EITstar.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_
 
#include <memory>
 
#include "ompl/base/Cost.h"
#include "ompl/base/Planner.h"
#include "ompl/base/SpaceInformation.h"
 
#include "ompl/geometric/PathGeometric.h"
#include "ompl/geometric/planners/informedtrees/eitstar/Direction.h"
#include "ompl/geometric/planners/informedtrees/eitstar/RandomGeometricGraph.h"
#include "ompl/geometric/planners/informedtrees/eitstar/ForwardQueue.h"
#include "ompl/geometric/planners/informedtrees/eitstar/ReverseQueue.h"
 
namespace ompl
{
    namespace geometric
    {

        class EITstar : public ompl::base::Planner
        {
        public:
            explicit EITstar(const std::shared_ptr<ompl::base::SpaceInformation> &spaceInfo);

            ~EITstar();

            void setup() override;

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

            void clear() override;

            void clearQuery() override;

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

            void setBatchSize(unsigned int numSamples);

            unsigned int getBatchSize() const;

            void setInitialNumberOfSparseCollisionChecks(std::size_t numChecks);

            void setRadiusFactor(double factor);

            double getRadiusFactor() const;

            void setSuboptimalityFactor(double factor);

            void enablePruning(bool prune);

            bool isPruningEnabled() const;

            void trackApproximateSolutions(bool track);

            bool areApproximateSolutionsTracked() const;

            void setUseKNearest(bool useKNearest);

            bool getUseKNearest() const;

            void setMaxNumberOfGoals(unsigned int numberOfGoals);

            unsigned int getMaxNumberOfGoals() const;

            bool isForwardQueueEmpty() const;

            std::vector<eitstar::Edge> getForwardQueue() const;

            unsigned int getForwardEffort() const;

            bool isReverseQueueEmpty() const;

            std::vector<eitstar::Edge> getReverseQueue() const;

            std::vector<eitstar::Edge> getReverseTree() const;

            eitstar::Edge getNextForwardEdge() const;

            eitstar::Edge getNextReverseEdge() const;

            bool isStart(const std::shared_ptr<eitstar::State> &state) const;

            bool isGoal(const std::shared_ptr<eitstar::State> &state) const;

            void getPlannerData(base::PlannerData &data) const override;
 
        protected:
            // ---
            // The settings that turn EIT* into EIRM*.
            // ---

            void enableMultiquery(bool multiquery);

            bool isMultiqueryEnabled() const;

            void setStartGoalPruningThreshold(unsigned int threshold);

            unsigned int getStartGoalPruningThreshold() const;
 
        private:
            void iterate(const ompl::base::PlannerTerminationCondition &terminationCondition);

            void iterateReverseSearch();

            void iterateForwardSearch();

            void improveApproximation(const ompl::base::PlannerTerminationCondition &terminationCondition);

            bool continueSolving(const ompl::base::PlannerTerminationCondition &terminationCondition) const;

            bool continueReverseSearch() const;

            bool continueForwardSearch() const;

            void restartReverseSearch();

            void updateExactSolution();

            void updateApproximateSolution();

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

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

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

            std::shared_ptr<ompl::geometric::PathGeometric>
            getPathToState(const std::shared_ptr<eitstar::State> &state) const;

            void updateExactSolution(const std::shared_ptr<eitstar::State> &goalState);

            void updateApproximateSolution(const std::shared_ptr<eitstar::State> &state);

            void updateCurrentCostToCome(const std::shared_ptr<eitstar::State> &state);

            ompl::base::Cost computeCostToGoToGoal(const std::shared_ptr<eitstar::State> &state) const;

            void informAboutNewSolution() const;

