RRTConnect.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_RRT_CONNECT_

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

namespace ompl
{
    namespace geometric
    {
        class RRTConnect : public base::Planner
        {
        public:
            RRTConnect(const base::SpaceInformationPtr &si, bool addIntermediateStates = false);

            ~RRTConnect() override;

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

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

            void clear() override;

            bool getIntermediateStates() const
            {
                return addIntermediateStates_;
            }

            void setIntermediateStates(bool addIntermediateStates)
            {
                addIntermediateStates_ = addIntermediateStates;
            }

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

            double getRange() const
            {
                return maxDistance_;
            }

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

                const base::State *root{nullptr};
                base::State *state{nullptr};
                Motion *parent{nullptr};
            };

            typedef std::shared_ptr<NearestNeighbors<Motion *>> TreeData;

            struct TreeGrowingInfo
            {
                base::State *xstate;
                Motion *xmotion;
                bool start;
            };

            enum GrowState
            {
                TRAPPED,
                ADVANCED,
                REACHED
            };

            void freeMemory();

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

            GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion);

            base::StateSamplerPtr sampler_;

            TreeData tStart_;

            TreeData tGoal_;

            double maxDistance_{0.};

            bool addIntermediateStates_;

            RNG rng_;

            std::pair<base::State *, base::State *> connectionPoint_;

            double distanceBetweenTrees_;
        };
    }
}

#endif