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KPIECE1.h
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_
00038 #define OMPL_GEOMETRIC_PLANNERS_KPIECE_KPIECE1_
00039 
00040 #include "ompl/geometric/planners/PlannerIncludes.h"
00041 #include "ompl/geometric/planners/kpiece/Discretization.h"
00042 
00043 namespace ompl
00044 {
00045 
00046     namespace geometric
00047     {
00048 
00049 
00076         class KPIECE1 : public base::Planner
00077         {
00078         public:
00079 
00081             KPIECE1(const base::SpaceInformationPtr &si);
00082 
00083             virtual ~KPIECE1(void);
00084 
00085             virtual bool solve(const base::PlannerTerminationCondition &ptc);
00086 
00087             virtual void clear(void);
00088 
00098             void setGoalBias(double goalBias)
00099             {
00100                 goalBias_ = goalBias;
00101             }
00102 
00104             double getGoalBias(void) const
00105             {
00106                 return goalBias_;
00107             }
00108 
00114             void setRange(double distance)
00115             {
00116                 maxDistance_ = distance;
00117             }
00118 
00120             double getRange(void) const
00121             {
00122                 return maxDistance_;
00123             }
00124 
00131             void setBorderFraction(double bp)
00132             {
00133                 disc_.setBorderFraction(bp);
00134             }
00135 
00138             double getBorderFraction(void) const
00139             {
00140                 return disc_.getBorderFraction();
00141             }
00142 
00149             void setMinValidPathFraction(double fraction)
00150             {
00151                 minValidPathFraction_ = fraction;
00152             }
00153 
00155             double getMinValidPathFraction(void) const
00156             {
00157                 return minValidPathFraction_;
00158             }
00159 
00164             void setFailedExpansionCellScoreFactor(double factor)
00165             {
00166                 failedExpansionScoreFactor_ = factor;
00167             }
00168 
00171             double getFailedExpansionCellScoreFactor(void) const
00172             {
00173                 return failedExpansionScoreFactor_;
00174             }
00175 
00178             void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
00179             {
00180                 projectionEvaluator_ = projectionEvaluator;
00181             }
00182 
00185             void setProjectionEvaluator(const std::string &name)
00186             {
00187                 projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
00188             }
00189 
00191             const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const
00192             {
00193                 return projectionEvaluator_;
00194             }
00195 
00196             virtual void setup(void);
00197 
00198             virtual void getPlannerData(base::PlannerData &data) const;
00199 
00200         protected:
00201 
00203             class Motion
00204             {
00205             public:
00206 
00207                 Motion(void) : state(NULL), parent(NULL)
00208                 {
00209                 }
00210 
00212                 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL)
00213                 {
00214                 }
00215 
00216                 ~Motion(void)
00217                 {
00218                 }
00219 
00221                 base::State       *state;
00222 
00224                 Motion            *parent;
00225             };
00226 
00228             void freeMotion(Motion *motion);
00229 
00231             base::StateSamplerPtr                      sampler_;
00232 
00234             Discretization<Motion>                     disc_;
00235 
00239             base::ProjectionEvaluatorPtr               projectionEvaluator_;
00240 
00244             double                                     failedExpansionScoreFactor_;
00245 
00247             double                                     goalBias_;
00248 
00254             double                                     minValidPathFraction_;
00255 
00257             double                                     maxDistance_;
00258 
00260             RNG                                        rng_;
00261         };
00262 
00263     }
00264 }
00265 
00266 #endif