LazyRRT.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_LAZY_RRT_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include <vector>

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

            ~LazyRRT() 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;

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

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

                ~Motion() = default;

                base::State *state{nullptr};

                Motion *parent{nullptr};

                bool valid{false};

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

            void freeMemory();

            void removeMotion(Motion *motion);

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

            base::StateSamplerPtr sampler_;

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

            double goalBias_{.05};

            double maxDistance_{0.};

            RNG rng_;

            Motion *lastGoalMotion_{nullptr};
        };
    }
}

#endif