RLRT.h

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2015, Rice University
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Rice University nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
/* Author: Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RLRT_RLRT_H_
#define OMPL_GEOMETRIC_PLANNERS_RLRT_RLRT_H_
 
#include "ompl/geometric/planners/PlannerIncludes.h"
#include <vector>
 
namespace ompl
{
    namespace geometric
    {
        class RLRT : public base::Planner
        {
        public:
            RLRT(const base::SpaceInformationPtr &si);
 
            virtual ~RLRT();
 
            virtual void getPlannerData(base::PlannerData &data) const;
 
            virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
 
            virtual void clear();
 
            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }
 
            double getGoalBias() const
            {
                return goalBias_;
            }
 
            void setRange(double distance)
            {
                range_ = distance;
            }
 
            double getRange() const
            {
                return range_;
            }
 
            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};
            };
 
            void freeMemory();
 
            base::StateSamplerPtr sampler_;
 
            double goalBias_{0.05};
 
            double range_{0.};
 
            bool keepLast_{false};
 
            RNG rng_;
 
            Motion *lastGoalMotion_{nullptr};
 
            std::vector<Motion *> motions_;
        };
 
    }  // namespace geometric
}  // namespace ompl
 
#endif