Program Listing for File EST.h

↰ Return to documentation for file (src/ompl/geometric/planners/est/EST.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 the 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_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