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<div class="title">RRT.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) 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">#include "ompl/control/planners/rrt/RRT.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/datastructures/NearestNeighborsGNAT.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <limits></span>
<a name="l00041"></a>00041
<a name="l00042"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a58e7beb7a826aad2b18c16b55ad58925">00042</a> <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...">ompl::control::RRT::setup</a>(<span class="keywordtype">void</span>)
<a name="l00043"></a>00043 {
<a name="l00044"></a>00044 <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...">base::Planner::setup</a>();
<a name="l00045"></a>00045 <span class="keywordflow">if</span> (!<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="l00046"></a>00046 <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> <a class="code" href="classompl_1_1NearestNeighborsGNAT.html" title="Geometric Near-neighbor Access Tree (GNAT), a data structure for nearest neighbor search...">NearestNeighborsGNAT<Motion*></a>());
<a name="l00047"></a>00047 <a class="code" href="classompl_1_1control_1_1RRT.html#ade7dab7e775d209aaf947f257c1cf3a3" title="A nearest-neighbors datastructure containing the tree of motions.">nn_</a>->setDistanceFunction(boost::bind(&<a class="code" href="classompl_1_1control_1_1RRT.html#a9d4653fbaca57fae63d91510efdc3411" title="Compute distance between motions (actually distance between contained states)">RRT::distanceFunction</a>, <span class="keyword">this</span>, _1, _2));
<a name="l00048"></a>00048 }
<a name="l00049"></a>00049
<a name="l00050"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a35be5b7c879b31cbbe4347beb5ee4041">00050</a> <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 ...">ompl::control::RRT::clear</a>(<span class="keywordtype">void</span>)
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 Planner::clear();
<a name="l00053"></a>00053 sampler_.reset();
<a name="l00054"></a>00054 controlSampler_.reset();
<a name="l00055"></a>00055 freeMemory();
<a name="l00056"></a>00056 <span class="keywordflow">if</span> (nn_)
<a name="l00057"></a>00057 nn_->clear();
<a name="l00058"></a>00058 }
<a name="l00059"></a>00059
<a name="l00060"></a><a class="code" href="classompl_1_1control_1_1RRT.html#a9f92538a652df4767eeaf5528e634286">00060</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1RRT.html#a9f92538a652df4767eeaf5528e634286" title="Free the memory allocated by this planner.">ompl::control::RRT::freeMemory</a>(<span class="keywordtype">void</span>)
<a name="l00061"></a>00061 {
<a name="l00062"></a>00062 <span class="keywordflow">if</span> (nn_)
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 std::vector<Motion*> motions;
<a name="l00065"></a>00065 nn_->list(motions);
<a name="l00066"></a>00066 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00067"></a>00067 {
<a name="l00068"></a>00068 <span class="keywordflow">if</span> (motions[i]->state)
<a name="l00069"></a>00069 si_->freeState(motions[i]->state);
<a name="l00070"></a>00070 <span class="keywordflow">if</span> (motions[i]->control)
<a name="l00071"></a>00071 siC_->freeControl(motions[i]->control);
<a name="l00072"></a>00072 <span class="keyword">delete</span> motions[i];
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075 }
<a name="l00076"></a>00076
<a name="l00077"></a><a class="code" href="classompl_1_1control_1_1RRT.html#ace3cff4a51e75e3e827014ef34b9c8d8">00077</a> <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.">ompl::control::RRT::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="l00078"></a>00078 {
<a name="l00079"></a>00079 checkValidity();
<a name="l00080"></a>00080 <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="l00081"></a>00081 <a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html" title="Abstract definition of a goal region that can be sampled.">base::GoalSampleableRegion</a> *goal_s = <span class="keyword">dynamic_cast<</span><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html" title="Abstract definition of a goal region that can be sampled.">base::GoalSampleableRegion</a>*<span class="keyword">></span>(goal);
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <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="l00084"></a>00084 {
<a name="l00085"></a>00085 <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(siC_);
<a name="l00086"></a>00086 si_->copyState(motion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>, st);
<a name="l00087"></a>00087 siC_->nullControl(motion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c" title="The control contained by the motion.">control</a>);
<a name="l00088"></a>00088 nn_->add(motion);
<a name="l00089"></a>00089 }
<a name="l00090"></a>00090
<a name="l00091"></a>00091 <span class="keywordflow">if</span> (nn_->size() == 0)
<a name="l00092"></a>00092 {
<a name="l00093"></a>00093 msg_.error(<span class="stringliteral">"There are no valid initial states!"</span>);
<a name="l00094"></a>00094 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00095"></a>00095 }
<a name="l00096"></a>00096
<a name="l00097"></a>00097 <span class="keywordflow">if</span> (!sampler_)
<a name="l00098"></a>00098 sampler_ = si_->allocStateSampler();
<a name="l00099"></a>00099 <span class="keywordflow">if</span> (!controlSampler_)
<a name="l00100"></a>00100 controlSampler_ = siC_->allocControlSampler();
