ThunderDB.h

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/* Author: Dave Coleman
*/

#ifndef OMPL_TOOLS_THUNDER_THUNDERDB_
#define OMPL_TOOLS_THUNDER_THUNDERDB_

#include <ompl/base/StateSpace.h>
#include <ompl/geometric/PathGeometric.h>
#include <ompl/base/PlannerData.h>
#include <ompl/base/PlannerDataStorage.h>
#include <ompl/base/State.h>
#include <ompl/base/SpaceInformation.h>
#include <ompl/datastructures/NearestNeighbors.h>
#include <ompl/tools/thunder/SPARSdb.h>

namespace ompl
{
    namespace tools
    {
        OMPL_CLASS_FORWARD(ThunderDB);

        using SPARSdbPtr = std::shared_ptr<ompl::geometric::SPARSdb>;

        class ThunderDB
        {
        public:
            ThunderDB(const base::StateSpacePtr &space);

            virtual ~ThunderDB();

            bool load(const std::string &fileName);

            bool addPath(ompl::geometric::PathGeometric &solutionPath, double &insertionTime);

            bool saveIfChanged(const std::string &fileName);

            bool save(const std::string &fileName);

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

            void setSPARSdb(ompl::tools::SPARSdbPtr &prm);

            ompl::tools::SPARSdbPtr &getSPARSdb();

            bool findNearestStartGoal(int nearestK, const base::State *start, const base::State *goal,
                                      ompl::geometric::SPARSdb::CandidateSolution &candidateSolution,
                                      const base::PlannerTerminationCondition &ptc);

            void debugVertex(const ompl::base::PlannerDataVertex &vertex);
            void debugState(const ompl::base::State *state);

            int getNumPathsInserted() const
            {
                return numPathsInserted_;
            }

            bool getSavingEnabled()
            {
                return saving_enabled_;
            }

            void setSavingEnabled(bool saving_enabled)
            {
                saving_enabled_ = saving_enabled;
            }

            bool isEmpty()
            {
                return spars_->getNumVertices() == 0u;
            }

        protected:
            base::SpaceInformationPtr si_;  // TODO: is this even necessary?

            ompl::base::PlannerDataStorage plannerDataStorage_;

            // Track unsaved paths to determine if a save is required
            int numPathsInserted_;

            // Use SPARSdb's graph datastructure to store experience
            ompl::tools::SPARSdbPtr spars_;

            // Allow the database to save to file (new experiences)
            bool saving_enabled_;

        };  // end of class ThunderDB

    }  // end of namespace

}  // end of namespace
#endif