Program Listing for File BiRLRT.h

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/* Author: Ryan Luna */

#ifndef OMPL_GEOMETRIC_PLANNERS_RLRT_BIRLRT_H_
#define OMPL_GEOMETRIC_PLANNERS_RLRT_BIRLRT_H_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include <vector>

namespace ompl
{
    namespace geometric
    {
        class BiRLRT : public base::Planner
        {
        public:
            BiRLRT(const base::SpaceInformationPtr &si);

            virtual ~BiRLRT();

            virtual void getPlannerData(base::PlannerData &data) const;

            virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);

            virtual void clear();

            void setRange(double distance)
            {
                range_ = distance;
            }

            double getRange() const
            {
                return range_;
            }

            void setMaxDistanceNear(double dNear)
            {
                maxDistNear_ = dNear;
            }

            double getMaxDistanceNear() const
            {
                return maxDistNear_;
            }

            bool getKeepLast() const
            {
                return keepLast_;
            }

            void setKeepLast(bool keepLast)
            {
                keepLast_ = keepLast;
            }

            virtual void setup();

        protected:
            class Motion
            {
            public:
                Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
                {
                }

                ~Motion() = default;

                base::State *state{nullptr};

                Motion *parent{nullptr};

                const base::State *root{nullptr};
            };

            void freeMemory();

            bool growTreeRangeLimited(std::vector<Motion *> &tree, Motion *xmotion);

            bool growTreeKeepLast(std::vector<Motion *> &tree, Motion *xmotion,
                                  std::pair<base::State *, double> &lastValid);

            int connectToTree(const Motion *motion, std::vector<Motion *> &tree);

            std::vector<Motion *> tStart_;
            std::vector<Motion *> tGoal_;

            base::StateSamplerPtr sampler_;

            double range_{0.0};

            double maxDistNear_{0.0};

            RNG rng_;

            std::pair<base::State *, base::State *> connectionPoint_{nullptr, nullptr};

            bool keepLast_{false};
        };

    }  // namespace geometric
}  // namespace ompl

#endif