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rrt.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_RRT_H
#define MSL_RRT_H

#include "planner.h"
#include "util.h"

#ifdef USE_ANN
  #include <ANN/ANN.h>                  // ANN declarations
  #include "nn.h"
  #include "multiann.h"
#endif



class RRT: public IncrementalPlanner {
 protected:
  virtual MSLVector SelectInput(const MSLVector &x1, 
                                    const MSLVector &x2, 
                                    MSLVector &nx_best, 
                                    bool &success, 
                                    bool forward);
  
  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 MSLVector ChooseState();

  public:

  bool UseANN;  

  double GoalDist;

  MSLVector BestState;

  double ConnectTimeLimit;

#ifdef USE_ANN
  MultiANN MAG;
  MultiANN MAG2;
#endif

  RRT(Problem *problem);

  virtual ~RRT() {};
  
  int SatisfiedCount;

  virtual void Reset();

  virtual bool Plan();

};



class RRTGoalBias: public RRT {
 protected:
  virtual MSLVector ChooseState();
 public:
  double GoalProb;
  RRTGoalBias(Problem *p);
  virtual ~RRTGoalBias() {};
};





class RRTCon: public RRTGoalBias {
 public:
  RRTCon(Problem *p);


  virtual ~RRTCon() {};


  virtual bool Plan();
};





class RRTDual: public RRT {
 protected:
  void RecoverSolution(MSLNode *n1, MSLNode *n2);
 public:
  RRTDual(Problem *p);
  virtual ~RRTDual() {};




  virtual bool Plan();
};




class RRTExtExt: public RRTDual {
 public:
  RRTExtExt(Problem *p);
  virtual ~RRTExtExt() {};
  virtual bool Plan();
};



class RRTGoalZoom: public RRT {
 protected:
  virtual MSLVector ChooseState();
 public:
  double GoalProb,ZoomProb,ZoomFactor;
  RRTGoalZoom(Problem *p);
  virtual ~RRTGoalZoom() {};
};



class RRTPolar: public RRT {
 protected:
  virtual MSLVector ChooseState();
  virtual MSLVector SelectInput(const MSLVector &x1, const MSLVector &x2, 
                                    MSLVector &nx_best, bool &success);
 public:
  double RadiusExp;
  RRTPolar(Problem *p);
  virtual ~RRTPolar() {};
};


class RRTHull: public RRT {
 protected:
  virtual MSLVector ChooseState();
 public:
  double Radius;
  RRTHull(Problem *p);
  virtual ~RRTHull() {};
};



class RRTExtCon: public RRTDual {
 public:
  RRTExtCon(Problem *p);
  virtual ~RRTExtCon() {};

  virtual bool Plan();
};





class RRTConCon: public RRTDual {
 public:
  RRTConCon(Problem *p);
  virtual ~RRTConCon() {};

  virtual bool Plan();
};




class RRTBidirBalanced: public RRTDual {
 public:
  RRTBidirBalanced(Problem *p);
  virtual ~RRTBidirBalanced() {};

  virtual bool Plan();
};



class RandomTree: public RRT {
 protected:
  virtual MSLNode* SelectNode(const MSLVector &x, MSLTree *t,
                               bool forward);
  virtual MSLVector SelectInput(const MSLVector &x1, const MSLVector &x2, 
                                MSLVector &nx_best, bool &success, 
                                bool forward);
 public:
  RandomTree(Problem *p);
  virtual ~RandomTree() {};
};

#endif

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