<a name="l00101"></a>00101
<a name="l00102"></a>00102 msg_.inform(<span class="stringliteral">"Starting with %u states"</span>, nn_->size());
<a name="l00103"></a>00103
<a name="l00104"></a>00104 <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *solution = NULL;
<a name="l00105"></a>00105 <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *approxsol = NULL;
<a name="l00106"></a>00106 <span class="keywordtype">double</span> approxdif = std::numeric_limits<double>::infinity();
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *rmotion = <span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(siC_);
<a name="l00109"></a>00109 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *rstate = rmotion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>;
<a name="l00110"></a>00110 <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">Control</a> *rctrl = rmotion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c" title="The control contained by the motion.">control</a>;
<a name="l00111"></a>00111 <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *xstate = si_->allocState();
<a name="l00112"></a>00112
<a name="l00113"></a>00113 <span class="keywordflow">while</span> (ptc() == <span class="keyword">false</span>)
<a name="l00114"></a>00114 {
<a name="l00115"></a>00115 <span class="comment">/* sample random state (with goal biasing) */</span>
<a name="l00116"></a>00116 <span class="keywordflow">if</span> (goal_s && rng_.uniform01() < goalBias_ && goal_s-><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html#a60329b89ea7217a7550197e5866c28c7" title="Return true of maxSampleCount() > 0, since in this case samples can certainly be produced.">canSample</a>())
<a name="l00117"></a>00117 goal_s-><a class="code" href="classompl_1_1base_1_1GoalSampleableRegion.html#a11c9d2c4d9d5ddbeb8c30e531d1efc5f" title="Sample a state in the goal region.">sampleGoal</a>(rstate);
<a name="l00118"></a>00118 <span class="keywordflow">else</span>
<a name="l00119"></a>00119 sampler_->sampleUniform(rstate);
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="comment">/* find closest state in the tree */</span>
<a name="l00122"></a>00122 <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *nmotion = nn_->nearest(rmotion);
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment">/* sample a random control that attempts to go towards the random state, and also sample a control duration */</span>
<a name="l00125"></a>00125 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cd = controlSampler_->sampleTo(rctrl, siC_->getMinControlDuration(), siC_->getMaxControlDuration(),
<a name="l00126"></a>00126 nmotion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c" title="The control contained by the motion.">control</a>, nmotion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>, rmotion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>);
<a name="l00127"></a>00127 cd = siC_->propagateWhileValid(nmotion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>, rctrl, cd, xstate);
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="keywordflow">if</span> (cd >= siC_->getMinControlDuration())
<a name="l00130"></a>00130 {
<a name="l00131"></a>00131 <span class="comment">/* create a motion */</span>
<a name="l00132"></a>00132 <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a> *motion = <span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>(siC_);
<a name="l00133"></a>00133 si_->copyState(motion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>, xstate);
<a name="l00134"></a>00134 siC_->copyControl(motion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c" title="The control contained by the motion.">control</a>, rctrl);
<a name="l00135"></a>00135 motion-><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> = cd;
<a name="l00136"></a>00136 motion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#af00f73a35b1000529fbd1aea6a52385d" title="The parent motion in the exploration tree.">parent</a> = nmotion;
<a name="l00137"></a>00137
<a name="l00138"></a>00138 nn_->add(motion);
<a name="l00139"></a>00139 <span class="keywordtype">double</span> dist = 0.0;
<a name="l00140"></a>00140 <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="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>, &dist);
<a name="l00141"></a>00141 <span class="keywordflow">if</span> (solved)
<a name="l00142"></a>00142 {
<a name="l00143"></a>00143 approxdif = dist;
<a name="l00144"></a>00144 solution = motion;
<a name="l00145"></a>00145 <span class="keywordflow">break</span>;
<a name="l00146"></a>00146 }
<a name="l00147"></a>00147 <span class="keywordflow">if</span> (dist < approxdif)
<a name="l00148"></a>00148 {
<a name="l00149"></a>00149 approxdif = dist;
<a name="l00150"></a>00150 approxsol = motion;
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152 }
<a name="l00153"></a>00153 }
<a name="l00154"></a>00154
<a name="l00155"></a>00155 <span class="keywordtype">bool</span> approximate = <span class="keyword">false</span>;
<a name="l00156"></a>00156 <span class="keywordflow">if</span> (solution == NULL)
<a name="l00157"></a>00157 {
<a name="l00158"></a>00158 solution = approxsol;
<a name="l00159"></a>00159 approximate = <span class="keyword">true</span>;
<a name="l00160"></a>00160 }
<a name="l00161"></a>00161
<a name="l00162"></a>00162 <span class="keywordflow">if</span> (solution != NULL)
<a name="l00163"></a>00163 {
<a name="l00164"></a>00164 <span class="comment">/* construct the solution path */</span>
