AORRTC.h

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/* Author: Tyler Wilson */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_AORRTC_
#define OMPL_GEOMETRIC_PLANNERS_RRT_AORRTC_
 
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/OptimizationObjective.h"
#include "ompl/geometric/PathSimplifier.h"
 
#include "ompl/geometric/planners/rrt/AOXRRTConnect.h"
 
namespace ompl
{
    namespace geometric
    {

        class AORRTC : public base::Planner
        {
        public:
            AORRTC(const base::SpaceInformationPtr &si);
 
            ~AORRTC() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;
 
            void setup() override;
 
            void reset(bool solvedProblem);
 
            void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
 
            void setRange(double distance)
            {
                maxDistance_ = distance;
            }

            double getRange() const
            {
                return maxDistance_;
            }

            const PathSimplifierPtr &getPathSimplifier() const
            {
                return psk_;
            }

            PathSimplifierPtr &getPathSimplifier()
            {
                return psk_;
            }

            void simplifySolution(const base::PathPtr &p, const base::PlannerTerminationCondition &ptc);

            ompl::base::Cost bestCost() const;
 
        protected:
            RNG rng_;
 
            std::shared_ptr<ompl::geometric::AOXRRTConnect> aox_planner;

            void freeMemory();

            double maxDistance_{0.};
 
            double inflationFactor_{1.};

            PathSimplifierPtr psk_;
 
            base::PathPtr bestPath_{nullptr};
 
            ompl::base::Cost bestCost_{std::numeric_limits<double>::infinity()};

            base::OptimizationObjectivePtr opt_;
 
            double initCost_;
            ompl::base::PlannerStatus solve_status;
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif