CRRTConnect.hpp

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#ifndef AIKIDO_PLANNER_OMPL_CRRTCONNECT_HPP_
#define AIKIDO_PLANNER_OMPL_CRRTCONNECT_HPP_
 
#include <ompl/datastructures/NearestNeighbors.h>
#include <ompl/geometric/planners/PlannerIncludes.h>
 
#include "aikido/constraint/Projectable.hpp"
#include "aikido/planner/ompl/CRRT.hpp"
 
namespace aikido {
namespace planner {
namespace ompl {
 
class CRRTConnect : public CRRT
{
public:
  explicit CRRTConnect(const ::ompl::base::SpaceInformationPtr& si);
 
  virtual ~CRRTConnect();
 
  void getPlannerData(::ompl::base::PlannerData& _data) const override;
 
  ::ompl::base::PlannerStatus solve(
      const ::ompl::base::PlannerTerminationCondition& _ptc) override;
 
  ::ompl::base::PlannerStatus solve(double _solveTime);
 
  void clear() override;
 
  void setConnectionRadius(double _radius);
 
  double getConnectionRadius() const;
 
  template <template <typename T> class NN>
  void setNearestNeighbors();
 
  void setup() override;
 
protected:
  void freeMemory() override;
 
  TreeData mGoalTree;
 
  double mConnectionRadius;
 
  std::pair<::ompl::base::State*, ::ompl::base::State*> mConnectionPoint;
};
 
} // namespace ompl
} // namespace planner
} // namespace aikido
 
#include "detail/CRRTConnect-impl.hpp"
 
#endif // AIKIDO_PLANNER_OMPL_CRRTCONNECT_HPP_