Main Page   Namespace List   Class Hierarchy   Compound List   File List   Compound Members   File Members  

prm.h

Go to the documentation of this file.
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 #include "disjointsets.h"
00027 
00028 
00036 
00037 class PRM: public RoadmapPlanner {
00038  protected:
00039   virtual list<MSLVertex*> NeighboringVertices(const MSLVector &x);
00040   virtual bool Connect(const MSLVector &x1, const MSLVector &x2, MSLVector &u);
00041   virtual MSLVector ChooseState(int i, int maxnum, int dim);
00042   MSLVector QuasiRandomStateHammersley(int i, int maxnum, int dim);
00043   MSLVector QuasiRandomStateHalton(int i, int dim);
00044   MSLVector QuasiRandomStateSukharev(int i, int maxnum, int dim);
00046   double StepSize;  // Derived from DeltaT using the model
00047   int MaxNeighbors;
00048   int MaxEdgesPerVertex;
00049  public:
00050 
00052   double Radius;
00053 
00055   DisjointSets<MSLVertex*> ds;
00056 
00058   int SatisfiedCount;
00059 
00061   bool QuasiRandom;
00062 
00064   bool QuasiRandomSukharev;
00065 
00067   double SukharevDispersion;
00068 
00070   int SukharevPointsPerAxis;
00071 
00073   bool QuasiRandomHammersley;
00074 
00076   PRM(Problem *problem);
00077 
00079   virtual ~PRM() {};
00080 
00082   virtual void Construct();
00083 
00085   virtual bool Plan();
00086 };
00087 
00088 
00089 #endif
00090 
Motion Strategy Library


Web page maintained by Steve LaValle