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src
ompl
control
planners
est
EST.h
1
/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Rice University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of the Rice University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Ryan Luna */
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#ifndef OMPL_CONTROL_PLANNERS_EST_EST_
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#define OMPL_CONTROL_PLANNERS_EST_EST_
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#include "ompl/datastructures/Grid.h"
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#include "ompl/control/planners/PlannerIncludes.h"
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#include "ompl/base/ProjectionEvaluator.h"
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#include "ompl/datastructures/PDF.h"
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#include <boost/unordered_map.hpp>
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#include <vector>
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namespace
ompl
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{
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namespace
control
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{
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class
EST
:
public
base::Planner
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{
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public
:
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EST
(
const
SpaceInformationPtr
&si);
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virtual
~
EST
(
void
);
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virtual
base::PlannerStatus
solve
(
const
base::PlannerTerminationCondition
&ptc);
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virtual
void
clear
(
void
);
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void
setGoalBias
(
double
goalBias)
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{
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goalBias_
= goalBias;
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}
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double
getGoalBias
(
void
)
const
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{
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return
goalBias_
;
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}
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void
setRange
(
double
distance)
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{
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maxDistance_
= distance;
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}
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double
getRange
(
void
)
const
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{
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return
maxDistance_
;
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}
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void
setProjectionEvaluator
(
const
base::ProjectionEvaluatorPtr
&projectionEvaluator)
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{
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projectionEvaluator_
= projectionEvaluator;
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}
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void
setProjectionEvaluator
(
const
std::string &name)
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{
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projectionEvaluator_
=
si_
->getStateSpace()->getProjection(name);
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}
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const
base::ProjectionEvaluatorPtr
&
getProjectionEvaluator
(
void
)
const
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{
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return
projectionEvaluator_
;
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}
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virtual
void
setup
(
void
);
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virtual
void
getPlannerData
(
base::PlannerData
&data)
const
;
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protected
:
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class
Motion
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{
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public
:
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Motion
(
void
) :
state
(NULL),
control
(NULL),
steps
(0),
parent
(NULL)
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{
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}
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Motion
(
const
SpaceInformation
*si) :
state
(si->allocState()),
control
(si->allocControl()),
steps
(0),
parent
(NULL)
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{
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}
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~
Motion
(
void
)
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{
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}
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base::State
*
state
;
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Control
*
control
;
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unsigned
int
steps
;
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Motion
*
parent
;
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};
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struct
MotionInfo
;
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typedef
Grid<MotionInfo>::Cell
GridCell
;
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typedef
PDF<GridCell*>
CellPDF
;
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struct
MotionInfo
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{
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Motion
* operator[](
unsigned
int
i)
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{
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return
motions_[i];
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}
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const
Motion
* operator[](
unsigned
int
i)
const
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{
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return
motions_[i];
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}
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void
push_back(
Motion
* m)
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{
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motions_.push_back(m);
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}
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unsigned
int
size(
void
)
const
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{
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return
motions_.size();
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}
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bool
empty(
void
)
const
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{
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return
motions_.empty();
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}
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std::vector<Motion*> motions_;
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CellPDF::Element* elem_;
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};
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struct
TreeData
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{
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TreeData
(
void
) :
grid
(0),
size
(0)
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{
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}
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Grid<MotionInfo>
grid
;
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unsigned
int
size
;
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};
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void
freeMemory
(
void
);
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void
addMotion
(
Motion
*motion);
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Motion
*
selectMotion
(
void
);
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base::ValidStateSamplerPtr
sampler_
;
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DirectedControlSamplerPtr
controlSampler_
;
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const
SpaceInformation
*
siC_
;
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TreeData
tree_
;
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base::ProjectionEvaluatorPtr
projectionEvaluator_
;
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double
goalBias_
;
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double
maxDistance_
;
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RNG
rng_
;
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CellPDF
pdf_
;
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Motion
*
lastGoalMotion_
;
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};
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}
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}
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#endif