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RRTConnect.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
38 #define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
39 
40 #include "ompl/geometric/planners/PlannerIncludes.h"
41 #include "ompl/datastructures/NearestNeighbors.h"
42 
43 namespace ompl
44 {
45 
46  namespace geometric
47  {
48 
61  class RRTConnect : public base::Planner
62  {
63  public:
64 
67 
68  virtual ~RRTConnect(void);
69 
70  virtual void getPlannerData(base::PlannerData &data) const;
71 
73 
74  virtual void clear(void);
75 
81  void setRange(double distance)
82  {
83  maxDistance_ = distance;
84  }
85 
87  double getRange(void) const
88  {
89  return maxDistance_;
90  }
91 
93  template<template<typename T> class NN>
95  {
96  tStart_.reset(new NN<Motion*>());
97  tGoal_.reset(new NN<Motion*>());
98  }
99 
100  virtual void setup(void);
101 
102  protected:
103 
105  class Motion
106  {
107  public:
108 
109  Motion(void) : root(NULL), state(NULL), parent(NULL)
110  {
111  parent = NULL;
112  state = NULL;
113  }
114 
115  Motion(const base::SpaceInformationPtr &si) : root(NULL), state(si->allocState()), parent(NULL)
116  {
117  }
118 
119  ~Motion(void)
120  {
121  }
122 
123  const base::State *root;
124  base::State *state;
125  Motion *parent;
126 
127  };
128 
130  typedef boost::shared_ptr< NearestNeighbors<Motion*> > TreeData;
131 
134  {
135  base::State *xstate;
136  Motion *xmotion;
137  bool start;
138  };
139 
142  {
149  };
150 
152  void freeMemory(void);
153 
155  double distanceFunction(const Motion* a, const Motion* b) const
156  {
157  return si_->distance(a->state, b->state);
158  }
159 
161  GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);
162 
165 
168 
171 
173  double maxDistance_;
174 
177 
179  std::pair<base::State*, base::State*> connectionPoint_;
180  };
181 
182  }
183 }
184 
185 #endif