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<div class="title">RRT.h</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) 2008, Willow Garage, Inc.</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Willow Garage nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "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">#ifndef OMPL_CONTROL_PLANNERS_RRT_RRT_</span>
<a name="l00038"></a>00038 <span class="preprocessor"></span><span class="preprocessor">#define OMPL_CONTROL_PLANNERS_RRT_RRT_</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/control/planners/PlannerIncludes.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/datastructures/NearestNeighbors.h"</span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="keyword">namespace </span>ompl
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="keyword">namespace </span>control
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048
<a name="l00069"></a><a class="code" href="classompl_1_1control_1_1RRT.html">00069</a> <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1RRT.html" title="Rapidly-exploring Random Tree.">RRT</a> : <span class="keyword">public</span> base::Planner
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 <span class="keyword">public</span>:
<a name="l00072"></a>00072
<a name="l00074"></a><a class="code" href="classompl_1_1control_1_1RRT.html#ad74aa3374c2a2ecbf29eb9462a229e19">00074</a> <a class="code" href="classompl_1_1control_1_1RRT.html#ad74aa3374c2a2ecbf29eb9462a229e19" title="Constructor.">RRT</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> &si) : base::<a class="code" href="classompl_1_1base_1_1Planner.html#a404c3be95f77983e95a468e3a7032cc9" title="Constructor.">Planner</a>(si, <span class="stringliteral">"RRT"</span>)
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 <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="l00077"></a>00077 <a class="code" href="classompl_1_1control_1_1RRT.html#a61945ccf4115deee7b71a3c680d5dfc4" title="The base::SpaceInformation cast as control::SpaceInformation, for convenience.">siC_</a> = si.get();
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <a class="code" href="classompl_1_1control_1_1RRT.html#a40bc23cf94258f44dfe9abc572504443" 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="l00080"></a>00080 }
<a name="l00081"></a>00081
<a name="l00082"></a>00082 <span class="keyword">virtual</span> ~<a class="code" href="classompl_1_1control_1_1RRT.html" title="Rapidly-exploring Random Tree.">RRT</a>(<span class="keywordtype">void</span>)
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 <a class="code" href="classompl_1_1control_1_1RRT.html#a9f92538a652df4767eeaf5528e634286" title="Free the memory allocated by this planner.">freeMemory</a>();
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086
<a name="l00088"></a>00088 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1RRT.html#ace3cff4a51e75e3e827014ef34b9c8d8" title="Continue solving for some amount of time. Return true if solution was found.">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="l00089"></a>00089
<a name="l00093"></a>00093 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RRT.html#a35be5b7c879b31cbbe4347beb5ee4041" title="Clear datastructures. Call this function if the input data to the planner has changed and you do not ...">clear</a>(<span class="keywordtype">void</span>);
<a name="l00094"></a>00094
<a name="l00102"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a068bcfdd1b0ec3ea9d1a4923610496e5">00102</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RRT.html#a068bcfdd1b0ec3ea9d1a4923610496e5">setGoalBias</a>(<span class="keywordtype">double</span> goalBias)
<a name="l00103"></a>00103 {
<a name="l00104"></a>00104 <a class="code" href="classompl_1_1control_1_1RRT.html#a40bc23cf94258f44dfe9abc572504443" 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="l00105"></a>00105 }
<a name="l00106"></a>00106
<a name="l00108"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a3a779200b2ebaaf4bc8ff811c3a02ba9">00108</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1RRT.html#a3a779200b2ebaaf4bc8ff811c3a02ba9" title="Get the goal bias the planner is using.">getGoalBias</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00109"></a>00109 <span class="keyword"> </span>{
<a name="l00110"></a>00110 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1control_1_1RRT.html#a40bc23cf94258f44dfe9abc572504443" 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="l00111"></a>00111 }
<a name="l00112"></a>00112
<a name="l00113"></a>00113 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RRT.html#ae4ab6aef66f85778dc068e49b28b8d87" 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> &data) <span class="keyword">const</span>;
<a name="l00114"></a>00114
<a name="l00116"></a>00116 <span class="keyword">template</span><<span class="keyword">template</span><<span class="keyword">typename</span> T> <span class="keyword">class </span>NN>
<a name="l00117"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a8f2cfb325bbeae972f6f74507130ebaa">00117</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RRT.html#a8f2cfb325bbeae972f6f74507130ebaa" title="Set a different nearest neighbors datastructure.">setNearestNeighbors</a>(<span class="keywordtype">void</span>)
<a name="l00118"></a>00118 {
<a name="l00119"></a>00119 <a class="code" href="classompl_1_1control_1_1RRT.html#ade7dab7e775d209aaf947f257c1cf3a3" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>.reset(<span class="keyword">new</span> NN<Motion*>());
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121
<a name="l00122"></a>00122 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RRT.html#a58e7beb7a826aad2b18c16b55ad58925" 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="l00123"></a>00123
<a name="l00124"></a>00124 <span class="keyword">protected</span>:
<a name="l00125"></a>00125
<a name="l00126"></a>00126
<a name="l00131"></a><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html">00131</a> <span class="keyword">class </span><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 <span class="keyword">public</span>:
<a name="l00134"></a>00134
