AITstar.h

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2019, University of Oxford
 *  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 names of the copyright holders 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: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_
 
#include <algorithm>
#include <memory>
 
#include "ompl/base/Planner.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/geometric/planners/informedtrees/aitstar/Edge.h"
#include "ompl/geometric/planners/informedtrees/aitstar/ImplicitGraph.h"
#include "ompl/geometric/planners/informedtrees/aitstar/Vertex.h"
#include "ompl/geometric/planners/informedtrees/aitstar/Queuetypes.h"
 
namespace ompl
{
    namespace geometric
    {

        class AITstar : public ompl::base::Planner
        {
        public:
            explicit AITstar(const ompl::base::SpaceInformationPtr &spaceInformation);

            ~AITstar() = default;

            void setup() override;

            ompl::base::PlannerStatus::StatusType ensureSetup();

            ompl::base::PlannerStatus::StatusType
            ensureStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition);

            void clear() override;

            ompl::base::PlannerStatus
            solve(const ompl::base::PlannerTerminationCondition &terminationCondition) override;

            ompl::base::Cost bestCost() const;

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

            void setBatchSize(std::size_t batchSize);

            std::size_t getBatchSize() const;

            void setRewireFactor(double rewireFactor);

            double getRewireFactor() const;

            void trackApproximateSolutions(bool track);

            bool areApproximateSolutionsTracked() const;

            void enablePruning(bool prune);

            bool isPruningEnabled() const;

            void setUseKNearest(bool useKNearest);

            bool getUseKNearest() const;

            void setMaxNumberOfGoals(unsigned int numberOfGoals);

            unsigned int getMaxNumberOfGoals() const;

            std::vector<aitstar::Edge> getEdgesInQueue() const;

            std::vector<std::shared_ptr<aitstar::Vertex>> getVerticesInQueue() const;

            aitstar::Edge getNextEdgeInQueue() const;

            std::shared_ptr<aitstar::Vertex> getNextVertexInQueue() const;

            std::vector<std::shared_ptr<aitstar::Vertex>> getVerticesInReverseSearchTree() const;
 
        private:
            void iterate(const ompl::base::PlannerTerminationCondition &terminationCondition);

            void iterateForwardSearch();

            void iterateReverseSearch();

            void updateReverseSearchVertex(const std::shared_ptr<aitstar::Vertex> &vertex);

            void updateReverseSearchNeighbors(const std::shared_ptr<aitstar::Vertex> &vertex);

            void insertOrUpdateInForwardQueue(const aitstar::Edge &edge);

            void insertOrUpdateInForwardQueue(const std::vector<aitstar::Edge> &edges);

            void insertOrUpdateInReverseQueue(const std::shared_ptr<aitstar::Vertex> &vertex);

            void rebuildForwardQueue();

            void rebuildReverseQueue();

            void clearForwardQueue();

            void clearReverseQueue();

            void informAboutNewSolution() const;

            void informAboutPlannerStatus(ompl::base::PlannerStatus::StatusType status) const;

            void insertGoalVerticesInReverseQueue();

            void expandStartVerticesIntoForwardQueue();

            bool continueReverseSearch() const;

            bool continueForwardSearch();

            std::shared_ptr<ompl::geometric::PathGeometric>
            getPathToVertex(const std::shared_ptr<aitstar::Vertex> &vertex) const;

            std::array<ompl::base::Cost, 3u> computeSortKey(const std::shared_ptr<aitstar::Vertex> &parent,
                                                            const std::shared_ptr<aitstar::Vertex> &child) const;

            std::array<ompl::base::Cost, 2u> computeSortKey(const std::shared_ptr<aitstar::Vertex> &vertex) const;

            void insertOutgoingEdges(const std::shared_ptr<aitstar::Vertex> &vertex);

            std::vector<aitstar::Edge> getOutgoingEdges(const std::shared_ptr<aitstar::Vertex> &vertex) const;

            void updateExactSolution();

            void updateApproximateSolution(const std::shared_ptr<aitstar::Vertex> &vertex);

            void updateApproximateSolution();

            ompl::base::PlannerStatus::StatusType updateSolution();

            ompl::base::PlannerStatus::StatusType updateSolution(const std::shared_ptr<aitstar::Vertex> &vertex);

            ompl::base::Cost computeCostToGoToStartHeuristic(const std::shared_ptr<aitstar::Vertex> &vertex) const;

            ompl::base::Cost computeCostToGoToGoalHeuristic(const std::shared_ptr<aitstar::Vertex> &vertex) const;

            ompl::base::Cost computeCostToGoToGoal(const std::shared_ptr<aitstar::Vertex> &vertex) const;

            ompl::base::Cost computeBestCostToComeFromGoalOfAnyStart() const;

            std::size_t countNumVerticesInForwardTree() const;

            std::size_t countNumVerticesInReverseTree() const;

            void invalidateCostToComeFromGoalOfReverseBranch(const std::shared_ptr<aitstar::Vertex> &vertex);

            ompl::base::Cost solutionCost_;

            ompl::base::Cost approximateSolutionCost_{};

            ompl::base::Cost approximateSolutionCostToGoal_{};

            aitstar::ImplicitGraph graph_;

            aitstar::EdgeQueue forwardQueue_;

            aitstar::VertexQueue reverseQueue_;

            bool isEdgeBetter(const aitstar::Edge &lhs, const aitstar::Edge &rhs) const;

            bool isVertexBetter(const aitstar::KeyVertexPair &lhs, const aitstar::KeyVertexPair &rhs) const;

            std::size_t numInconsistentOrUnconnectedTargets_{0u};

            std::size_t numIterations_{0u};

            std::size_t batchSize_{100u};

            bool trackApproximateSolutions_{true};

            bool isPruningEnabled_{true};

            ompl::base::OptimizationObjectivePtr objective_;

            ompl::base::MotionValidatorPtr motionValidator_;

            std::size_t numProcessedEdges_{0u};

            std::size_t numEdgeCollisionChecks_{0u};
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR