Eet.h

Go to the documentation of this file.

//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
 
#ifndef _RL_PLAN_EET_H_
#define _RL_PLAN_EET_H_
 
#include <boost/random/mersenne_twister.hpp>
#include <boost/random/normal_distribution.hpp>
#include <boost/random/uniform_real.hpp>
#include <boost/random/variate_generator.hpp>
#include <rl/util/Timer.h>
 
#include "RrtCon.h"
 
namespace rl
{
    namespace plan
    {
        class WorkspaceSphereExplorer;
        
        class Eet : public RrtCon
        {
        public:
            struct ExplorerSetup
            {
                ::rl::math::Vector* goalConfiguration;
                
                int goalFrame;
                
                ::rl::math::Vector* startConfiguration;
                
                int startFrame;
            };
            
            Eet();
            
            virtual ~Eet();
            
            ::rl::math::Real getExplorationTime() const;
            
            virtual ::std::string getName() const;
            
            virtual ::std::size_t getNumEdges() const;
            
            virtual ::std::size_t getNumVertices() const;
            
            void getPath(VectorList& path);
            
            void seed(const ::boost::mt19937::result_type& value);
            
            void reset();
            
            bool solve();
            
            ::rl::math::Real alpha;
            
            bool alternativeDistanceComputation;
            
            ::rl::math::Real distanceWeight;
            
            ::std::vector< WorkspaceSphereExplorer* > explorers;
            
            ::std::vector< ExplorerSetup > explorersSetup;
            
            ::rl::math::Real gamma;
            
            ::rl::math::Real goalEpsilon;
            
            bool goalEpsilonUseOrientation;
            
            ::rl::math::Vector3 max;
            
            ::rl::math::Vector3 min;
            
        protected:
            using RrtCon::connect;
            
            using RrtCon::extend;
            
            using RrtCon::nearest;
            
            Edge addEdge(const Vertex& u, const Vertex& v, Tree& tree);
            
            Vertex connect(Tree& tree, const Neighbor& nearest, const ::rl::math::Transform& chosen);
            
            ::rl::math::Real distance(const ::rl::math::Transform& t1, const ::rl::math::Transform& t2) const;
            
            int expand(const VertexBundle& nearest, const ::rl::math::Transform& nearest2, const ::rl::math::Transform& chosen, const ::rl::math::Real& distance, VertexBundle& expanded);
            
            Vertex extend(Tree& tree, const Neighbor& nearest, const ::rl::math::Transform& chosen);
            
            Neighbor nearest(const Tree& tree, const ::rl::math::Transform& chosen);
            
            ::boost::variate_generator< ::boost::mt19937, ::boost::normal_distribution< ::rl::math::Real > > gauss;
            
            ::boost::variate_generator< ::boost::mt19937, ::boost::uniform_real< ::rl::math::Real > > rand;
            
        private:
            ::rl::util::Timer exploration;
            
            ::std::vector< Vertex > selected;
            
            ::rl::util::Timer timer;
        };
    }
}
 
#endif // _RL_PLAN_EET_H_