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SyclopRRT.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
39 
40 #include "ompl/control/planners/syclop/Syclop.h"
41 #include "ompl/control/planners/syclop/Decomposition.h"
42 #include "ompl/control/planners/syclop/GridDecomposition.h"
43 #include "ompl/datastructures/NearestNeighbors.h"
44 
45 namespace ompl
46 {
47  namespace control
48  {
52  class SyclopRRT : public Syclop
53  {
54  public:
56  SyclopRRT(const SpaceInformationPtr& si, const DecompositionPtr &d) : Syclop(si,d,"SyclopRRT"), regionalNN_(false)
57  {
58  }
59 
60  virtual ~SyclopRRT(void)
61  {
62  freeMemory();
63  }
64 
65  virtual void setup(void);
66  virtual void clear(void);
67  virtual void getPlannerData(base::PlannerData& data) const;
68 
75  void setRegionalNearestNeighbors(bool enabled)
76  {
77  regionalNN_ = enabled;
78  }
79 
81  template<template<typename T> class NN>
83  {
84  regionalNN_ = false;
85  nn_.reset(new NN<Motion*>());
86  }
87 
88  protected:
89  virtual Syclop::Motion* addRoot(const base::State* s);
90  virtual void selectAndExtend(Region& region, std::vector<Motion*>& newMotions);
91 
93  void freeMemory(void);
94 
96  double distanceFunction(const Motion* a, const Motion* b) const
97  {
98  return si_->distance(a->state, b->state);
99  }
100 
101  base::StateSamplerPtr sampler_;
102  DirectedControlSamplerPtr controlSampler_;
103  boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
104  bool regionalNN_;
105 
108  };
109  }
110 }
111 #endif
Synergistic Combination of Layers of Planning.
Definition: Syclop.h:70
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
base::State * state
The state contained by the motion.
Definition: Syclop.h:265
SyclopRRT is Syclop with RRT as its low-level tree planner.
Definition: SyclopRRT.h:52
void setRegionalNearestNeighbors(bool enabled)
If regionalNearestNeighbors is enabled, then when computing the closest Motion to a generated state i...
Definition: SyclopRRT.h:75
A boost shared pointer wrapper for ompl::base::StateSampler.
virtual Syclop::Motion * addRoot(const base::State *s)
Add State s as a new root in the low-level tree, and return the Motion corresponding to s...
Definition: SyclopRRT.cpp:94
SyclopRRT(const SpaceInformationPtr &si, const DecompositionPtr &d)
Constructor. Requires a Decomposition, which Syclop uses to create high-level leads.
Definition: SyclopRRT.h:56
Motion * lastGoalMotion_
The most recent goal motion. Used for PlannerData computation.
Definition: SyclopRRT.h:107
Representation of a motion.
Definition: Syclop.h:251
void setNearestNeighbors(void)
Set a different nearest neighbors datastructure.
Definition: SyclopRRT.h:82
double distanceFunction(const Motion *a, const Motion *b) const
Compute distance between motions (actually distance between contained states)
Definition: SyclopRRT.h:96
virtual void clear(void)
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: SyclopRRT.cpp:57
void freeMemory(void)
Free the memory allocated by this planner.
Definition: SyclopRRT.cpp:169
A boost shared pointer wrapper for ompl::control::DirectedControlSampler.
Definition of an abstract state.
Definition: State.h:50
virtual void getPlannerData(base::PlannerData &data) const
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: SyclopRRT.cpp:66
A boost shared pointer wrapper for ompl::control::SpaceInformation.
virtual void selectAndExtend(Region &region, std::vector< Motion * > &newMotions)
Select a Motion from the given Region, and extend the tree from the Motion. Add any new motions creat...
Definition: SyclopRRT.cpp:105
virtual void setup(void)
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: SyclopRRT.cpp:41
A boost shared pointer wrapper for ompl::control::Decomposition.
SpaceInformationPtr si_
The space information for which planning is done.
Definition: Planner.h:392