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fdp.h

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00001 //----------------------------------------------------------------------
00002 //               The Motion Strategy Library (MSL)
00003 //----------------------------------------------------------------------
00004 //
00005 // Copyright (c) University of Illinois and Steven M. 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 // The University of Illinois 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 <queue>
00023 #ifdef WIN32
00024   using namespace std;
00025 #endif
00026 //#include <vector.h>
00027 
00028 #include "marray.h"
00029 #include "planner.h"
00030 #include "tree.h"
00031 #include "vector.h"
00032 #include "defs.h"
00033 #include "mslio.h"
00034 
00035 #define UNVISITED 0
00036 #define VISITED 1   // Visited by the first tree, G
00037 #define COLLISION 2
00038 #define VISITED2 3  // Visited by the second tree, G2
00039 #define GOAL 4      // Lies in goal region (not used in base class)
00040 
00041 
00062 
00065 
00066 class FDP: public IncrementalPlanner {
00067  protected:
00068 
00070   priority_queue<MSLNode*,vector<MSLNode*>,MSLNodeGreater> Q;
00071 
00073   MultiArray<int> *Grid;
00074 
00076   vector<int> GridDimensions;
00077 
00079   int GridDefaultResolution;
00080 
00082   MSLVector Quantization;
00083 
00084   virtual double SearchCost(double initcost, 
00085                             MSLNode* &n, 
00086                             MSLNode* &nn);
00087 
00088   virtual vector<int> StateToIndices(const MSLVector &x);
00089 
00090   virtual MSLVector IndicesToState(const vector<int> &indices);
00091 
00092   public:
00093 
00095   FDP(Problem *problem);
00096 
00098   ~FDP() {};
00099   
00101   int SatisfiedCount;
00102 
00104   virtual void Reset();
00105 
00107   virtual bool Plan();
00108 
00109 };
00110 
00111 
00112 
00114 class FDPStar: public FDP {
00115  protected:
00116   virtual double SearchCost(double initcost, 
00117                             MSLNode* &n, 
00118                             MSLNode* &nn);
00119  public:
00120   FDPStar(Problem *p);
00121 };
00122  
00123 
00125 class FDPBestFirst: public FDP {
00126  protected:
00127   virtual double SearchCost(double initcost, 
00128                             MSLNode* &n, 
00129                             MSLNode* &nn);
00130  public:
00131   FDPBestFirst(Problem *p);
00132 };
00133 
00134 
00136 class FDPBi: public FDP {
00137  protected:
00138 
00140   priority_queue<MSLNode*,vector<MSLNode*>,MSLNodeGreater> Q2;
00141 
00143   void RecoverSolution(MSLNode* &n1, MSLNode* &n2);
00144 
00145  public:
00146 
00148   FDPBi(Problem *problem);
00149 
00151   ~FDPBi() {};
00152 
00154   virtual void Reset();
00155 
00157   virtual bool Plan();
00158 };
00159 
00160 
00161 #endif
00162 
00163 
Motion Strategy Library


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