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prm.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) 1998-2000 Iowa State University and Steve LaValle.  
00006 // All Rights Reserved.
00007 // 
00008 // Permission to use, copy, and distribute this software and its 
00009 // documentation is hereby granted free of charge, provided that 
00010 // (1) it is not a component of a commercial product, and 
00011 // (2) this notice appears in all copies of the software and
00012 //     related documentation. 
00013 // 
00014 // Iowa State University and the author make no representations
00015 // about the suitability or fitness of this software for any purpose.  
00016 // It is provided "as is" without express or implied warranty.
00017 //----------------------------------------------------------------------
00018 
00019 #ifndef MSL_PRM_H
00020 #define MSL_PRM_H
00021 
00022 #include <LEDA/file.h>
00023 #include <LEDA/graph.h>
00024 #include <LEDA/list.h>
00025 #include <LEDA/polygon.h>
00026 #include <LEDA/vector.h>
00027 
00028 #include "planner.h"
00029 
00030 #include <LEDA/REDEFINE_NAMES.h>
00031 
00039 
00040 class PRM: public Planner {
00041  protected:
00042   virtual list<node> NeighboringNodes(const vector &x);
00043   virtual bool Connect(const vector &x1, const vector &x2, vector &u);
00044   virtual vector ChooseState(int i, int maxnum, int dim);
00045   vector QuasiRandomStateHammersley(int i, int maxnum, int dim);
00046   vector QuasiRandomStateHalton(int i, int dim);
00048   double StepSize;  // Derived from DeltaT using the model
00049   edge_array<double> EdgeCost;
00050   node_array<double> CostToGo;
00051   node_array<edge> NextEdge;
00052   int MaxNeighbors;
00053   int MaxEdgesPerNode;
00054  public:
00055 
00057   double Radius;
00058 
00060   int SatisfiedCount;
00061 
00063   bool QuasiRandom;
00064 
00066   bool QuasiRandomHammersley;
00067 
00069   PRM(Problem *problem);
00070 
00072   virtual ~PRM() {};
00073 
00075   virtual void Construct();
00076 
00078   virtual bool Plan();
00079 };
00080 
00081 
00082 #include <LEDA/UNDEFINE_NAMES.h>
00083 
00084 #endif
00085 
Motion Strategy Library


Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research, and Iowa State University.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.