<a name="l00135"></a>00135 <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>) : <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>(NULL), <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c" title="The control contained by the motion.">control</a>(NULL), <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a8ca8aef83495822505a83ef5d047404b" title="The number of steps the control is applied for.">steps</a>(0), <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#af00f73a35b1000529fbd1aea6a52385d" title="The parent motion in the exploration tree.">parent</a>(NULL)
<a name="l00136"></a>00136 {
<a name="l00137"></a>00137 }
<a name="l00138"></a>00138
<a name="l00140"></a><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a6ddfa22cb20652db133e3429987ce5a4">00140</a> <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">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="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>(si->allocState()), <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c" title="The control contained by the motion.">control</a>(si->allocControl()), <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a8ca8aef83495822505a83ef5d047404b" title="The number of steps the control is applied for.">steps</a>(0), <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#af00f73a35b1000529fbd1aea6a52385d" title="The parent motion in the exploration tree.">parent</a>(NULL)
<a name="l00141"></a>00141 {
<a name="l00142"></a>00142 }
<a name="l00143"></a>00143
<a name="l00144"></a>00144 ~<a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(<span class="keywordtype">void</span>)
<a name="l00145"></a>00145 {
<a name="l00146"></a>00146 }
<a name="l00147"></a>00147
<a name="l00149"></a><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a">00149</a> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *<a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>;
<a name="l00150"></a>00150
<a name="l00152"></a><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c">00152</a> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *<a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c" title="The control contained by the motion.">control</a>;
<a name="l00153"></a>00153
<a name="l00155"></a><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a8ca8aef83495822505a83ef5d047404b">00155</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a8ca8aef83495822505a83ef5d047404b" title="The number of steps the control is applied for.">steps</a>;
<a name="l00156"></a>00156
<a name="l00158"></a><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#af00f73a35b1000529fbd1aea6a52385d">00158</a> <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *<a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#af00f73a35b1000529fbd1aea6a52385d" title="The parent motion in the exploration tree.">parent</a>;
<a name="l00159"></a>00159 };
<a name="l00160"></a>00160
<a name="l00162"></a>00162 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RRT.html#a9f92538a652df4767eeaf5528e634286" title="Free the memory allocated by this planner.">freeMemory</a>(<span class="keywordtype">void</span>);
<a name="l00163"></a>00163
<a name="l00165"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a9d4653fbaca57fae63d91510efdc3411">00165</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1RRT.html#a9d4653fbaca57fae63d91510efdc3411" title="Compute distance between motions (actually distance between contained states)">distanceFunction</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>* a, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>* b)<span class="keyword"> const</span>
<a name="l00166"></a>00166 <span class="keyword"> </span>{
<a name="l00167"></a>00167 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1Planner.html#aa3ceb9471163b6c96f6eeadbcfd3694e" title="The space information for which planning is done.">si_</a>->distance(a-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>, b-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>);
<a name="l00168"></a>00168 }
<a name="l00169"></a>00169
<a name="l00171"></a><a class="code" href="classompl_1_1control_1_1RRT.html#ace2d0aba3b22399f36e0af8f7ec80f5e">00171</a> <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">base::StateSamplerPtr</a> <a class="code" href="classompl_1_1control_1_1RRT.html#ace2d0aba3b22399f36e0af8f7ec80f5e" title="State sampler.">sampler_</a>;
<a name="l00172"></a>00172
<a name="l00174"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a5f6af64746982f3398483f10e46ddc5e">00174</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_1RRT.html#a5f6af64746982f3398483f10e46ddc5e" title="Control sampler.">controlSampler_</a>;
<a name="l00175"></a>00175
<a name="l00177"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a61945ccf4115deee7b71a3c680d5dfc4">00177</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_1RRT.html#a61945ccf4115deee7b71a3c680d5dfc4" title="The base::SpaceInformation cast as control::SpaceInformation, for convenience.">siC_</a>;
<a name="l00178"></a>00178
<a name="l00180"></a><a class="code" href="classompl_1_1control_1_1RRT.html#ade7dab7e775d209aaf947f257c1cf3a3">00180</a> boost::shared_ptr< NearestNeighbors<Motion*> > <a class="code" href="classompl_1_1control_1_1RRT.html#ade7dab7e775d209aaf947f257c1cf3a3" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>;
<a name="l00181"></a>00181
<a name="l00183"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a40bc23cf94258f44dfe9abc572504443">00183</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1control_1_1RRT.html#a40bc23cf94258f44dfe9abc572504443" 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="l00184"></a>00184
<a name="l00186"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a0373aa7c0340db91bfdfdcc2551a97a3">00186</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_1RRT.html#a0373aa7c0340db91bfdfdcc2551a97a3" title="The random number generator.">rng_</a>;
<a name="l00187"></a>00187 };
<a name="l00188"></a>00188
<a name="l00189"></a>00189 }
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191
<a name="l00192"></a>00192 <span class="preprocessor">#endif</span>
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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<a href="http://www.rice.edu">Rice University</a><br>
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