00001 00002 /********************************************************************* 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2008, Willow Garage, Inc. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Willow Garage nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 *********************************************************************/ 00035 00036 /* Author: Ioan Sucan */ 00037 00038 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_ 00039 #define OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_ 00040 00041 #include "ompl/geometric/planners/PlannerIncludes.h" 00042 #include "ompl/datastructures/NearestNeighbors.h" 00043 #include <vector> 00044 00045 namespace ompl 00046 { 00047 00048 namespace geometric 00049 { 00050 00081 class LazyRRT : public base::Planner 00082 { 00083 public: 00084 00086 LazyRRT(const base::SpaceInformationPtr &si); 00087 00088 virtual ~LazyRRT(void); 00089 00090 virtual void getPlannerData(base::PlannerData &data) const; 00091 00092 virtual bool solve(const base::PlannerTerminationCondition &ptc); 00093 00094 virtual void clear(void); 00095 00105 void setGoalBias(double goalBias) 00106 { 00107 goalBias_ = goalBias; 00108 } 00109 00111 double getGoalBias(void) const 00112 { 00113 return goalBias_; 00114 } 00115 00121 void setRange(double distance) 00122 { 00123 maxDistance_ = distance; 00124 } 00125 00127 double getRange(void) const 00128 { 00129 return maxDistance_; 00130 } 00131 00133 template<template<typename T> class NN> 00134 void setNearestNeighbors(void) 00135 { 00136 nn_.reset(new NN<Motion*>()); 00137 } 00138 00139 virtual void setup(void); 00140 00141 protected: 00142 00144 class Motion 00145 { 00146 public: 00147 00148 Motion(void) : state(NULL), parent(NULL), valid(false) 00149 { 00150 } 00151 00153 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL), valid(false) 00154 { 00155 } 00156 00157 ~Motion(void) 00158 { 00159 } 00160 00162 base::State *state; 00163 00165 Motion *parent; 00166 00168 bool valid; 00169 00171 std::vector<Motion*> children; 00172 }; 00173 00175 void freeMemory(void); 00176 00178 void removeMotion(Motion *motion); 00179 00181 double distanceFunction(const Motion* a, const Motion* b) const 00182 { 00183 return si_->distance(a->state, b->state); 00184 } 00185 00187 base::StateSamplerPtr sampler_; 00188 00190 boost::shared_ptr< NearestNeighbors<Motion*> > nn_; 00191 00193 double goalBias_; 00194 00196 double maxDistance_; 00197 00199 RNG rng_; 00200 00201 }; 00202 00203 } 00204 } 00205 00206 #endif