QuotientSpace.h

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/* Author: Andreas Orthey */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_QUOTIENTSPACE_QUOTIENT_
#define OMPL_GEOMETRIC_PLANNERS_QUOTIENTSPACE_QUOTIENT_
 
#include <ompl/base/Planner.h>
 
namespace ompl
{
    namespace geometric
    {
        class QuotientSpace : public ompl::base::Planner
        {
            using BaseT = ompl::base::Planner;
            enum QuotientSpaceType
            {
                UNKNOWN,
                ATOMIC,
                IDENTITY_SPACE_RN,
                IDENTITY_SPACE_SE2,
                IDENTITY_SPACE_SE2RN,
                IDENTITY_SPACE_SO2RN,
                IDENTITY_SPACE_SE3,
                IDENTITY_SPACE_SE3RN,
                RN_RM,
                SE2_R2,
                SE2RN_R2,
                SE2RN_SE2,
                SE2RN_SE2RM,
                SO2RN_SO2,
                SO2RN_SO2RM,
                SE3_R3,
                SE3RN_R3,
                SE3RN_SE3,
                SE3RN_SE3RM
            };
 
        public:
            QuotientSpace(const ompl::base::SpaceInformationPtr &si, QuotientSpace *parent_ = nullptr);
            ~QuotientSpace();
 
            ompl::base::PlannerStatus solve(const ompl::base::PlannerTerminationCondition &ptc) override final;
            virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override;
 
            virtual void grow() = 0;
            virtual bool getSolution(ompl::base::PathPtr &solution) = 0;
            virtual bool sampleQuotient(ompl::base::State *q_random);
            virtual bool sample(ompl::base::State *q_random);
            virtual bool hasSolution();
            virtual void clear() override;
            virtual void setup() override;
 
            virtual double getImportance() const;
 
            static void resetCounter();
 
            const ompl::base::SpaceInformationPtr &getX1() const;
            const ompl::base::SpaceInformationPtr &getQ1() const;
            const ompl::base::SpaceInformationPtr &getQ0() const;
 
            unsigned int getX1Dimension() const;
            unsigned int getQ1Dimension() const;
            unsigned int getQ0Dimension() const;
            unsigned int getDimension() const;
 
            const ompl::base::StateSamplerPtr &getX1SamplerPtr() const;
            const ompl::base::StateSamplerPtr &getQ1SamplerPtr() const;
 
            QuotientSpace *getParent() const;
            QuotientSpace *getChild() const;
            unsigned int getLevel() const;
            void setLevel(unsigned int);
            QuotientSpaceType getType() const;
            void setChild(QuotientSpace *child_);
            void setParent(QuotientSpace *parent_);
 
            unsigned int getTotalNumberOfSamples() const;
            unsigned int getTotalNumberOfFeasibleSamples() const;
 
            void projectX1(const ompl::base::State *q, ompl::base::State *qX1) const;
            void projectQ0(const ompl::base::State *q, ompl::base::State *qQ0) const;
            void mergeStates(const ompl::base::State *qQ0, const ompl::base::State *qX1, ompl::base::State *qQ1) const;
 
            void checkSpaceHasFiniteMeasure(const ompl::base::StateSpacePtr space) const;
 
            ompl::base::OptimizationObjectivePtr getOptimizationObjectivePtr() const;
 
            friend std::ostream &operator<<(std::ostream &out, const QuotientSpace &qtnt);
 
        protected:
            virtual void print(std::ostream &out) const;
 
            const ompl::base::StateSpacePtr computeQuotientSpace(const ompl::base::StateSpacePtr Q1,
                                                                 const ompl::base::StateSpacePtr Q0);
 
            QuotientSpaceType identifyQuotientSpaceType(const ompl::base::StateSpacePtr Q1,
                                                        const ompl::base::StateSpacePtr Q0);
 
            ompl::base::SpaceInformationPtr Q1{nullptr};
            ompl::base::SpaceInformationPtr Q0{nullptr};
            ompl::base::SpaceInformationPtr X1{nullptr};
 
            ompl::base::StateSamplerPtr X1_sampler_;
            ompl::base::StateSamplerPtr Q1_sampler_;
            ompl::base::ValidStateSamplerPtr Q1_valid_sampler_;
 
            ompl::base::OptimizationObjectivePtr opt_;
 
            ompl::base::State *s_Q0_tmp_{nullptr};
            ompl::base::State *s_X1_tmp_{nullptr};
 
            QuotientSpaceType type_;
            unsigned int Q1_dimension_{0};
            unsigned int Q0_dimension_{0};
            unsigned int X1_dimension_{0};
 
            static unsigned int counter_;
            unsigned int id_{0};
            unsigned int level_{0};
 
            bool hasSolution_{false};
            bool firstRun_{true};
 
            QuotientSpace *parent_{nullptr};
            QuotientSpace *child_{nullptr};
 
            unsigned int totalNumberOfSamples_{0};
            unsigned int totalNumberOfFeasibleSamples_{0};
        };
    }  // namespace geometric
}  // namespace ompl
#endif