RRT.h

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/* Author: Ioan Sucan */

#ifndef OMPL_CONTROL_PLANNERS_RRT_RRT_
#define OMPL_CONTROL_PLANNERS_RRT_RRT_

#include "ompl/control/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"

namespace ompl
{
    namespace control
    {
        class RRT : public base::Planner
        {
        public:
            RRT(const SpaceInformationPtr &si);

            ~RRT() override;

            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;

            void clear() override;

            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }

            double getGoalBias() const
            {
                return goalBias_;
            }

            bool getIntermediateStates() const
            {
                return addIntermediateStates_;
            }

            void setIntermediateStates(bool addIntermediateStates)
            {
                addIntermediateStates_ = addIntermediateStates;
            }

            void getPlannerData(base::PlannerData &data) const override;

            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                if (nn_ && nn_->size() != 0)
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                nn_ = std::make_shared<NN<Motion *>>();
                setup();
            }

            void setup() override;

        protected:
            class Motion
            {
            public:
                Motion() = default;

                Motion(const SpaceInformation *si)
                  : state(si->allocState()), control(si->allocControl())
                {
                }

                ~Motion() = default;

                base::State *state{nullptr};

                Control *control{nullptr};

                unsigned int steps{0};

                Motion *parent{nullptr};
            };

            void freeMemory();

            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }

            base::StateSamplerPtr sampler_;

            DirectedControlSamplerPtr controlSampler_;

            const SpaceInformation *siC_;

            std::shared_ptr<NearestNeighbors<Motion *>> nn_;

            double goalBias_{0.05};

            bool addIntermediateStates_{false};

            RNG rng_;

            Motion *lastGoalMotion_{nullptr};
        };
    }
}

#endif