Lightning.h

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/* Author: Dave Coleman
   Desc:   Implementation of the Lightning Framework for experienced-based planning

   Paper:  Berenson, Dmitry, Pieter Abbeel, and Ken Goldberg.
           "A robot path planning framework that learns from experience."
           Robotics and Automation (ICRA), 2012 IEEE International Conference on. IEEE, 2012.

   Notes:  The user of this class should invoke the loading and saving from file, otherwise experiences
           will be lost.
*/

#ifndef OMPL_TOOLS_LIGHTNING_LIGHTNING_
#define OMPL_TOOLS_LIGHTNING_LIGHTNING_

#include "ompl/tools/experience/ExperienceSetup.h"
#include "ompl/base/Planner.h"
#include "ompl/base/PlannerData.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ProblemDefinition.h"

#include "ompl/geometric/PathGeometric.h"
#include "ompl/geometric/PathSimplifier.h"
#include "ompl/geometric/planners/experience/LightningRetrieveRepair.h"

#include "ompl/tools/multiplan/ParallelPlan.h"
#include "ompl/tools/config/SelfConfig.h"

#include "ompl/util/Console.h"
#include "ompl/util/Exception.h"

#include "ompl/tools/lightning/DynamicTimeWarp.h"

namespace ompl
{
    namespace tools
    {
        // class LightningDB; // forward declaration
        OMPL_CLASS_FORWARD(LightningDB);
        OMPL_CLASS_FORWARD(ParallelPlan);

        OMPL_CLASS_FORWARD(Lightning);

        class Lightning : public ompl::tools::ExperienceSetup
        {
        public:
            explicit Lightning(const base::SpaceInformationPtr &si);

            explicit Lightning(const base::StateSpacePtr &space);

        private:
            void initialize();

        public:
            void printResultsInfo(std::ostream &out = std::cout) const override;

            void printLogs(std::ostream &out = std::cout) const override;

            ompl::geometric::LightningRetrieveRepair &getLightningRetrieveRepairPlanner() const
            {
                return static_cast<ompl::geometric::LightningRetrieveRepair &>(*rrPlanner_);
            }

            void setRepairPlanner(const base::PlannerPtr &planner) override
            {
                static_cast<og::LightningRetrieveRepair &>(*rrPlanner_).setRepairPlanner(planner);
            }

            void setPlannerAllocator(const base::PlannerAllocator &pa)
            {
                pa_ = pa;
                planner_.reset();
                // note: the rrPlanner_ never uses the allocator so does not need to be reset
                configured_ = false;
            }

            base::PlannerStatus solve(double time = 1.0) override;

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

            bool save() override;

            bool saveIfChanged() override;

            void clear() override;

            void print(std::ostream &out = std::cout) const override;

            void setup() override;

            void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const override;

            std::size_t getExperiencesCount() const override;

            void convertPlannerData(const ompl::base::PlannerDataPtr &plannerData,
                                    ompl::geometric::PathGeometric &path);

            const ompl::tools::DynamicTimeWarpPtr &getDynamicTimeWarp() const
            {
                return dtw_;
            }

        protected:
            bool reversePathIfNecessary(ompl::geometric::PathGeometric &path1, ompl::geometric::PathGeometric &path2);

            base::PlannerPtr rrPlanner_;

            ompl::tools::ParallelPlanPtr pp_;

            ompl::tools::LightningDBPtr experienceDB_;

            ompl::tools::DynamicTimeWarpPtr dtw_;

        };  // end of class Lightning

    }  // end of namespace

}  // end of namespace
#endif