SST.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2015, Rutgers the State University of New Jersey, New Brunswick
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Rutgers University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
/* Authors: Zakary Littlefield */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_SST_SST_
#define OMPL_GEOMETRIC_PLANNERS_SST_SST_
 
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
 
namespace ompl
{
    namespace geometric
    {
        class SST : public base::Planner
        {
        public:
            SST(const base::SpaceInformationPtr &si);
 
            ~SST() override;
 
            void setup() override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void getPlannerData(base::PlannerData &data) const 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 setSelectionRadius(double selectionRadius)
            {
                selectionRadius_ = selectionRadius;
            }
 
            double getSelectionRadius() const
            {
                return selectionRadius_;
            }
 
            void setPruningRadius(double pruningRadius)
            {
                pruningRadius_ = pruningRadius;
            }
 
            double getPruningRadius() const
            {
                return pruningRadius_;
            }
 
            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                if (nn_ && nn_->size() != 0)
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                nn_ = std::make_shared<NN<Motion *>>();
                witnesses_ = std::make_shared<NN<Motion *>>();
                setup();
            }
 
        protected:
            class Motion
            {
            public:
                Motion() = default;
 
                Motion(const base::SpaceInformationPtr &si)
                  : state_(si->allocState())
                {
                }
 
                virtual ~Motion() = default;
 
                virtual base::State *getState() const
                {
                    return state_;
                }
                virtual Motion *getParent() const
                {
                    return parent_;
                }
                base::Cost accCost_{0.};
 
                base::State *state_{nullptr};
 
                Motion *parent_{nullptr};
 
                unsigned numChildren_{0};
 
                bool inactive_{false};
            };
 
            class Witness : public Motion
            {
            public:
                Witness() = default;
 
                Witness(const base::SpaceInformationPtr &si) : Motion(si)
                {
                }
                base::State *getState() const override
                {
                    return rep_->state_;
                }
                Motion *getParent() const override
                {
                    return rep_->parent_;
                }
 
                void linkRep(Motion *lRep)
                {
                    rep_ = lRep;
                }
 
                Motion *rep_{nullptr};
            };
 
            Motion *selectNode(Motion *sample);
 
            Witness *findClosestWitness(Motion *node);
 
            base::State *monteCarloProp(Motion *m);
 
            void freeMemory();
 
            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state_, b->state_);
            }
 
            base::StateSamplerPtr sampler_;
 
            std::shared_ptr<NearestNeighbors<Motion *>> nn_;
 
            std::shared_ptr<NearestNeighbors<Motion *>> witnesses_;
 
            double goalBias_{.05};
 
            double maxDistance_{5.};
 
            double selectionRadius_{5.};
 
            double pruningRadius_{3.};
 
            RNG rng_;
 
            std::vector<base::State *> prevSolution_;
 
            base::Cost prevSolutionCost_;
 
            base::OptimizationObjectivePtr opt_;
        };
    }
}
 
#endif