompl_1_1Grid.html#ad74c5df97cf3d54a1a15eff55596973c" title="Return the begin() iterator for the grid.">begin</a>(); it != grid.<a class="code" href="classompl_1_1Grid.html#ac5d360c8fa02bd6ec58aa8cbbc450dd7" title="Return the end() iterator for the grid.">end</a>() ; ++it)
<a name="l00078"></a>00078 freeCellData(it->second->data);
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080
<a name="l00081"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#aeb06ee1915eb20b77051fe2c748543cb">00081</a> <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.">ompl::control::KPIECE1::freeCellData</a>(<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> *cdata)
<a name="l00082"></a>00082 {
<a name="l00083"></a>00083 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < cdata-><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>.size() ; ++i)
<a name="l00084"></a>00084 freeMotion(cdata-><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>[i]);
<a name="l00085"></a>00085 <span class="keyword">delete</span> cdata;
<a name="l00086"></a>00086 }
<a name="l00087"></a>00087
<a name="l00088"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#aae241d048cceab3783d403ecf5a07ff6">00088</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html#aae241d048cceab3783d403ecf5a07ff6" title="Free the memory for a motion.">ompl::control::KPIECE1::freeMotion</a>(<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *motion)
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 <span class="keywordflow">if</span> (motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>)
<a name="l00091"></a>00091 si_->freeState(motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>);
<a name="l00092"></a>00092 <span class="keywordflow">if</span> (motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a836b3d7b3e4124c4d68217010b0532d9" title="The control contained by this motion.">control</a>)
<a name="l00093"></a>00093 siC_->freeControl(motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a836b3d7b3e4124c4d68217010b0532d9" title="The control contained by this motion.">control</a>);
<a name="l00094"></a>00094 <span class="keyword">delete</span> motion;
<a name="l00095"></a>00095 }
<a name="l00096"></a>00096
<a name="l00097"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a66405fda7ce9ca4c06eb1f9e12b5589b">00097</a> <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...">ompl::control::KPIECE1::CloseSamples::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="l00098"></a>00098 {
<a name="l00099"></a>00099 <span class="keywordflow">if</span> (samples.empty())
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101 <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> cs(cell, motion, distance);
<a name="l00102"></a>00102 samples.insert(cs);
<a name="l00103"></a>00103 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105 <span class="comment">// if the sample we're considering is closer to the goal than the worst sample in the</span>
<a name="l00106"></a>00106 <span class="comment">// set of close samples, we include it</span>
<a name="l00107"></a>00107 <span class="keywordflow">if</span> (samples.rbegin()->distance > distance)
<a name="l00108"></a>00108 {
<a name="l00109"></a>00109 <span class="comment">// if the inclusion would go above the maximum allowed size,</span>
<a name="l00110"></a>00110 <span class="comment">// remove the last element</span>
<a name="l00111"></a>00111 <span class="keywordflow">if</span> (samples.size() >= maxSize)
<a name="l00112"></a>00112 samples.erase(--samples.end());
<a name="l00113"></a>00113 <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> cs(cell, motion, distance);
<a name="l00114"></a>00114 samples.insert(cs);
<a name="l00115"></a>00115 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00116"></a>00116 }
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120
<a name="l00121"></a><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html#a9b909ea64b900cf5ee3dea7aece7ecde">00121</a> <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 ...">ompl::control::KPIECE1::CloseSamples::selectMotion</a>(<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* &smotion, <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Grid::Cell</a>* &scell)
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123 <span class="keywordflow">if</span> (samples.size() > 0)
<a name="l00124"></a>00124 {
<a name="l00125"></a>00125 scell = samples.begin()->cell;
<a name="l00126"></a>00126 smotion = samples.begin()->motion;
<a name="l00127"></a>00127 <span class="comment">// average the highest & lowest distances and multiply by 1.1</span>
<a name="l00128"></a>00128 <span class="comment">// (make the distance appear artificially longer)</span>
<a name="l00129"></a>00129 <span class="keywordtype">double</span> d = (samples.begin()->distance + samples.rbegin()->distance) * 0.55;
<a name="l00130"></a>00130 samples.erase(samples.begin());
<a name="l00131"></a>00131 consider(scell, smotion, d);
<a name="l00132"></a>00132 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00135"></a>00135 }
<a name="l00136"></a>00136
<a name="l00137"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#ad0174932ec4a02461cb900b8937cb5e2">00137</a> <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...">ompl::control::KPIECE1::findNextMotion</a>(<span class="keyword">const</span> std::vector<Grid::Coord> &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="l00138"></a>00138 {
<a name="l00139"></a>00139 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = index + 1 ; i < count ; ++i)
<a name="l00140"></a>00140 <span class="keywordflow">if</span> (coords[i] != coords[index])
<a name="l00141"></a>00141 <span class="keywordflow">return</span> i - 1;
<a name="l00142"></a>00142
<a name="l00143"></a>00143 <span class="keywordflow">return</span> count - 1;
<a name="l00144"></a>00144 }
<a name="l00145"></a>00145
<a name="l00146"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a3657eec6c44eed95482f5c0a0c73acb7">00146</a> <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...">ompl::control::KPIECE1::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> &ptc)
<a name="l00147"></a>00147 {
<a name="l00148"></a>00148 checkValidity();
<a name="l00149"></a>00149 <a class="code" href="classompl_1_1base_1_1Goal.html" title="Abstract definition of goals. Will contain solutions, if found.">base::Goal</a> *goal = pdef_->getGoal().get();
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="keywordflow">while</span> (<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *st = pis_.nextStart())
<a name="l00152"></a>00152 {
<a name="l00153"></a>00153 <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="keyword">new</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(siC_);
<a name="l00154"></a>00154 si_->copyState(motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>, st);
<a name="l00155"></a>00155 siC_->nullControl(motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a836b3d7b3e4124c4d68217010b0532d9" title="The control contained by this motion.">control</a>);
<a name="l00156"></a>00156 addMotion(motion, 1.0);
<a name="l00157"></a>00157 }
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="keywordflow">if</span> (tree_.grid.size() == 0)
<a name="l00160"></a>00160 {
<a name="l00161"></a>00161 msg_.error(<span class="stringliteral">"There are no valid initial states!"</span>);
<a name="l00162"></a>00162 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00163"></a>00163 }
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <span class="keywordflow">if</span> (!controlSampler_)
<a name="l00166"></a>00166 controlSampler_ = siC_->allocControlSampler();
<a name="l00167"></a>00167
<a name="l00168"></a>00168 msg_.inform(<span class="stringliteral">"Starting with %u states"</span>, tree_.size);
<a name="l00169"></a>00169
<a name="l00170"></a>00170 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *solution = NULL;
<a name="l00171"></a>00171 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *approxsol = NULL;
<a name="l00172"></a>00172 <span class="keywordtype">double</span> approxdif = std::numeric_limits<double>::infinity();
