Program Listing for File RLRT.h

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/* Author: Ryan Luna */

#ifndef OMPL_GEOMETRIC_PLANNERS_RLRT_RLRT_H_
#define OMPL_GEOMETRIC_PLANNERS_RLRT_RLRT_H_

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

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

            virtual ~RLRT();

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

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

            virtual void clear();

            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }

            double getGoalBias() const
            {
                return goalBias_;
            }

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

            double getRange() const
            {
                return range_;
            }

            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};
            };

            void freeMemory();

            base::StateSamplerPtr sampler_;

            double goalBias_{0.05};

            double range_{0.};

            bool keepLast_{false};

            RNG rng_;

            Motion *lastGoalMotion_{nullptr};

            std::vector<Motion *> motions_;
        };

    }  // namespace geometric
}  // namespace ompl

#endif