EST.h

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/* Author: Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_EST_EST_
#define OMPL_GEOMETRIC_PLANNERS_EST_EST_
 
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/datastructures/PDF.h"
#include <vector>
 
namespace ompl
{
    namespace geometric
    {
        class EST : public base::Planner
        {
        public:
            EST(const base::SpaceInformationPtr &si);
 
            ~EST() override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;
 
            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }
 
            double getGoalBias() const
            {
                return goalBias_;
            }
 
            void setRange(double distance)
            {
                maxDistance_ = distance;
                // Make the neighborhood radius smaller than sampling range to
                // keep probabilities relatively high for rejection sampling
                nbrhoodRadius_ = maxDistance_ / 3.0;
            }
 
            double getRange() const
            {
                return maxDistance_;
            }
 
            void setup() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
        protected:
            class Motion
            {
            public:
                Motion() = default;
 
                Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
                {
                }
 
                ~Motion() = default;
 
                base::State *state{nullptr};
 
                Motion *parent{nullptr};
 
                PDF<Motion *>::Element *element{nullptr};
            };
 
            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }
 
            std::shared_ptr<NearestNeighbors<Motion *>> nn_;
 
            std::vector<Motion *> motions_;
 
            PDF<Motion *> pdf_;
 
            void freeMemory();
 
            void addMotion(Motion *motion, const std::vector<Motion *> &neighbors);
 
            base::ValidStateSamplerPtr sampler_;
 
            double goalBias_{0.05};
 
            double maxDistance_{0.};
 
            double nbrhoodRadius_;
 
            RNG rng_;
 
            Motion *lastGoalMotion_{nullptr};
        };
    }
}
 
#endif