EST.h

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/* Author: Ryan Luna */

#ifndef OMPL_CONTROL_PLANNERS_EST_EST_
#define OMPL_CONTROL_PLANNERS_EST_EST_

#include "ompl/datastructures/Grid.h"
#include "ompl/control/planners/PlannerIncludes.h"
#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/datastructures/PDF.h"
#include <unordered_map>
#include <vector>

namespace ompl
{
    namespace control
    {
        class EST : public base::Planner
        {
        public:
            EST(const SpaceInformationPtr &si);

            ~EST() override;

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

            void clear() override;

            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }

            double getGoalBias() const
            {
                return goalBias_;
            }

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

            double getRange() const
            {
                return maxDistance_;
            }

            void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
            {
                projectionEvaluator_ = projectionEvaluator;
            }

            void setProjectionEvaluator(const std::string &name)
            {
                projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
            }

            const base::ProjectionEvaluatorPtr &getProjectionEvaluator() const
            {
                return projectionEvaluator_;
            }

            void setup() override;

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

        protected:
            class Motion
            {
            public:
                Motion() = default;

                Motion(const SpaceInformation *si)
                  : state(si->allocState()), control(si->allocControl())
                {
                }

                ~Motion() = default;

                base::State *state{nullptr};

                Control *control{nullptr};

                unsigned int steps{0};

                Motion *parent{nullptr};
            };

            struct MotionInfo;

            typedef Grid<MotionInfo>::Cell GridCell;

            typedef PDF<GridCell *> CellPDF;

            struct MotionInfo
            {
                Motion *operator[](unsigned int i)
                {
                    return motions_[i];
                }
                const Motion *operator[](unsigned int i) const
                {
                    return motions_[i];
                }
                void push_back(Motion *m)
                {
                    motions_.push_back(m);
                }
                unsigned int size() const
                {
                    return motions_.size();
                }
                bool empty() const
                {
                    return motions_.empty();
                }
                std::vector<Motion *> motions_;
                CellPDF::Element *elem_;
            };

            struct TreeData
            {
                TreeData() = default;

                Grid<MotionInfo> grid{0};

                unsigned int size{0};
            };

            void freeMemory();

            void addMotion(Motion *motion);

            Motion *selectMotion();

            base::ValidStateSamplerPtr sampler_;

            DirectedControlSamplerPtr controlSampler_;

            const SpaceInformation *siC_;

            TreeData tree_;

            base::ProjectionEvaluatorPtr projectionEvaluator_;

            double goalBias_{0.05};

            double maxDistance_{0.};

            RNG rng_;

            CellPDF pdf_;

            Motion *lastGoalMotion_{nullptr};
        };
    }
}

#endif