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_EST_EST_ 00038 #define OMPL_GEOMETRIC_PLANNERS_EST_EST_ 00039 00040 #include "ompl/datastructures/Grid.h" 00041 #include "ompl/geometric/planners/PlannerIncludes.h" 00042 #include "ompl/base/ProjectionEvaluator.h" 00043 #include <vector> 00044 00045 namespace ompl 00046 { 00047 00048 namespace geometric 00049 { 00050 00075 class EST : public base::Planner 00076 { 00077 public: 00078 00080 EST(const base::SpaceInformationPtr &si) : base::Planner(si, "EST") 00081 { 00082 specs_.approximateSolutions = true; 00083 goalBias_ = 0.05; 00084 maxDistance_ = 0.0; 00085 } 00086 00087 virtual ~EST(void) 00088 { 00089 freeMemory(); 00090 } 00091 00092 virtual bool solve(const base::PlannerTerminationCondition &ptc); 00093 00094 virtual void clear(void); 00095 00103 void setGoalBias(double goalBias) 00104 { 00105 goalBias_ = goalBias; 00106 } 00107 00109 double getGoalBias(void) const 00110 { 00111 return goalBias_; 00112 } 00113 00119 void setRange(double distance) 00120 { 00121 maxDistance_ = distance; 00122 } 00123 00125 double getRange(void) const 00126 { 00127 return maxDistance_; 00128 } 00129 00132 void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator) 00133 { 00134 projectionEvaluator_ = projectionEvaluator; 00135 } 00136 00139 void setProjectionEvaluator(const std::string &name) 00140 { 00141 projectionEvaluator_ = si_->getStateSpace()->getProjection(name); 00142 } 00143 00145 const base::ProjectionEvaluatorPtr& getProjectionEvaluator(void) const 00146 { 00147 return projectionEvaluator_; 00148 } 00149 00150 virtual void setup(void); 00151 00152 virtual void getPlannerData(base::PlannerData &data) const; 00153 00154 protected: 00155 00157 class Motion 00158 { 00159 public: 00160 00161 Motion(void) : state(NULL), parent(NULL) 00162 { 00163 } 00164 00166 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL) 00167 { 00168 } 00169 00170 ~Motion(void) 00171 { 00172 } 00173 00175 base::State *state; 00176 00178 Motion *parent; 00179 }; 00180 00182 typedef std::vector<Motion*> MotionSet; 00183 00185 struct TreeData 00186 { 00187 TreeData(void) : grid(0), size(0) 00188 { 00189 } 00190 00192 Grid<MotionSet> grid; 00193 00195 unsigned int size; 00196 }; 00197 00199 void freeMemory(void); 00200 00202 void addMotion(Motion *motion); 00203 00205 Motion* selectMotion(void); 00206 00208 base::ValidStateSamplerPtr sampler_; 00209 00211 TreeData tree_; 00212 00214 base::ProjectionEvaluatorPtr projectionEvaluator_; 00215 00217 double goalBias_; 00218 00220 double maxDistance_; 00221 00223 RNG rng_; 00224 }; 00225 00226 } 00227 } 00228 00229 #endif