LBTRRT.h

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/* Author: Oren Salzman, Sertac Karaman, Ioan Sucan, Mark Moll */

#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_LBT_RRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_LBT_RRT_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/OptimizationObjective.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/datastructures/DynamicSSSP.h"

#include <fstream>

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

            ~LBTRRT() override;

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

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

            void clear() override;

            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }

            double getGoalBias() const
            {
                return goalBias_;
            }

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

            double getRange() const
            {
                return maxDistance_;
            }

            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                if (nn_ && nn_->size() != 0)
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                nn_ = std::make_shared<NN<Motion *>>();
                setup();
            }

            void setup() override;

            void setApproximationFactor(double epsilon)
            {
                epsilon_ = epsilon;
            }

            double getApproximationFactor() const
            {
                return epsilon_;
            }

            // Planner progress property functions
            std::string getIterationCount() const
            {
                return std::to_string(iterations_);
            }
            std::string getBestCost() const
            {
                return std::to_string(bestCost_);
            }

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

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

                ~Motion() = default;

                base::State *state_{nullptr};
                std::size_t id_;
                double costLb_;
                Motion *parentApx_{nullptr};
                double costApx_{0.0};
                std::vector<Motion *> childrenApx_;
            };

            struct IsLessThan
            {
                IsLessThan(LBTRRT *plannerPtr, Motion *motion) : plannerPtr_(plannerPtr), motion_(motion)
                {
                }

                bool operator()(const Motion *motionA, const Motion *motionB)
                {
                    double costA = motionA->costLb_;
                    double costB = motionB->costLb_;

                    double distA = plannerPtr_->distanceFunction(motionA, motion_);
                    double distB = plannerPtr_->distanceFunction(motionB, motion_);

                    return costA + distA < costB + distB;
                }
                LBTRRT *plannerPtr_;
                Motion *motion_;
            };  // IsLessThan

            struct IsLessThanLB
            {
                IsLessThanLB(LBTRRT *plannerPtr) : plannerPtr_(plannerPtr)
                {
                }

                bool operator()(const Motion *motionA, const Motion *motionB) const
                {
                    return motionA->costLb_ < motionB->costLb_;
                }
                LBTRRT *plannerPtr_;
            };  // IsLessThanLB

            typedef std::set<Motion *, IsLessThanLB> Lb_queue;
            typedef Lb_queue::iterator Lb_queue_iter;

            void considerEdge(Motion *parent, Motion *child, double c);

            double lazilyUpdateApxParent(Motion *child, Motion *parent);

            void updateChildCostsApx(Motion *m, double delta);

            void removeFromParentApx(Motion *m);

            void freeMemory();

            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state_, b->state_);
            }

            bool checkMotion(const Motion *a, const Motion *b)
            {
                return checkMotion(a->state_, b->state_);
            }
            bool checkMotion(const base::State *a, const base::State *b)
            {
                return si_->checkMotion(a, b);
            }

            Motion *getMotion(std::size_t i)
            {
                return idToMotionMap_[i];
            }

            base::StateSamplerPtr sampler_;

            std::shared_ptr<NearestNeighbors<Motion *>> nn_;

            DynamicSSSP lowerBoundGraph_;

            std::vector<Motion *> idToMotionMap_;

            double goalBias_{.05};

            double maxDistance_{0.};

            double epsilon_{.4};

            RNG rng_;

            Motion *lastGoalMotion_{nullptr};

            // Planner progress properties
            unsigned int iterations_{0u};
            double bestCost_;
        };
    }
}

#endif  // OMPL_GEOMETRIC_PLANNERS_RRT_LBT_RRT_