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fdp.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_FDP_H
#define MSL_FDP_H

#include <queue>
#include <vector.h>

#include "marray.h"
#include "planner.h"
#include "tree.h"
#include "vector.h"
#include "util.h"

#define UNVISITED 0
#define VISITED 1   // Visited by the first tree, G
#define COLLISION 2
#define VISITED2 3  // Visited by the second tree, G2
#define GOAL 4      // Lies in goal region (not used in base class)





class FDP: public IncrementalPlanner {
 protected:

  priority_queue<MSLNode*,vector<MSLNode*>,MSLNodeGreater> Q;

  MultiArray<int> *Grid;

  vector<int> GridDimensions;

  int GridDefaultResolution;

  MSLVector Quantization;

  virtual double SearchCost(double initcost, 
                            MSLNode* &n, 
                            MSLNode* &nn);

  virtual vector<int> StateToIndices(const MSLVector &x);

  virtual MSLVector IndicesToState(const vector<int> &indices);

  public:

  FDP(Problem *problem);

  ~FDP() {};
  
  int SatisfiedCount;

  virtual void Reset();

  virtual bool Plan();

};



class FDPStar: public FDP {
 protected:
  virtual double SearchCost(double initcost, 
                            MSLNode* &n, 
                            MSLNode* &nn);
 public:
  FDPStar(Problem *p);
};
 

class FDPBestFirst: public FDP {
 protected:
  virtual double SearchCost(double initcost, 
                            MSLNode* &n, 
                            MSLNode* &nn);
 public:
  FDPBestFirst(Problem *p);
};


class FDPBi: public FDP {
 protected:

  priority_queue<MSLNode*,vector<MSLNode*>,MSLNodeGreater> Q2;

  void RecoverSolution(MSLNode* &n1, MSLNode* &n2);

 public:

  FDPBi(Problem *problem);

  ~FDPBi() {};

  virtual void Reset();

  virtual bool Plan();
};


#endif

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Web page maintained by Steve LaValle
Partial support provided by NSF CAREER Award IRI-970228 (LaValle), Honda Research.
Contributors: Anna Atramentov, Peng Cheng, James Kuffner, Steve LaValle, and Libo Yang.