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planner.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_PLANNER_H
00020 #define MSL_PLANNER_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 "solver.h"
00029 
00030 #include <LEDA/REDEFINE_NAMES.h>
00031 
00033 
00034 class Planner: public Solver {
00035  protected:
00036   random_source R;
00037 
00039   vector RandomState();
00040 
00042   vector NormalState(vector mean, double sd);
00043 
00044  public:
00046   list<vector> Path;
00047 
00049   list<vector> Policy;
00050 
00052   vector GapState;
00053 
00056   bool Holonomic;
00057 
00059   vector GapError; 
00060 
00062   GRAPH<vector,vector> G;  
00063 
00065   GRAPH<vector,vector> G2;
00066   
00068   list<double> TimeList;
00069 
00071   list<vector> StateList;
00072 
00074   list<vector> InputList;
00075 
00077   int NumNodes;
00078   
00080   double PlannerDeltaT;
00081 
00083   Planner(Problem *problem);
00084 
00086   virtual ~Planner() {};
00087 
00089   virtual void Reset();
00090 
00092   virtual void Construct() = 0;
00093 
00095   virtual bool Plan() = 0;
00096 
00098   void RecordSolution(const list<node> &glist,
00099                       const list<node> &g2list);
00100 
00101   void RecordSolution(const list<node> &glist);
00102 
00104   virtual void WriteGraphs(const string &fname);
00105 
00107   virtual void ReadGraphs(const string &fname);
00108 
00110   bool GapSatisfied(const vector &x1, const vector &x2);
00111 };
00112 
00113 
00114 
00115 #include <LEDA/UNDEFINE_NAMES.h>
00116 
00117 #endif
00118 
00119 
00120 
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.