<a name="l00165"></a>00165 std::vector<Motion*> mpath;
<a name="l00166"></a>00166 <span class="keywordflow">while</span> (solution != NULL)
<a name="l00167"></a>00167 {
<a name="l00168"></a>00168 mpath.push_back(solution);
<a name="l00169"></a>00169 solution = solution-><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="l00170"></a>00170 }
<a name="l00171"></a>00171
<a name="l00172"></a>00172 <span class="comment">/* set the solution path */</span>
<a name="l00173"></a>00173 <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="l00174"></a>00174 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = mpath.size() - 1 ; i >= 0 ; --i)
<a name="l00175"></a>00175 {
<a name="l00176"></a>00176 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="l00177"></a>00177 <span class="keywordflow">if</span> (mpath[i]->parent)
<a name="l00178"></a>00178 {
<a name="l00179"></a>00179 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="l00180"></a>00180 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="l00181"></a>00181 }
<a name="l00182"></a>00182 }
<a name="l00183"></a>00183 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="l00184"></a>00184 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="l00185"></a>00185
<a name="l00186"></a>00186 <span class="keywordflow">if</span> (approximate)
<a name="l00187"></a>00187 msg_.warn(<span class="stringliteral">"Found approximate solution"</span>);
<a name="l00188"></a>00188 }
<a name="l00189"></a>00189
<a name="l00190"></a>00190 <span class="keywordflow">if</span> (rmotion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>)
<a name="l00191"></a>00191 si_->freeState(rmotion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>);
<a name="l00192"></a>00192 <span class="keywordflow">if</span> (rmotion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c" title="The control contained by the motion.">control</a>)
<a name="l00193"></a>00193 siC_->freeControl(rmotion-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c" title="The control contained by the motion.">control</a>);
<a name="l00194"></a>00194 <span class="keyword">delete</span> rmotion;
<a name="l00195"></a>00195 si_->freeState(xstate);
<a name="l00196"></a>00196
<a name="l00197"></a>00197 msg_.inform(<span class="stringliteral">"Created %u states"</span>, nn_->size());
<a name="l00198"></a>00198
<a name="l00199"></a>00199 <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="l00200"></a>00200 }
<a name="l00201"></a>00201
<a name="l00202"></a><a class="code" href="classompl_1_1control_1_1RRT.html#ae4ab6aef66f85778dc068e49b28b8d87">00202</a> <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...">ompl::control::RRT::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="l00203"></a>00203 <span class="keyword"></span>{
<a name="l00204"></a>00204 Planner::getPlannerData(data);
<a name="l00205"></a>00205
<a name="l00206"></a>00206 std::vector<Motion*> motions;
<a name="l00207"></a>00207 <span class="keywordflow">if</span> (nn_)
<a name="l00208"></a>00208 nn_->list(motions);
<a name="l00209"></a>00209
<a name="l00210"></a>00210 <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="l00211"></a>00211 {
<a name="l00212"></a>00212 <span class="keywordtype">double</span> delta = siC_->getPropagationStepSize();
<a name="l00213"></a>00213
<a name="l00214"></a>00214 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00215"></a>00215 {
<a name="l00216"></a>00216 <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>* m = motions[i];
<a name="l00217"></a>00217 <span class="keywordflow">if</span> (m-><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="l00218"></a>00218 cpd->recordEdge(m-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#af00f73a35b1000529fbd1aea6a52385d" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>, m-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>, m-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#ac6d68ad5b0174b36493d0c3e32b7614c" title="The control contained by the motion.">control</a>, m-><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> * delta);
<a name="l00219"></a>00219 <span class="keywordflow">else</span>
<a name="l00220"></a>00220 cpd->recordEdge(NULL, m-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>, NULL, 0.);
<a name="l00221"></a>00221 }
<a name="l00222"></a>00222 }
<a name="l00223"></a>00223 <span class="keywordflow">else</span>
<a name="l00224"></a>00224 {
<a name="l00225"></a>00225 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < motions.size() ; ++i)
<a name="l00226"></a>00226 {
<a name="l00227"></a>00227 <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html" title="Representation of a motion.">Motion</a>* m = motions[i];
<a name="l00228"></a>00228 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="classompl_1_1control_1_1RRT_1_1Motion.html#af00f73a35b1000529fbd1aea6a52385d" title="The parent motion in the exploration tree.">parent</a> ? m-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#af00f73a35b1000529fbd1aea6a52385d" title="The parent motion in the exploration tree.">parent</a>-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a> : NULL, m-><a class="code" href="classompl_1_1control_1_1RRT_1_1Motion.html#a98d79745792b9b98a9a4b61cc75ca57a" title="The state contained by the motion.">state</a>);
<a name="l00229"></a>00229 }
<a name="l00230"></a>00230 }
<a name="l00231"></a>00231 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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