00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef OMPL_CONTROL_PLANNERS_RRT_RRT_ 00038 #define OMPL_CONTROL_PLANNERS_RRT_RRT_ 00039 00040 #include "ompl/control/planners/PlannerIncludes.h" 00041 #include "ompl/datastructures/NearestNeighbors.h" 00042 00043 namespace ompl 00044 { 00045 00046 namespace control 00047 { 00048 00069 class RRT : public base::Planner 00070 { 00071 public: 00072 00074 RRT(const SpaceInformationPtr &si); 00075 00076 virtual ~RRT(void); 00077 00079 virtual bool solve(const base::PlannerTerminationCondition &ptc); 00080 00084 virtual void clear(void); 00085 00093 void setGoalBias(double goalBias) 00094 { 00095 goalBias_ = goalBias; 00096 } 00097 00099 double getGoalBias(void) const 00100 { 00101 return goalBias_; 00102 } 00103 00105 bool getIntermediateStates(void) const 00106 { 00107 return addIntermediateStates_; 00108 } 00109 00111 void setIntermediateStates(bool addIntermediateStates) 00112 { 00113 addIntermediateStates_ = addIntermediateStates; 00114 } 00115 00116 virtual void getPlannerData(base::PlannerData &data) const; 00117 00119 template<template<typename T> class NN> 00120 void setNearestNeighbors(void) 00121 { 00122 nn_.reset(new NN<Motion*>()); 00123 } 00124 00125 virtual void setup(void); 00126 00127 protected: 00128 00129 00134 class Motion 00135 { 00136 public: 00137 00138 Motion(void) : state(NULL), control(NULL), steps(0), parent(NULL) 00139 { 00140 } 00141 00143 Motion(const SpaceInformation *si) : state(si->allocState()), control(si->allocControl()), steps(0), parent(NULL) 00144 { 00145 } 00146 00147 ~Motion(void) 00148 { 00149 } 00150 00152 base::State *state; 00153 00155 Control *control; 00156 00158 unsigned int steps; 00159 00161 Motion *parent; 00162 }; 00163 00165 void freeMemory(void); 00166 00168 double distanceFunction(const Motion* a, const Motion* b) const 00169 { 00170 return si_->distance(a->state, b->state); 00171 } 00172 00174 base::StateSamplerPtr sampler_; 00175 00177 DirectedControlSamplerPtr controlSampler_; 00178 00180 const SpaceInformation *siC_; 00181 00183 boost::shared_ptr< NearestNeighbors<Motion*> > nn_; 00184 00186 double goalBias_; 00187 00189 bool addIntermediateStates_; 00190 00192 RNG rng_; 00193 }; 00194 00195 } 00196 } 00197 00198 #endif