pRRT.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/StateSamplerArray.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include <thread>
#include <mutex>

namespace ompl
{
    namespace geometric
    {
        class pRRT : public base::Planner
        {
        public:
            pRRT(const base::SpaceInformationPtr &si);

            ~pRRT() override;

            void getPlannerData(base::PlannerData &data) const 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 setThreadCount(unsigned int nthreads);

            unsigned int getThreadCount() const
            {
                return threadCount_;
            }

            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 *>>();
                setup();
            }

            void setup() override;

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

                Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
                {
                }

                ~Motion() = default;

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

            struct SolutionInfo
            {
                Motion *solution;
                Motion *approxsol;
                double approxdif;
                std::mutex lock;
            };

            void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);
            void freeMemory();

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

            base::StateSamplerArray<base::StateSampler> samplerArray_;
            std::shared_ptr<NearestNeighbors<Motion *>> nn_;
            std::mutex nnLock_;

            unsigned int threadCount_;

            double goalBias_{.05};
            double maxDistance_{0.};

            Motion *lastGoalMotion_{nullptr};
        };
    }
}

#endif