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_FDP_H 00020 #define MSL_FDP_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 #include <LEDA/p_queue.h> 00028 00029 #include "marray.h" 00030 #include "planner.h" 00031 00032 #include <LEDA/REDEFINE_NAMES.h> 00033 00055 00056 00057 00058 class FDP: public Planner { 00059 protected: 00060 00062 node_map<double> GEdgeTime; 00063 00065 p_queue<double,node> Q; 00066 00068 MultiArray<int> Grid; 00069 00071 array<int> GridDimensions; 00072 00074 int GridDefaultResolution; 00075 00077 vector Quantization; 00078 00079 virtual double SearchCost(double initcost, const node &n, const node &nn); 00080 00082 list<node> PathToLeaf(const node &n, const GRAPH<vector,vector> &g); 00083 00084 array<int> StateToIndices(const vector &x); 00085 00086 vector IndicesToState(const array<int> &indices); 00087 00088 public: 00089 00091 FDP(Problem *problem); 00092 00094 ~FDP() {}; 00095 00097 int SatisfiedCount; 00098 00100 virtual void Reset(); 00101 00103 virtual void Construct(); 00104 00106 virtual bool Plan(); 00107 00108 }; 00109 00110 00112 class FDPStar: public FDP { 00113 protected: 00114 virtual double SearchCost(double initcost, const node &n, const node &nn); 00115 public: 00116 FDPStar(Problem *p); 00117 }; 00118 00119 00121 class FDPBestFirst: public FDP { 00122 protected: 00123 virtual double SearchCost(double initcost, const node &n, const node &nn); 00124 public: 00125 FDPBestFirst(Problem *p); 00126 }; 00127 00128 00130 class FDPBi: public FDP { 00131 protected: 00132 00134 node_map<double> G2EdgeTime; 00135 00137 p_queue<double,node> Q2; 00138 00140 void RecoverSolution(const node &n1, const node &n2); 00141 00142 public: 00143 00145 FDPBi(Problem *problem); 00146 00148 ~FDPBi() {}; 00149 00151 virtual void Reset(); 00152 00154 virtual bool Plan(); 00155 }; 00156 00157 00158 #include <LEDA/UNDEFINE_NAMES.h> 00159 00160 #endif 00161 00162