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *rctrl = siC_->allocControl();
<a name="l00175"></a>00175
<a name="l00176"></a>00176 std::vector<base::State*> states(siC_->getMaxControlDuration() + 1);
<a name="l00177"></a>00177 std::vector<Grid::Coord> coords(states.size());
<a name="l00178"></a>00178 std::vector<Grid::Cell*> cells(coords.size());
<a name="l00179"></a>00179
<a name="l00180"></a>00180 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < states.size() ; ++i)
<a name="l00181"></a>00181 states[i] = si_->allocState();
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="comment">// samples that were found to be the best, so far</span>
<a name="l00184"></a>00184 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1CloseSamples.html" title="Bounded set of good samples.">CloseSamples</a> closeSamples(nCloseSamples_);
<a name="l00185"></a>00185
<a name="l00186"></a>00186 <span class="keywordflow">while</span> (ptc() == <span class="keyword">false</span>)
<a name="l00187"></a>00187 {
<a name="l00188"></a>00188 tree_.iteration++;
<a name="l00189"></a>00189
<a name="l00190"></a>00190 <span class="comment">/* Decide on a state to expand from */</span>
<a name="l00191"></a>00191 <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a> *existing = NULL;
<a name="l00192"></a>00192 <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Grid::Cell</a> *ecell = NULL;
<a name="l00193"></a>00193
<a name="l00194"></a>00194 <span class="keywordflow">if</span> (closeSamples.<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>() && rng_.uniform01() < goalBias_)
<a name="l00195"></a>00195 {
<a name="l00196"></a>00196 <span class="keywordflow">if</span> (!closeSamples.<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>(existing, ecell))
<a name="l00197"></a>00197 selectMotion(existing, ecell);
<a name="l00198"></a>00198 }
<a name="l00199"></a>00199 <span class="keywordflow">else</span>
<a name="l00200"></a>00200 selectMotion(existing, ecell);
<a name="l00201"></a>00201 assert(existing);
<a name="l00202"></a>00202
<a name="l00203"></a>00203 <span class="comment">/* sample a random control */</span>
<a name="l00204"></a>00204 controlSampler_->sampleNext(rctrl, existing-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a836b3d7b3e4124c4d68217010b0532d9" title="The control contained by this motion.">control</a>, existing-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>);
<a name="l00205"></a>00205
<a name="l00206"></a>00206 <span class="comment">/* propagate */</span>
<a name="l00207"></a>00207 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cd = controlSampler_->sampleStepCount(siC_->getMinControlDuration(), siC_->getMaxControlDuration());
<a name="l00208"></a>00208 cd = siC_->propagateWhileValid(existing-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>, rctrl, cd, states, <span class="keyword">false</span>);
<a name="l00209"></a>00209
<a name="l00210"></a>00210 <span class="comment">/* if we have enough steps */</span>
<a name="l00211"></a>00211 <span class="keywordflow">if</span> (cd >= siC_->getMinControlDuration())
<a name="l00212"></a>00212 {
<a name="l00213"></a>00213 std::size_t avgCov_two_thirds = (2 * tree_.size) / (3 * tree_.grid.size());
<a name="l00214"></a>00214 <span class="keywordtype">bool</span> interestingMotion = <span class="keyword">false</span>;
<a name="l00215"></a>00215
<a name="l00216"></a>00216 <span class="comment">// split the motion into smaller ones, so we do not cross cell boundaries</span>
<a name="l00217"></a>00217 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < cd ; ++i)
<a name="l00218"></a>00218 {
<a name="l00219"></a>00219 projectionEvaluator_->computeCoordinates(states[i], coords[i]);
<a name="l00220"></a>00220 cells[i] = tree_.grid.getCell(coords[i]);
<a name="l00221"></a>00221 <span class="keywordflow">if</span> (!cells[i])
<a name="l00222"></a>00222 interestingMotion = <span class="keyword">true</span>;
<a name="l00223"></a>00223 <span class="keywordflow">else</span>
<a name="l00224"></a>00224 {
<a name="l00225"></a>00225 <span class="keywordflow">if</span> (!interestingMotion && cells[i]->data->motions.size() <= avgCov_two_thirds)
