BiEST.h

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/* Author: Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_EST_BIEST_
#define OMPL_GEOMETRIC_PLANNERS_EST_BIEST_
 
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/datastructures/PDF.h"
#include <vector>
 
namespace ompl
{
    namespace geometric
    {

        class BiEST : public base::Planner
        {
        public:
            BiEST(const base::SpaceInformationPtr &si);
 
            ~BiEST() override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;

            void setRange(double distance)
            {
                maxDistance_ = distance;
 
                // Make the neighborhood radius smaller than sampling range to
                // keep probabilities relatively high for rejection sampling
                nbrhoodRadius_ = maxDistance_ / 3.0;
            }

            double getRange() const
            {
                return maxDistance_;
            }
 
            void setup() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
        protected:
            class Motion
            {
            public:
                Motion() = default;

                Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
                {
                }
 
                ~Motion() = default;

                base::State *state{nullptr};

                Motion *parent{nullptr};

                PDF<Motion *>::Element *element{nullptr};

                const base::State *root{nullptr};
            };

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

            std::shared_ptr<NearestNeighbors<Motion *>> nnStart_;
            std::shared_ptr<NearestNeighbors<Motion *>> nnGoal_;

            std::vector<Motion *> startMotions_;
            std::vector<Motion *> goalMotions_;

            PDF<Motion *> startPdf_;
            PDF<Motion *> goalPdf_;

            void freeMemory();

            void addMotion(Motion *motion, std::vector<Motion *> &motions, PDF<Motion *> &pdf,
                           const std::shared_ptr<NearestNeighbors<Motion *>> &nn,
                           const std::vector<Motion *> &neighbors);

            base::ValidStateSamplerPtr sampler_;

            double maxDistance_{0.0};

            double nbrhoodRadius_;

            RNG rng_;

            std::pair<base::State *, base::State *> connectionPoint_{nullptr, nullptr};
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif