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planner.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_PLANNER_H
00020 #define MSL_PLANNER_H
00021 
00022 #include <list.h>
00023 #include <fstream.h>
00024 
00025 #include "solver.h"
00026 #include "random.h"
00027 #include "graph.h"
00028 #include "tree.h"
00029 #include "vector.h"
00030 
00031 
00033 class Planner: public Solver {
00034  protected:
00035   MSLRandomSource R;
00036 
00038   MSLVector RandomState();
00039 
00041   MSLVector NormalState(MSLVector mean, double sd);
00042 
00043  public:
00045   double CumulativePlanningTime;
00046 
00048   double CumulativeConstructTime;
00049 
00051   list<MSLVector> Path;
00052 
00054   list<MSLVector> Policy;
00055 
00057   MSLVector GapState;
00058 
00061   bool Holonomic;
00062 
00064   MSLVector GapError; 
00065 
00068   MSLTree *T;  
00069 
00071   MSLTree *T2;
00072   
00075   MSLGraph *Roadmap;  
00076 
00078   list<double> TimeList;
00079 
00081   list<MSLVector> StateList;
00082 
00084   list<MSLVector> InputList;
00085 
00087   int NumNodes;
00088   
00090   double PlannerDeltaT;
00091 
00093   Planner(Problem *problem);
00094 
00095   ~Planner();
00096 
00098   void Reset();
00099 
00101   virtual void Construct() = 0;
00102 
00104   virtual bool Plan() = 0;
00105 
00107   virtual void WriteGraphs(ofstream &fout) = 0;
00108 
00110   virtual void ReadGraphs(ifstream &fin) = 0;
00111 
00113   bool GapSatisfied(const MSLVector &x1, const MSLVector &x2);
00114 };
00115 
00116 
00117 class IncrementalPlanner: public Planner {
00118  public:
00120   IncrementalPlanner(Problem *problem);
00121 
00122   ~IncrementalPlanner() {};
00123 
00125   virtual void Construct();
00126 
00128   void RecordSolution(const list<MSLNode*> &glist,
00129                       const list<MSLNode*> &g2list);
00130 
00131   void RecordSolution(const list<MSLNode*> &glist);
00132 
00134   virtual void WriteGraphs(ofstream &fout);
00135 
00137   virtual void ReadGraphs(ifstream &fin);
00138 };
00139 
00140 
00141 class RoadmapPlanner: public Planner {
00142  public:
00144   RoadmapPlanner(Problem *problem);
00145 
00146   ~RoadmapPlanner() {};
00147 
00149   virtual void WriteGraphs(ofstream &fout);
00150 
00152   virtual void ReadGraphs(ifstream &fin);
00153 };
00154 
00155 
00156 #endif
00157 
00158 
00159 
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.