RRTConnect.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  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 Willow Garage 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: Ioan Sucan */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
 
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/geometric/planners/PlannerIncludes.h"
 
namespace ompl
{
    namespace geometric
    {
        class RRTConnect : public base::Planner
        {
        public:
            RRTConnect(const base::SpaceInformationPtr &si, bool addIntermediateStates = false);
 
            ~RRTConnect() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;
 
            bool getIntermediateStates() const
            {
                return addIntermediateStates_;
            }
 
            void setIntermediateStates(bool addIntermediateStates)
            {
                addIntermediateStates_ = addIntermediateStates;
            }
 
            void setRange(double distance)
            {
                maxDistance_ = distance;
            }
 
            double getRange() const
            {
                return maxDistance_;
            }
 
            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                if ((tStart_ && tStart_->size() != 0) || (tGoal_ && tGoal_->size() != 0))
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                tStart_ = std::make_shared<NN<Motion *>>();
                tGoal_ = std::make_shared<NN<Motion *>>();
                setup();
            }
 
            void setup() override;
 
        protected:
            class Motion
            {
            public:
                Motion() = default;
 
                Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
                {
                }
 
                ~Motion() = default;
 
                const base::State *root{nullptr};
                base::State *state{nullptr};
                Motion *parent{nullptr};
            };
 
            using TreeData = std::shared_ptr<NearestNeighbors<Motion *>>;
 
            struct TreeGrowingInfo
            {
                base::State *xstate;
                Motion *xmotion;
                bool start;
            };
 
            enum GrowState
            {
                TRAPPED,
                ADVANCED,
                REACHED
            };
 
            void freeMemory();
 
            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }
 
            GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);
 
            base::StateSamplerPtr sampler_;
 
            TreeData tStart_;
 
            TreeData tGoal_;
 
            double maxDistance_{0.};
 
            bool addIntermediateStates_;
 
            RNG rng_;
 
            std::pair<base::State *, base::State *> connectionPoint_;
 
            double distanceBetweenTrees_;
        };
    }
}
 
#endif