<a name="l00226"></a>00226 interestingMotion = <span class="keyword">true</span>;
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228 }
<a name="l00229"></a>00229
<a name="l00230"></a>00230 <span class="keywordflow">if</span> (interestingMotion || rng_.uniform01() < 0.05)
<a name="l00231"></a>00231 {
<a name="l00232"></a>00232 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> index = 0;
<a name="l00233"></a>00233 <span class="keywordflow">while</span> (index < cd)
<a name="l00234"></a>00234 {
<a name="l00235"></a>00235 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nextIndex = findNextMotion(coords, index, cd);
<a name="l00236"></a>00236 <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="keyword">new</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>(siC_);
<a name="l00237"></a>00237 si_->copyState(motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>, states[nextIndex]);
<a name="l00238"></a>00238 siC_->copyControl(motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a836b3d7b3e4124c4d68217010b0532d9" title="The control contained by this motion.">control</a>, rctrl);
<a name="l00239"></a>00239 motion-><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> = nextIndex - index + 1;
<a name="l00240"></a>00240 motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a73d2e565dc1a88298f14bf3f0ba379fb" title="The parent motion in the exploration tree.">parent</a> = existing;
<a name="l00241"></a>00241
<a name="l00242"></a>00242 <span class="keywordtype">double</span> dist = 0.0;
<a name="l00243"></a>00243 <span class="keywordtype">bool</span> solved = goal-><a class="code" href="classompl_1_1base_1_1Goal.html#a02ba4ba487714cd4e8f67c9d4164d0ec" title="Return true if the state satisfies the goal constraints.">isSatisfied</a>(motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>, &dist);
<a name="l00244"></a>00244 <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Grid::Cell</a> *toCell = addMotion(motion, dist);
<a name="l00245"></a>00245
<a name="l00246"></a>00246 <span class="keywordflow">if</span> (solved)
<a name="l00247"></a>00247 {
<a name="l00248"></a>00248 approxdif = dist;
<a name="l00249"></a>00249 solution = motion;
<a name="l00250"></a>00250 <span class="keywordflow">break</span>;
<a name="l00251"></a>00251 }
<a name="l00252"></a>00252 <span class="keywordflow">if</span> (dist < approxdif)
<a name="l00253"></a>00253 {
<a name="l00254"></a>00254 approxdif = dist;
<a name="l00255"></a>00255 approxsol = motion;
<a name="l00256"></a>00256 }
<a name="l00257"></a>00257
<a name="l00258"></a>00258 closeSamples.<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>(toCell, motion, dist);
<a name="l00259"></a>00259
<a name="l00260"></a>00260 <span class="comment">// new parent will be the newly created motion</span>
<a name="l00261"></a>00261 existing = motion;
<a name="l00262"></a>00262 index = nextIndex + 1;
<a name="l00263"></a>00263 }
<a name="l00264"></a>00264
<a name="l00265"></a>00265 <span class="keywordflow">if</span> (solution)
<a name="l00266"></a>00266 <span class="keywordflow">break</span>;
<a name="l00267"></a>00267 }
<a name="l00268"></a>00268
<a name="l00269"></a>00269 <span class="comment">// update cell score</span>
<a name="l00270"></a>00270 ecell->data->score *= goodScoreFactor_;
<a name="l00271"></a>00271 }
<a name="l00272"></a>00272 <span class="keywordflow">else</span>
<a name="l00273"></a>00273 ecell->data->score *= badScoreFactor_;
<a name="l00274"></a>00274
<a name="l00275"></a>00275 tree_.grid.update(ecell);
<a name="l00276"></a>00276 }
<a name="l00277"></a>00277
<a name="l00278"></a>00278 <span class="keywordtype">bool</span> approximate = <span class="keyword">false</span>;
<a name="l00279"></a>00279 <span class="keywordflow">if</span> (solution == NULL)
<a name="l00280"></a>00280 {
<a name="l00281"></a>00281 solution = approxsol;
<a name="l00282"></a>00282 approximate = <span class="keyword">true</span>;
<a name="l00283"></a>00283 }
<a name="l00284"></a>00284
<a name="l00285"></a>00285 <span class="keywordflow">if</span> (solution != NULL)