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

            unsigned int countNumVerticesInForwardTree() const;

            unsigned int countNumVerticesInReverseTree() const;

            std::vector<eitstar::Edge> expand(const std::shared_ptr<eitstar::State> &state) const;

            std::vector<eitstar::Edge> expandUnlessGoal(const std::shared_ptr<eitstar::State> &state) const;

            bool isClosed(const std::shared_ptr<eitstar::Vertex> &vertex) const;

            bool isInForwardTree(const eitstar::Edge &edge) const;

            bool isInReverseTree(const eitstar::Edge &edge) const;

            bool doesImproveReversePath(const eitstar::Edge &edge) const;

            bool doesImproveReverseTree(const eitstar::Edge &edge, const ompl::base::Cost &edgeCost) const;

            bool couldImproveForwardPath(const eitstar::Edge &edge) const;

            bool couldImproveForwardTree(const eitstar::Edge &edge) const;

            bool doesImproveForwardPath(const eitstar::Edge &edge, const ompl::base::Cost &edgeCost) const;

            bool doesImproveForwardTree(const eitstar::Edge &edge, const ompl::base::Cost &edgeCost) const;

            ompl::base::Cost estimateCostToTarget(const eitstar::Edge &edge) const;

            unsigned int estimateEffortToTarget(const eitstar::Edge &edge) const;

            bool isValid(const eitstar::Edge &edge) const;

            bool couldBeValid(const eitstar::Edge &edge) const;

            bool isValidAtResolution(const eitstar::Edge &edge, std::size_t numChecks) const;

            bool isBetter(const ompl::base::Cost &lhs, const ompl::base::Cost &rhs) const;

            ompl::base::Cost combine(const ompl::base::Cost &lhs, const ompl::base::Cost &rhs) const;

            template <typename... Costs>
            ompl::base::Cost combine(const ompl::base::Cost &cost, const Costs &...costs) const
            {
                return combine(cost, combine(costs...));
            }

            void expandStartVerticesIntoForwardQueue();

            void expandGoalVerticesIntoReverseQueue();

            eitstar::RandomGeometricGraph graph_;

            unsigned int batchSize_{100u};

            double suboptimalityFactor_{std::numeric_limits<double>::infinity()};

            std::size_t initialNumSparseCollisionChecks_{1u};

            std::size_t numSparseCollisionChecksCurrentLevel_{1u};

            std::size_t numSparseCollisionChecksPreviousLevel_{0u};

            bool isMultiqueryEnabled_{false};

            bool isPruningEnabled_{true};

            bool trackApproximateSolutions_{true};

            ompl::base::State *detectionState_;

            std::vector<std::shared_ptr<eitstar::Vertex>> startVertices_;

            std::vector<std::shared_ptr<eitstar::Vertex>> goalVertices_;

            std::unique_ptr<eitstar::ForwardQueue> forwardQueue_;

            std::unique_ptr<eitstar::ReverseQueue> reverseQueue_;

            std::size_t iteration_{0u};

            std::size_t reverseSearchTag_{1u};

            std::size_t startExpansionGraphTag_{0u};

            std::shared_ptr<ompl::base::ProblemDefinition> &problem_ = ompl::base::Planner::pdef_;

            std::shared_ptr<ompl::base::SpaceInformation> &spaceInfo_ = ompl::base::Planner::si_;

            std::shared_ptr<ompl::base::StateSpace> space_;

            std::shared_ptr<ompl::base::OptimizationObjective> objective_;

            std::shared_ptr<ompl::base::MotionValidator> motionValidator_;

            ompl::base::Cost solutionCost_{std::numeric_limits<double>::signaling_NaN()};

            ompl::base::Cost reverseCost_{std::numeric_limits<double>::signaling_NaN()};

            ompl::base::Cost approximateSolutionCost_{std::numeric_limits<double>::signaling_NaN()};

            ompl::base::Cost approximateSolutionCostToGoal_{std::numeric_limits<double>::signaling_NaN()};

            mutable unsigned int numProcessedEdges_{0u};

            mutable unsigned int numCollisionCheckedEdges_{0u};
        };
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_