BKPIECE1.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_
#define OMPL_GEOMETRIC_PLANNERS_KPIECE_BKPIECE1_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/geometric/planners/kpiece/Discretization.h"

namespace ompl
{
    namespace geometric
    {
        class BKPIECE1 : public base::Planner
        {
        public:
            BKPIECE1(const base::SpaceInformationPtr &si);

            ~BKPIECE1() override;

            void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
            {
                projectionEvaluator_ = projectionEvaluator;
            }

            void setProjectionEvaluator(const std::string &name)
            {
                projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
            }

            const base::ProjectionEvaluatorPtr &getProjectionEvaluator() const
            {
                return projectionEvaluator_;
            }

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

            double getRange() const
            {
                return maxDistance_;
            }

            void setBorderFraction(double bp)
            {
                dStart_.setBorderFraction(bp);
                dGoal_.setBorderFraction(bp);
            }

            double getBorderFraction() const
            {
                return dStart_.getBorderFraction();
            }

            void setFailedExpansionCellScoreFactor(double factor)
            {
                failedExpansionScoreFactor_ = factor;
            }

            double getFailedExpansionCellScoreFactor() const
            {
                return failedExpansionScoreFactor_;
            }

            void setMinValidPathFraction(double fraction)
            {
                minValidPathFraction_ = fraction;
            }

            double getMinValidPathFraction() const
            {
                return minValidPathFraction_;
            }

            void setup() override;

            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
            void clear() override;

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

        protected:
            class Motion
            {
            public:
                Motion() = default;

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

                ~Motion() = default;

                const base::State *root{nullptr};

                base::State *state{nullptr};

                Motion *parent{nullptr};
            };

            void freeMotion(Motion *motion);

            base::ValidStateSamplerPtr sampler_;

            base::ProjectionEvaluatorPtr projectionEvaluator_;

            Discretization<Motion> dStart_;

            Discretization<Motion> dGoal_;

            double failedExpansionScoreFactor_{.5};

            double minValidPathFraction_{.5};

            double maxDistance_{0.};

            RNG rng_;

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

#endif