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rcrrt.h

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//----------------------------------------------------------------------
//               The Motion Strategy Library (MSL)
//----------------------------------------------------------------------
//
// Copyright (c) University of Illinois and Steven M. LaValle.     
// All Rights Reserved.
// 
// Permission to use, copy, and distribute this software and its 
// documentation is hereby granted free of charge, provided that 
// (1) it is not a component of a commercial product, and 
// (2) this notice appears in all copies of the software and
//     related documentation. 
// 
// The University of Illinois and the author make no representations
// about the suitability or fitness of this software for any purpose.  
// It is provided "as is" without express or implied warranty.
//----------------------------------------------------------------------

#ifndef MSL_RRTDYN_H
#define MSL_RRTDYN_H

#include "rrt.h"


class RCRRT: public RRTGoalBias {
public:
  int inputnum;

  list<MSLVector> inputset;

  bool issolutionexist;

  MSLVector initexploreinfo;

  double initcoltend;


  bool IsNodeExpanded(MSLNode* x, double& biasvalue, 
                      bool forward);

  virtual bool IsInputApplied(const int& inputindex, 
                              const MSLVector& expolreinfo);


  virtual void BackWardBiasSet(MSLNode* n, MSLTree* t);

  double BiasValue(int backstep);

  RCRRT(Problem *problem);
  virtual ~RCRRT() {};

  virtual MSLNode* SelectNode(const MSLVector& x, MSLTree* t, 
                              bool forward);

  virtual bool Extend(const MSLVector& x, MSLTree* t, 
                      MSLNode*& nn,bool forward);

  virtual MSLVector SelectInput(MSLNode* n1, const MSLVector& x2, 
                                    MSLVector& nx_best, bool& success, 
                                    bool forward);
  
  virtual bool Connect(const MSLVector& x, MSLTree* t, 
                       MSLNode*& nn, bool forward);  
  
  virtual bool Plan();  
};


class RCRRTDual: public RCRRT
{
 protected:
  void RecoverSolution(MSLNode* n1, MSLNode* n2);

 public:

  RCRRTDual(Problem *p);
  virtual ~RCRRTDual() {};

  virtual bool Plan();
  virtual bool GetConnected(MSLNode* n1, MSLNode* n2);
};


class RCRRTExtExt: public RCRRTDual
{
 public:
  RCRRTExtExt(Problem *p);
  virtual ~RCRRTExtExt() {};
  virtual bool Plan();
};



class RCRRTBall: public RCRRT
{
 public:

  double BallRadius;  

  int FailNumTh;

  int FailNum;


  RCRRTBall(Problem *p);
  virtual ~RCRRTBall() {};

  virtual MSLNode* SelectNode(const MSLVector &x, MSLTree* t, 
                                   bool forward);

  virtual bool Extend(const MSLVector &x, MSLTree* t, 
                      MSLNode*& nn, bool forward);

  virtual bool Connect(const MSLVector& x, MSLTree* t, MSLNode*& nn,
                       bool forward);  
  
  virtual bool Plan();
};

class RCRRTBallDual: public RCRRTBall
{
 protected:
  void RecoverSolution(MSLNode* n1, MSLNode* n2);

 public:

  RCRRTBallDual(Problem *p);
  virtual ~RCRRTBallDual() {};

  virtual bool Plan();
  virtual bool GetConnected(MSLNode* n1, MSLNode* n2);
};


class RCRRTBallExtExt: public RCRRTBallDual
{
 public:
  RCRRTBallExtExt(Problem *p);
  virtual ~RCRRTBallExtExt() {};
  virtual bool Plan();
};

#endif

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