LBKPIECE1.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_
#define OMPL_GEOMETRIC_PLANNERS_KPIECE_LBKPIECE1_

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

namespace ompl
{
    namespace geometric
    {
        class LBKPIECE1 : public base::Planner
        {
        public:
            LBKPIECE1(const base::SpaceInformationPtr &si);

            ~LBKPIECE1() 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 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};

                bool valid{false};

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

            void freeMotion(Motion *motion);

            void removeMotion(Discretization<Motion> &disc, Motion *motion);

            bool isPathValid(Discretization<Motion> &disc, Motion *motion, base::State *temp);

            base::StateSamplerPtr sampler_;

            base::ProjectionEvaluatorPtr projectionEvaluator_;

            Discretization<Motion> dStart_;

            Discretization<Motion> dGoal_;

            double minValidPathFraction_{0.5};

            double maxDistance_{0.};

            RNG rng_;

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

#endif