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_GEOMETRIC_PLANNERS_RRT_RRT_ 00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_ 00039 00040 #include "ompl/geometric/planners/PlannerIncludes.h" 00041 #include "ompl/datastructures/NearestNeighbors.h" 00042 00043 namespace ompl 00044 { 00045 00046 namespace geometric 00047 { 00048 00068 class RRT : public base::Planner 00069 { 00070 public: 00071 00073 RRT(const base::SpaceInformationPtr &si); 00074 00075 virtual ~RRT(void); 00076 00077 virtual void getPlannerData(base::PlannerData &data) const; 00078 00079 virtual bool solve(const base::PlannerTerminationCondition &ptc); 00080 00081 virtual void clear(void); 00082 00092 void setGoalBias(double goalBias) 00093 { 00094 goalBias_ = goalBias; 00095 } 00096 00098 double getGoalBias(void) const 00099 { 00100 return goalBias_; 00101 } 00102 00108 void setRange(double distance) 00109 { 00110 maxDistance_ = distance; 00111 } 00112 00114 double getRange(void) const 00115 { 00116 return maxDistance_; 00117 } 00118 00120 template<template<typename T> class NN> 00121 void setNearestNeighbors(void) 00122 { 00123 nn_.reset(new NN<Motion*>()); 00124 } 00125 00126 virtual void setup(void); 00127 00128 protected: 00129 00130 00135 class Motion 00136 { 00137 public: 00138 00139 Motion(void) : state(NULL), parent(NULL) 00140 { 00141 } 00142 00144 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL) 00145 { 00146 } 00147 00148 ~Motion(void) 00149 { 00150 } 00151 00153 base::State *state; 00154 00156 Motion *parent; 00157 00158 }; 00159 00161 void freeMemory(void); 00162 00164 double distanceFunction(const Motion* a, const Motion* b) const 00165 { 00166 return si_->distance(a->state, b->state); 00167 } 00168 00170 base::StateSamplerPtr sampler_; 00171 00173 boost::shared_ptr< NearestNeighbors<Motion*> > nn_; 00174 00176 double goalBias_; 00177 00179 double maxDistance_; 00180 00182 RNG rng_; 00183 }; 00184 00185 } 00186 } 00187 00188 #endif