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SyclopEST.h
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34 
35 /* Author: Matt Maly */
36 
37 #ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
38 #define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPEST_
39 
40 #include "ompl/control/planners/syclop/Syclop.h"
41 #include "ompl/control/planners/syclop/Decomposition.h"
42 #include "ompl/control/planners/syclop/GridDecomposition.h"
43 
44 namespace ompl
45 {
46  namespace control
47  {
51  class SyclopEST : public Syclop
52  {
53  public:
55  SyclopEST(const SpaceInformationPtr& si, const DecompositionPtr &d) : Syclop(si,d,"SyclopEST")
56  {
57  }
58 
59  virtual ~SyclopEST(void)
60  {
61  freeMemory();
62  }
63 
64  virtual void setup(void);
65  virtual void clear(void);
66  virtual void getPlannerData(base::PlannerData& data) const;
67 
68  protected:
69  virtual Syclop::Motion* addRoot(const base::State* s);
70  virtual void selectAndExtend(Region& region, std::vector<Motion*>& newMotions);
71 
73  void freeMemory(void);
74 
75  base::StateSamplerPtr sampler_;
76  ControlSamplerPtr controlSampler_;
77  std::vector<Motion*> motions_;
78 
80  Motion *lastGoalMotion_;
81  };
82  }
83 }
84 #endif