<a name="l00286"></a>00286 {
<a name="l00287"></a>00287 <span class="comment">/* construct the solution path */</span>
<a name="l00288"></a>00288 std::vector<Motion*> mpath;
<a name="l00289"></a>00289 <span class="keywordflow">while</span> (solution != NULL)
<a name="l00290"></a>00290 {
<a name="l00291"></a>00291 mpath.push_back(solution);
<a name="l00292"></a>00292 solution = solution-><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="l00293"></a>00293 }
<a name="l00294"></a>00294
<a name="l00295"></a>00295 <span class="comment">/* set the solution path */</span>
<a name="l00296"></a>00296 <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a> *path = <span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>(si_);
<a name="l00297"></a>00297 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath.size() - 1 ; i >= 0 ; --i)
<a name="l00298"></a>00298 {
<a name="l00299"></a>00299 path-><a class="code" href="classompl_1_1control_1_1PathControl.html#a2bd25b55f0de06ecac55cabb4b90a606" title="The list of states that make up the path.">states</a>.push_back(si_->cloneState(mpath[i]->state));
<a name="l00300"></a>00300 <span class="keywordflow">if</span> (mpath[i]->parent)
<a name="l00301"></a>00301 {
<a name="l00302"></a>00302 path-><a class="code" href="classompl_1_1control_1_1PathControl.html#a69d77e39906c91394470f9e988b4944a" title="The control applied at each state. This array contains one element less than the list of states...">controls</a>.push_back(siC_->cloneControl(mpath[i]->control));
<a name="l00303"></a>00303 path-><a class="code" href="classompl_1_1control_1_1PathControl.html#a3a8b0e7b00684789eac7d51d65d81b49" title="The duration of the control applied at each state. This array contains one element less than the list...">controlDurations</a>.push_back(mpath[i]->steps * siC_->getPropagationStepSize());
<a name="l00304"></a>00304 }
<a name="l00305"></a>00305 }
<a name="l00306"></a>00306
<a name="l00307"></a>00307 goal-><a class="code" href="classompl_1_1base_1_1Goal.html#afbfc02ebac97049ebdd28d040ce44c37" title="Set the difference between the found solution path and the desired solution path.">setDifference</a>(approxdif);
<a name="l00308"></a>00308 goal-><a class="code" href="classompl_1_1base_1_1Goal.html#ade528c0fefb9094abc1a2d1518a5f860" title="Update the solution path. If a previous solution path exists, it is deleted.">setSolutionPath</a>(<a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">base::PathPtr</a>(path), approximate);
<a name="l00309"></a>00309
<a name="l00310"></a>00310 <span class="keywordflow">if</span> (approximate)
<a name="l00311"></a>00311 msg_.warn(<span class="stringliteral">"Found approximate solution"</span>);
<a name="l00312"></a>00312 }
<a name="l00313"></a>00313
<a name="l00314"></a>00314 siC_->freeControl(rctrl);
<a name="l00315"></a>00315 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < states.size() ; ++i)
<a name="l00316"></a>00316 si_->freeState(states[i]);
<a name="l00317"></a>00317
<a name="l00318"></a>00318 msg_.inform(<span class="stringliteral">"Created %u states in %u cells (%u internal + %u external)"</span>, tree_.size, tree_.grid.size(),
<a name="l00319"></a>00319 tree_.grid.countInternal(), tree_.grid.countExternal());
<a name="l00320"></a>00320
<a name="l00321"></a>00321 <span class="keywordflow">return</span> goal-><a class="code" href="classompl_1_1base_1_1Goal.html#a9a6e44d33f848108d0beeb1cf7a6c1ad" title="Returns true if a solution path has been found (could be approximate)">isAchieved</a>();
<a name="l00322"></a>00322 }
<a name="l00323"></a>00323
<a name="l00324"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#aafdef92d11259e650f28615b921f22e3">00324</a> <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...">ompl::control::KPIECE1::selectMotion</a>(<a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* &smotion, <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Grid::Cell</a>* &scell)
<a name="l00325"></a>00325 {
<a name="l00326"></a>00326 scell = rng_.uniform01() < std::max(selectBorderFraction_, tree_.grid.fracExternal()) ?
