HyRRT.h

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/* Author: Beverly Xu */
 
#ifndef OMPL_CONTROL_PLANNERS_RRT_HYRRT_
#define OMPL_CONTROL_PLANNERS_RRT_HYRRT_
 
#include "ompl/base/spaces/RealVectorStateSpace.h"
#include "ompl/control/ControlSpace.h"
#include "ompl/control/spaces/RealVectorControlSpace.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/control/planners/PlannerIncludes.h"
#include "ompl/control/Control.h"
#include "ompl/base/spaces/HybridStateSpace.h"
 
using namespace std;
 
namespace ompl
{
    namespace control
    {

        class HyRRT : public base::Planner
        {
        public:
            HyRRT(const control::SpaceInformationPtr &si);

            ~HyRRT() override;

            void clear() override;

            void setup() override;

            void getPlannerData(base::PlannerData &data) const override;
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;

            class Motion
            {
            public:
                Motion() = default;

                Motion(const control::SpaceInformation *si) : state(si->allocState()), control(si->allocControl())
                {
                }

                ~Motion() = default;

                base::State *state{nullptr};

                Motion *parent{nullptr};

                const base::State *root{nullptr};

                std::vector<base::State *> *solutionPair{nullptr};

                control::Control *control{nullptr};
            };

            void freeMemory();

            void setTm(double tM)
            {
                if (tM <= 0)
                    throw Exception("Maximum flow time per propagation step must be greater than 0");
                if (!flowStepDuration_)
                {
                    if (tM < flowStepDuration_)
                        throw Exception(
                            "Maximum flow time per propagation step must be greater than or equal to the length of time for each flow "
                            "integration step (flowStepDuration_)");
                }
                tM_ = tM;
            }

            void setFlowStepDuration(double duration)
            {
                if (duration <= 0)
                    throw Exception("Flow step length must be greater than 0");
                if (!tM_)
                {
                    if (tM_ < duration)
                        throw Exception(
                            "Flow step length must be less than or equal to the maximum flow time per propagation step (Tm)");
                }
                flowStepDuration_ = duration;
            }

            void setJumpSet(std::function<bool(Motion *motion)> jumpSet)
            {
                jumpSet_ = jumpSet;
            }

            void setFlowSet(std::function<bool(Motion *motion)> flowSet)
            {
                flowSet_ = flowSet;
            }

            void setUnsafeSet(std::function<bool(Motion *motion)> unsafeSet)
            {
                unsafeSet_ = unsafeSet;
            }

            void setDistanceFunction(std::function<double(base::State *, base::State *)> function)
            {
                distanceFunc_ = function;
            }

            void setDiscreteSimulator(
                std::function<base::State *(base::State *curState, const control::Control *u, base::State *newState)>
                    function)
            {
                discreteSimulator_ = function;
            }

            std::function<ompl::base::State *(const control::Control *control, ompl::base::State *x_cur, double tFlow,
                                              ompl::base::State *new_state)>
                continuousSimulator =
                    [this](const control::Control *control, base::State *x_cur, double tFlow, base::State *new_state)
            {
                siC_->getStatePropagator()->propagate(x_cur, control, tFlow, new_state);
                return new_state;
            };

            void setCollisionChecker(std::function<bool(Motion *motion, std::function<bool(Motion *motion)> obstacleSet,
                                                        base::State *newState, double *collisionTime)>
                                         function)
            {
                collisionChecker_ = function;
            }

            template <template <typename T> class NN>
            void setNearestNeighbors(void)
            {
                if (nn_ && nn_->size() != 0)
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                nn_ = std::make_shared<NN<Motion *>>();
                setup();
            }

            void checkMandatoryParametersSet(void) const
            {
                if (!discreteSimulator_)
                    throw Exception("Jump map not set");
                if (!continuousSimulator_)
                    throw Exception("Flow map not set");
                if (!flowSet_)
                    throw Exception("Flow set not set");
                if (!jumpSet_)
                    throw Exception("Jump set not set");
                if (!unsafeSet_)
                    throw Exception("Unsafe set not set");
                if (!tM_)
                    throw Exception("Max flow propagation time (Tm) no set");
            }
 
        protected:
            void setContinuousSimulator(std::function<base::State *(const control::Control *u, base::State *curState,
                                                                    double tFlowMax, base::State *newState)>
                                            function)
            {
                continuousSimulator_ = function;
            }
 
            const static ompl::control::Control *getFlowControl(const ompl::control::Control *control)
            {
                return control->as<CompoundControl>()->as<ompl::control::Control>(0);
            }
 
            const static ompl::control::Control *getJumpControl(const ompl::control::Control *control)
            {
                return control->as<CompoundControl>()->as<ompl::control::Control>(1);
            }

            Motion *lastGoalMotion_{nullptr};

            void initTree(void);

            void randomSample(Motion *randomMotion);

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


            std::function<bool(Motion *motion, std::function<bool(Motion *motion)> obstacleSet, base::State *newState,
                               double *collisionTime)>
                collisionChecker_ = [this](Motion *motion, std::function<bool(Motion *motion)> obstacleSet,
                                           base::State *newState, double *collisionTime) -> bool
            {
                if (obstacleSet(motion))
                {
                    si_->copyState(newState, motion->solutionPair->back());
                    *collisionTime =
                        ompl::base::HybridStateSpace::getStateTime(motion->solutionPair->back()) - flowStepDuration_;
                    motion->solutionPair->resize(motion->solutionPair->size() - 1);
                    return true;
                }
                return false;
            };

            control::DirectedControlSamplerPtr controlSampler_;

            control::SpaceInformation *siC_;

            std::function<double(base::State *state1, base::State *state2)> distanceFunc_ =
                [this](base::State *state1, base::State *state2) -> double { return si_->distance(state1, state2); };

            double tM_;

            double flowStepDuration_;

            std::function<base::State *(base::State *curState, const control::Control *u, base::State *newState)>
                discreteSimulator_;

            std::function<bool(Motion *motion)> jumpSet_;

            std::function<bool(Motion *motion)> flowSet_;

            std::function<bool(Motion *motion)> unsafeSet_;

            std::function<base::State *(const control::Control *u, base::State *curState, double tFlowMax,
                                        base::State *newState)>
                continuousSimulator_;

            base::PlannerStatus constructSolution(Motion *lastMotion);

            base::StateSamplerPtr sampler_;

            double dist_;
        };
    }  // namespace control
}  // namespace ompl
 
#endif