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RRT.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_RRT_RRT_
38 #define OMPL_CONTROL_PLANNERS_RRT_RRT_
39 
40 #include "ompl/control/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 
43 namespace ompl
44 {
45 
46  namespace control
47  {
48 
66  class RRT : public base::Planner
67  {
68  public:
69 
71  RRT(const SpaceInformationPtr &si);
72 
73  virtual ~RRT(void);
74 
77 
81  virtual void clear(void);
82 
90  void setGoalBias(double goalBias)
91  {
92  goalBias_ = goalBias;
93  }
94 
96  double getGoalBias(void) const
97  {
98  return goalBias_;
99  }
100 
102  bool getIntermediateStates(void) const
103  {
104  return addIntermediateStates_;
105  }
106 
108  void setIntermediateStates(bool addIntermediateStates)
109  {
110  addIntermediateStates_ = addIntermediateStates;
111  }
112 
113  virtual void getPlannerData(base::PlannerData &data) const;
114 
116  template<template<typename T> class NN>
118  {
119  nn_.reset(new NN<Motion*>());
120  }
121 
122  virtual void setup(void);
123 
124  protected:
125 
126 
131  class Motion
132  {
133  public:
134 
135  Motion(void) : state(NULL), control(NULL), steps(0), parent(NULL)
136  {
137  }
138 
140  Motion(const SpaceInformation *si) : state(si->allocState()), control(si->allocControl()), steps(0), parent(NULL)
141  {
142  }
143 
144  ~Motion(void)
145  {
146  }
147 
150 
153 
155  unsigned int steps;
156 
159  };
160 
162  void freeMemory(void);
163 
165  double distanceFunction(const Motion* a, const Motion* b) const
166  {
167  return si_->distance(a->state, b->state);
168  }
169 
172 
175 
178 
180  boost::shared_ptr< NearestNeighbors<Motion*> > nn_;
181 
183  double goalBias_;
184 
187 
190 
193  };
194 
195  }
196 }
197 
198 #endif