<a name="l00327"></a>00327 tree_.grid.topExternal() : tree_.grid.topInternal();
<a name="l00328"></a>00328
<a name="l00329"></a>00329 <span class="comment">// We are running on finite precision, so our update scheme will end up</span>
<a name="l00330"></a>00330 <span class="comment">// with 0 values for the score. This is where we fix the problem</span>
<a name="l00331"></a>00331 <span class="keywordflow">if</span> (scell->data->score < std::numeric_limits<double>::epsilon())
<a name="l00332"></a>00332 {
<a name="l00333"></a>00333 msg_.debug(<span class="stringliteral">"Numerical precision limit reached. Resetting costs."</span>);
<a name="l00334"></a>00334 std::vector<CellData*> content;
<a name="l00335"></a>00335 content.reserve(tree_.grid.size());
<a name="l00336"></a>00336 tree_.grid.getContent(content);
<a name="l00337"></a>00337 <span class="keywordflow">for</span> (std::vector<CellData*>::iterator it = content.begin() ; it != content.end() ; ++it)
<a name="l00338"></a>00338 (*it)->score += 1.0 + log((<span class="keywordtype">double</span>)((*it)->iteration));
<a name="l00339"></a>00339 tree_.grid.updateAll();
<a name="l00340"></a>00340 }
<a name="l00341"></a>00341
<a name="l00342"></a>00342 <span class="keywordflow">if</span> (scell && !scell->data->motions.empty())
<a name="l00343"></a>00343 {
<a name="l00344"></a>00344 scell->data->selections++;
<a name="l00345"></a>00345 smotion = scell->data->motions[rng_.halfNormalInt(0, scell->data->motions.size() - 1)];
<a name="l00346"></a>00346 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00347"></a>00347 }
<a name="l00348"></a>00348 <span class="keywordflow">else</span>
<a name="l00349"></a>00349 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00350"></a>00350 }
<a name="l00351"></a>00351
<a name="l00352"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a06a2eec0db4a8ba9d44e57bb9395043b">00352</a> <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">ompl::control::KPIECE1::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 ...">ompl::control::KPIECE1::addMotion</a>(<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> dist)
<a name="l00353"></a>00353 {
<a name="l00354"></a>00354 <a class="code" href="classompl_1_1GridB.html#ae1ffa2705f26a8916307afa7b020ba49" title="Datatype for cell coordinates.">Grid::Coord</a> coord;
<a name="l00355"></a>00355 projectionEvaluator_->computeCoordinates(motion-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>, coord);
<a name="l00356"></a>00356 <a class="code" href="classompl_1_1GridB.html#a7fd1b48d2b5451f40c57f4e3fba4e4c3" title="Definition of a cell in this grid.">Grid::Cell</a>* cell = tree_.grid.getCell(coord);
<a name="l00357"></a>00357 <span class="keywordflow">if</span> (cell)
<a name="l00358"></a>00358 {
<a name="l00359"></a>00359 cell->data->motions.push_back(motion);
<a name="l00360"></a>00360 cell->data->coverage += motion-><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="l00361"></a>00361 tree_.grid.update(cell);
<a name="l00362"></a>00362 }
<a name="l00363"></a>00363 <span class="keywordflow">else</span>
<a name="l00364"></a>00364 {
<a name="l00365"></a>00365 cell = tree_.grid.createCell(coord);
<a name="l00366"></a>00366 cell->data = <span class="keyword">new</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="l00367"></a>00367 cell->data->motions.push_back(motion);
<a name="l00368"></a>00368 cell->data->coverage = motion-><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="l00369"></a>00369 cell->data->iteration = tree_.iteration;
<a name="l00370"></a>00370 cell->data->selections = 1;
<a name="l00371"></a>00371 cell->data->score = (1.0 + log((<span class="keywordtype">double</span>)(tree_.iteration))) / (1e-3 + dist);
<a name="l00372"></a>00372 tree_.grid.add(cell);
<a name="l00373"></a>00373 }
<a name="l00374"></a>00374 tree_.size++;
<a name="l00375"></a>00375 <span class="keywordflow">return</span> cell;
<a name="l00376"></a>00376 }
<a name="l00377"></a>00377
<a name="l00378"></a><a class="code" href="classompl_1_1control_1_1KPIECE1.html#a96505c47a5ad0d5aa0723f52d2af561d">00378</a> <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...">ompl::control::KPIECE1::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> &data)<span class="keyword"> const</span>
