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_pRRT_ 00038 #define OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_ 00039 00040 #include "ompl/geometric/planners/PlannerIncludes.h" 00041 #include "ompl/base/StateSamplerArray.h" 00042 #include "ompl/datastructures/NearestNeighbors.h" 00043 #include <boost/thread/mutex.hpp> 00044 00045 namespace ompl 00046 { 00047 00048 namespace geometric 00049 { 00050 00069 class pRRT : public base::Planner 00070 { 00071 public: 00072 00073 pRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "pRRT"), 00074 samplerArray_(si) 00075 { 00076 specs_.approximateSolutions = true; 00077 specs_.multithreaded = true; 00078 00079 setThreadCount(2); 00080 goalBias_ = 0.05; 00081 maxDistance_ = 0.0; 00082 } 00083 00084 virtual ~pRRT(void) 00085 { 00086 freeMemory(); 00087 } 00088 00089 virtual void getPlannerData(base::PlannerData &data) const; 00090 00091 virtual bool solve(const base::PlannerTerminationCondition &ptc); 00092 00093 virtual void clear(void); 00094 00104 void setGoalBias(double goalBias) 00105 { 00106 goalBias_ = goalBias; 00107 } 00108 00110 double getGoalBias(void) const 00111 { 00112 return goalBias_; 00113 } 00114 00120 void setRange(double distance) 00121 { 00122 maxDistance_ = distance; 00123 } 00124 00126 double getRange(void) const 00127 { 00128 return maxDistance_; 00129 } 00130 00132 void setThreadCount(unsigned int nthreads); 00133 00134 unsigned int getThreadCount(void) const 00135 { 00136 return threadCount_; 00137 } 00138 00140 template<template<typename T> class NN> 00141 void setNearestNeighbors(void) 00142 { 00143 nn_.reset(new NN<Motion*>()); 00144 } 00145 00146 virtual void setup(void); 00147 00148 protected: 00149 00150 class Motion 00151 { 00152 public: 00153 00154 Motion(void) : state(NULL), parent(NULL) 00155 { 00156 } 00157 00158 Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL) 00159 { 00160 } 00161 00162 ~Motion(void) 00163 { 00164 } 00165 00166 base::State *state; 00167 Motion *parent; 00168 00169 }; 00170 00171 struct SolutionInfo 00172 { 00173 Motion *solution; 00174 Motion *approxsol; 00175 double approxdif; 00176 boost::mutex lock; 00177 }; 00178 00179 void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol); 00180 void freeMemory(void); 00181 00182 double distanceFunction(const Motion* a, const Motion* b) const 00183 { 00184 return si_->distance(a->state, b->state); 00185 } 00186 00187 base::StateSamplerArray<base::StateSampler> samplerArray_; 00188 boost::shared_ptr< NearestNeighbors<Motion*> > nn_; 00189 boost::mutex nnLock_; 00190 00191 unsigned int threadCount_; 00192 00193 double goalBias_; 00194 double maxDistance_; 00195 }; 00196 00197 } 00198 } 00199 00200 #endif