BiRLRT.h

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/* Author: Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RLRT_BIRLRT_H_
#define OMPL_GEOMETRIC_PLANNERS_RLRT_BIRLRT_H_
 
#include "ompl/geometric/planners/PlannerIncludes.h"
#include <vector>
 
namespace ompl
{
    namespace geometric
    {
        class BiRLRT : public base::Planner
        {
        public:
            BiRLRT(const base::SpaceInformationPtr &si);
 
            virtual ~BiRLRT();
 
            virtual void getPlannerData(base::PlannerData &data) const;
 
            virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
 
            virtual void clear();
 
            void setRange(double distance)
            {
                range_ = distance;
            }
 
            double getRange() const
            {
                return range_;
            }
 
            void setMaxDistanceNear(double dNear)
            {
                maxDistNear_ = dNear;
            }
 
            double getMaxDistanceNear() const
            {
                return maxDistNear_;
            }
 
            bool getKeepLast() const
            {
                return keepLast_;
            }
 
            void setKeepLast(bool keepLast)
            {
                keepLast_ = keepLast;
            }
 
            virtual void setup();
 
        protected:
            class Motion
            {
            public:
                Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
                {
                }
 
                ~Motion() = default;
 
                base::State *state{nullptr};
 
                Motion *parent{nullptr};
 
                const base::State *root{nullptr};
            };
 
            void freeMemory();
 
            bool growTreeRangeLimited(std::vector<Motion *> &tree, Motion *xmotion);
 
            bool growTreeKeepLast(std::vector<Motion *> &tree, Motion *xmotion,
                                  std::pair<base::State *, double> &lastValid);
 
            int connectToTree(const Motion *motion, std::vector<Motion *> &tree);
 
            std::vector<Motion *> tStart_;
            std::vector<Motion *> tGoal_;
 
            base::StateSamplerPtr sampler_;
 
            double range_{0.0};
 
            double maxDistNear_{0.0};
 
            RNG rng_;
 
            std::pair<base::State *, base::State *> connectionPoint_{nullptr, nullptr};
 
            bool keepLast_{false};
        };
 
    }  // namespace geometric
}  // namespace ompl
 
#endif