<a name="l00379"></a>00379 <span class="keyword"></span>{
<a name="l00380"></a>00380 Planner::getPlannerData(data);
<a name="l00381"></a>00381
<a name="l00382"></a>00382 <a class="code" href="classompl_1_1GridB.html#a8af7231656ec5aac513048369d7388d8" title="The datatype for arrays of cells.">Grid::CellArray</a> cells;
<a name="l00383"></a>00383 tree_.grid.getCells(cells);
<a name="l00384"></a>00384
<a name="l00385"></a>00385 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1control_1_1PlannerData.html" title="Datatype holding data a planner can expose for debug purposes.">PlannerData</a> *cpd = dynamic_cast<control::PlannerData*>(&data))
<a name="l00386"></a>00386 {
<a name="l00387"></a>00387 <span class="keywordtype">double</span> delta = siC_->getPropagationStepSize();
<a name="l00388"></a>00388
<a name="l00389"></a>00389 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < cells.size() ; ++i)
<a name="l00390"></a>00390 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < cells[i]->data->motions.size() ; ++j)
<a name="l00391"></a>00391 {
<a name="l00392"></a>00392 <span class="keyword">const</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* m = cells[i]->data->motions[j];
<a name="l00393"></a>00393 <span class="keywordflow">if</span> (m-><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="l00394"></a>00394 cpd->recordEdge(m-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a73d2e565dc1a88298f14bf3f0ba379fb" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>, m-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>, m-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a836b3d7b3e4124c4d68217010b0532d9" title="The control contained by this motion.">control</a>, m-><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> * delta);
<a name="l00395"></a>00395 <span class="keywordflow">else</span>
<a name="l00396"></a>00396 cpd->recordEdge(NULL, m-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>, NULL, 0.);
<a name="l00397"></a>00397 cpd->tagState(m-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>, cells[i]->border ? 2 : 1);
<a name="l00398"></a>00398 }
<a name="l00399"></a>00399 }
<a name="l00400"></a>00400 <span class="keywordflow">else</span>
<a name="l00401"></a>00401 {
<a name="l00402"></a>00402 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < cells.size() ; ++i)
<a name="l00403"></a>00403 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> j = 0 ; j < cells[i]->data->motions.size() ; ++j)
<a name="l00404"></a>00404 {
<a name="l00405"></a>00405 <span class="keyword">const</span> <a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html" title="Representation of a motion for this algorithm.">Motion</a>* m = cells[i]->data->motions[j];
<a name="l00406"></a>00406 data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#aa11d568e75a53a0fecddbecbc05ca429" title="Record an edge between two states. This function is called by planners to fill states, stateIndex and edges. If the same state/edge is seen multiple times, it is added only once.">recordEdge</a>(m-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a73d2e565dc1a88298f14bf3f0ba379fb" title="The parent motion in the exploration tree.">parent</a> ? m-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a73d2e565dc1a88298f14bf3f0ba379fb" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a> : NULL, m-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>);
<a name="l00407"></a>00407 data.<a class="code" href="classompl_1_1base_1_1PlannerData.html#a8de56c12227187dbb8d2c81af916f146" title="Assign a tag to a state.">tagState</a>(m-><a class="code" href="structompl_1_1control_1_1KPIECE1_1_1Motion.html#a3db210dbb25ceaadb701c5438e58aba8" title="The state contained by this motion.">state</a>, cells[i]->border ? 2 : 1);
<a name="l00408"></a>00408 }
<a name="l00409"></a>00409 }
<a name="l00410"></a>00410 }
</pre></div></div>
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<a href="http://www.rice.edu">Rice University</a><br>
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