SelfConfig.h

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/* Author: Ioan Sucan */

#ifndef OMPL_TOOLS_SELF_CONFIG_
#define OMPL_TOOLS_SELF_CONFIG_

#include "ompl/config.h"
#include "ompl/base/Goal.h"
#include "ompl/base/Planner.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/datastructures/NearestNeighborsSqrtApprox.h"
#include "ompl/datastructures/NearestNeighborsGNAT.h"
#include "ompl/datastructures/NearestNeighborsGNATNoThreadSafety.h"
#include <mutex>
#include <iostream>
#include <string>

namespace ompl
{
    namespace tools
    {
        class SelfConfig
        {
        public:
            SelfConfig(const base::SpaceInformationPtr &si, const std::string &context = std::string());

            ~SelfConfig();

            double getProbabilityOfValidState();

            double getAverageValidMotionLength();

            void configureValidStateSamplingAttempts(unsigned int &attempts);

            void configurePlannerRange(double &range);

            void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj);

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

            template <typename _T>
            static NearestNeighbors<_T> *getDefaultNearestNeighbors(const base::Planner *planner)
            {
                const base::StateSpacePtr &space = planner->getSpaceInformation()->getStateSpace();
                const base::PlannerSpecs &specs = planner->getSpecs();
                if (space->isMetricSpace())
                {
                    if (specs.multithreaded)
                        return new NearestNeighborsGNAT<_T>();
                    return new NearestNeighborsGNATNoThreadSafety<_T>();
                }
                return new NearestNeighborsSqrtApprox<_T>();
            }

            static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);

        private:
            class SelfConfigImpl;

            SelfConfigImpl *impl_;
            std::string context_;
            static std::mutex staticConstructorLock_;
        };
    }
}

#endif