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_PRM_H 00020 #define MSL_PRM_H 00021 00022 #include <queue> 00023 00024 #include "planner.h" 00025 #include "util.h" 00026 00034 00035 class PRM: public RoadmapPlanner { 00036 protected: 00037 virtual list<MSLVertex*> NeighboringVertices(const MSLVector &x); 00038 virtual bool Connect(const MSLVector &x1, const MSLVector &x2, MSLVector &u); 00039 virtual MSLVector ChooseState(int i, int maxnum, int dim); 00040 MSLVector QuasiRandomStateHammersley(int i, int maxnum, int dim); 00041 MSLVector QuasiRandomStateHalton(int i, int dim); 00043 double StepSize; // Derived from DeltaT using the model 00044 int MaxNeighbors; 00045 int MaxEdgesPerVertex; 00046 public: 00047 00049 double Radius; 00050 00052 int SatisfiedCount; 00053 00055 bool QuasiRandom; 00056 00058 bool QuasiRandomHammersley; 00059 00061 PRM(Problem *problem); 00062 00064 virtual ~PRM() {}; 00065 00067 virtual void Construct(); 00068 00070 virtual bool Plan(); 00071 }; 00072 00073 00074 #endif 00075