ATRRT.h

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/* Author: Joris Chomarat */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_ATRRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_ATRRT_
 
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/base/OptimizationObjective.h"
 
/*
  NOTES:
  **Variable Names that have been converted to longer versions from standards:
  nearest_neighbors_ -> nn_
  planner_termination_condition -> ptc
 
  **Inherited Member Variables Key:
  si_ -> SpaceInformation
  pdef_ -> ProblemDefinition
  pis_ -> PlannerInputStates - Utility class to extract valid input states
*/
 
namespace ompl
{
    namespace geometric
    {

        class ATRRT : public base::Planner
        {
        public:
            ATRRT(const base::SpaceInformationPtr &si);
 
            ~ATRRT() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &plannerTerminationCondition) 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 setTempChangeFactor(double factor)
            {
                tempChangeFactor_ = exp(factor);
            }

            double getTempChangeFactor() const
            {
                return log(tempChangeFactor_);
            }

            void setCostThreshold(double maxCost)
            {
                costThreshold_ = base::Cost(maxCost);
            }

            double getCostThreshold() const
            {
                return costThreshold_.value();
            }

            void setInitTemperature(double initTemperature)
            {
                initTemperature_ = initTemperature;
                temp_ = initTemperature_;
            }

            double getInitTemperature() const
            {
                return initTemperature_;
            }

            void setFrontierThreshold(double frontier_threshold)
            {
                frontierThreshold_ = frontier_threshold;
            }

            double getFrontierThreshold() const
            {
                return frontierThreshold_;
            }

            void setFrontierNodeRatio(double frontierNodeRatio)
            {
                frontierNodeRatio_ = frontierNodeRatio;
            }

            double getFrontierNodeRatio() const
            {
                return frontierNodeRatio_;
            }

            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                if (nearestNeighbors_->size() == 0)
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                nearestNeighbors_ = 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};

                std::vector<Motion *> neighbors;

                base::Cost cost;
            };

            void freeMemory();

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

            bool transitionTest(const base::Cost &motionCost);

            bool minExpansionControl(double randMotionDistance);

            void addUsefulCycles(Motion *newMotion, Motion *nearMotion);

            void addEdge(Motion *a, Motion *b);

            std::vector<ompl::geometric::ATRRT::Motion *> computeDijkstraLowestCostPath(Motion *a, Motion *b);

            ompl::base::Cost computeCostLowestCostPath(Motion *a, Motion *b);

            base::StateSamplerPtr sampler_;

            std::shared_ptr<NearestNeighbors<Motion *>> nearestNeighbors_;

            double goalBias_{.05};

            double maxDistance_{0.};

            RNG rng_;

            Motion *lastGoalMotion_{nullptr};

            struct MotionCostComparator
            {
                bool operator()(const std::pair<Motion *, base::Cost> &a,
                                const std::pair<Motion *, base::Cost> &b) const
                {
                    return a.second.value() > b.second.value();
                }
            };
 
            // *********************************************************************************************************
            // ATRRT-Specific Variables
            // *********************************************************************************************************
 
            // Transtion Test -----------------------------------------------------------------------

            double temp_;

            base::Cost bestCost_;

            base::Cost worstCost_;

            base::Cost costThreshold_;

            double tempChangeFactor_;

            double initTemperature_;

            ompl::base::OptimizationObjectivePtr opt_;
 
            // Useful Cycles -----------------------------------------------------------------------

            double gamma_{1.0};

            double neighborhoodRadiusFactor_{0.4};
 
            // Minimum Expansion Control ------------------------------------------------------------
            double nonfrontierCount_;
            double frontierCount_;
            double frontierThreshold_;
            double frontierNodeRatio_;
        };
 
    }  // namespace geometric
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_RRT_ATRRT_