MultiQuotient.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_QUOTIENTSPACE_MULTIQUOTIENT_
#define OMPL_GEOMETRIC_PLANNERS_QUOTIENTSPACE_MULTIQUOTIENT_
#include <ompl/geometric/planners/quotientspace/datastructures/QuotientSpace.h>
#include <type_traits>
#include <queue>
 
namespace ompl
{
    namespace geometric
    {
        template <class T>
        class MultiQuotient : public ompl::base::Planner
        {
            using BaseT = ompl::base::Planner;
            static_assert(std::is_base_of<QuotientSpace, T>::value, "Template must inherit from Quotient");
 
        public:
            const bool DEBUG{false};
 
            MultiQuotient(std::vector<ompl::base::SpaceInformationPtr> &siVec, std::string type = "QuotientPlanner");
            MultiQuotient(ompl::base::SpaceInformationPtr si) = delete;
            MultiQuotient(ompl::base::SpaceInformationPtr si, std::string type) = delete;
 
            virtual ~MultiQuotient() override;
 
            void getPlannerData(ompl::base::PlannerData &data) const override;
 
            ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &ptc) override;
            void setup() override;
            void clear() override;
            virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override;
            const ompl::base::ProblemDefinitionPtr &getProblemDefinition(unsigned int kQuotientSpace) const;
 
            int getLevels() const;
 
            std::vector<int> getFeasibleNodes() const;
            std::vector<int> getNodes() const;
 
            std::vector<int> getDimensionsPerLevel() const;
            void setStopLevel(unsigned int level_);
 
        protected:
            std::vector<ompl::base::PathPtr> solutions_;
 
            std::vector<QuotientSpace *> quotientSpaces_;
 
            bool foundKLevelSolution_{false};
 
            unsigned int currentQuotientLevel_{0};
 
            unsigned int stopAtLevel_;
 
            std::vector<ompl::base::SpaceInformationPtr> siVec_;
 
            struct CmpQuotientSpacePtrs
            {
                // ">" operator: smallest value is top in queue
                // "<" operator: largest value is top in queue (default)
                bool operator()(const QuotientSpace *lhs, const QuotientSpace *rhs) const
                {
                    return lhs->getImportance() < rhs->getImportance();
                }
            };
            typedef std::priority_queue<QuotientSpace *, std::vector<QuotientSpace *>, CmpQuotientSpacePtrs>
                QuotientSpacePriorityQueue;
            QuotientSpacePriorityQueue priorityQueue_;
        };
    }  // namespace geometric
}  // namespace ompl
#include <ompl/geometric/planners/quotientspace/algorithms/MultiQuotientImpl.h>
#endif