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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 #ifdef WIN32
00023         #include <list>
00024         #include <fstream>
00025         using namespace std;
00026 #else
00027         #include <fstream.h>
00028         #include <list.h>
00029         #include <vector.h>
00030 #endif
00031 
00032 
00033 #include "solver.h"
00034 #include "random.h"
00035 #include "graph.h"
00036 #include "tree.h"
00037 #include "vector.h"
00038 #include "util.h"
00039 
00041 class Planner: public Solver {
00042  protected:
00043   MSLRandomSource R;
00044 
00046   MSLVector RandomState();
00047 
00049   MSLVector NormalState(MSLVector mean, double sd);
00050 
00051  public:
00053   double CumulativePlanningTime;
00054 
00056   double CumulativeConstructTime;
00057 
00059   list<MSLVector> Path;
00060 
00062   list<MSLVector> Policy;
00063 
00065   MSLVector GapState;
00066 
00069   bool Holonomic;
00070 
00072   MSLVector GapError; 
00073 
00076   MSLTree *T;  
00077 
00079   MSLTree *T2;
00080   
00083   MSLGraph *Roadmap;  
00084 
00086   list<double> TimeList;
00087 
00089   list<MSLVector> StateList;
00090 
00092   list<MSLVector> InputList;
00093 
00095   int NumNodes;
00096   
00098   double PlannerDeltaT;
00099 
00101   Planner(Problem *problem);
00102 
00103   ~Planner();
00104 
00106   void Reset();
00107 
00109   virtual void Construct() = 0;
00110 
00112   virtual bool Plan() = 0;
00113 
00115   virtual void WriteGraphs(ofstream &fout) = 0;
00116 
00118   virtual void ReadGraphs(ifstream &fin) = 0;
00119 
00121   bool GapSatisfied(const MSLVector &x1, const MSLVector &x2);
00122 };
00123 
00124 
00125 class IncrementalPlanner: public Planner {
00126  public:
00128   IncrementalPlanner(Problem *problem);
00129 
00130   ~IncrementalPlanner() {};
00131 
00133   virtual void Construct();
00134 
00136   void RecordSolution(const list<MSLNode*> &glist,
00137                       const list<MSLNode*> &g2list);
00138 
00139   void RecordSolution(const list<MSLNode*> &glist);
00140 
00142   virtual void WriteGraphs(ofstream &fout);
00143 
00145   virtual void ReadGraphs(ifstream &fin);
00146 };
00147 
00148 
00149 class RoadmapPlanner: public Planner {
00150  public:
00152   RoadmapPlanner(Problem *problem);
00153 
00154   ~RoadmapPlanner() {};
00155 
00157   virtual void WriteGraphs(ofstream &fout);
00158 
00160   virtual void ReadGraphs(ifstream &fin);
00161 };
00162 
00163 
00164 #endif
00165 
00166 
00167 
Motion Strategy Library


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