Planner.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_PLANNER_
#define OMPL_BASE_PLANNER_
 
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/PlannerData.h"
#include "ompl/base/PlannerStatus.h"
#include "ompl/base/PlannerTerminationCondition.h"
#include "ompl/base/GenericParam.h"
#include "ompl/util/Console.h"
#include "ompl/util/Time.h"
#include "ompl/util/ClassForward.h"
#include <functional>
#include <boost/concept_check.hpp>
#include <string>
#include <map>
 
namespace ompl
{
    namespace base
    {
 
        OMPL_CLASS_FORWARD(Planner);
 
        class PlannerInputStates
        {
        public:
            PlannerInputStates(const PlannerPtr &planner) : planner_(planner.get())
            {
                tempState_ = nullptr;
                update();
            }
 
            PlannerInputStates(const Planner *planner) : planner_(planner)
            {
                tempState_ = nullptr;
                update();
            }
 
            PlannerInputStates()
            {
                tempState_ = nullptr;
                clear();
            }
 
            ~PlannerInputStates()
            {
                clear();
            }
 
            void clear();
 
            void restart();
 
            bool update();
 
            bool use(const ProblemDefinitionPtr &pdef);
 
            void checkValidity() const;
 
            const State *nextStart();
 
            const State *nextGoal(const PlannerTerminationCondition &ptc);
 
            const State *nextGoal();
 
            bool haveMoreStartStates() const;
 
            bool haveMoreGoalStates() const;
 
            unsigned int getSeenStartStatesCount() const
            {
                return addedStartStates_;
            }
 
            unsigned int getSampledGoalsCount() const
            {
                return sampledGoalsCount_;
            }
 
        private:
            const Planner *planner_{nullptr};
 
            unsigned int addedStartStates_;
            unsigned int sampledGoalsCount_;
            State *tempState_;
 
            ProblemDefinitionPtr pdef_;
            const SpaceInformation *si_;
        };
 
        struct PlannerSpecs
        {
            PlannerSpecs() = default;
 
            GoalType recognizedGoal{GOAL_ANY};
 
            bool multithreaded{false};
 
            bool approximateSolutions{false};
 
            bool optimizingPaths{false};
 
            bool directed{false};
 
            bool provingSolutionNonExistence{false};
 
            bool canReportIntermediateSolutions{false};
        };
 
        class Planner
        {
        public:
            // non-copyable
            Planner(const Planner &) = delete;
            Planner &operator=(const Planner &) = delete;
 
            Planner(SpaceInformationPtr si, std::string name);
 
            virtual ~Planner() = default;
 
            template <class T>
            T *as()
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Planner *>));
 
                return static_cast<T *>(this);
            }
 
            template <class T>
            const T *as() const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T *, Planner *>));
 
                return static_cast<const T *>(this);
            }
 
            const SpaceInformationPtr &getSpaceInformation() const;
 
            const ProblemDefinitionPtr &getProblemDefinition() const;
 
            ProblemDefinitionPtr &getProblemDefinition();
 
            const PlannerInputStates &getPlannerInputStates() const;
 
            virtual void setProblemDefinition(const ProblemDefinitionPtr &pdef);
 
            virtual PlannerStatus solve(const PlannerTerminationCondition &ptc) = 0;
 
            PlannerStatus solve(const PlannerTerminationConditionFn &ptc, double checkInterval);
 
            PlannerStatus solve(double solveTime);
 
            virtual void clear();
 
            virtual void clearQuery();
 
            virtual void getPlannerData(PlannerData &data) const;
 
            const std::string &getName() const;
 
            void setName(const std::string &name);
 
            const PlannerSpecs &getSpecs() const;
 
            virtual void setup();
 
            virtual void checkValidity();
 
            bool isSetup() const;
 
            ParamSet &params()
            {
                return params_;
            }
 
            const ParamSet &params() const
            {
                return params_;
            }
 
            using PlannerProgressProperty = std::function<std::string()>;
 
            using PlannerProgressProperties = std::map<std::string, PlannerProgressProperty>;
 
            const PlannerProgressProperties &getPlannerProgressProperties() const
            {
                return plannerProgressProperties_;
            }
 
            virtual void printProperties(std::ostream &out) const;
 
            virtual void printSettings(std::ostream &out) const;
 
        protected:
            template <typename T, typename PlannerType, typename SetterType, typename GetterType>
            void declareParam(const std::string &name, const PlannerType &planner, const SetterType &setter,
                              const GetterType &getter, const std::string &rangeSuggestion = "")
            {
                params_.declareParam<T>(name,
                                        [planner, setter](T param)
                                        {
                                            (*planner.*setter)(param);
                                        },
                                        [planner, getter]
                                        {
                                            return (*planner.*getter)();
                                        });
                if (!rangeSuggestion.empty())
                    params_[name].setRangeSuggestion(rangeSuggestion);
            }
 
            template <typename T, typename PlannerType, typename SetterType>
            void declareParam(const std::string &name, const PlannerType &planner, const SetterType &setter,
                              const std::string &rangeSuggestion = "")
            {
                params_.declareParam<T>(name, [planner, setter](T param)
                                        {
                                            (*planner.*setter)(param);
                                        });
                if (!rangeSuggestion.empty())
                    params_[name].setRangeSuggestion(rangeSuggestion);
            }
 
            void addPlannerProgressProperty(const std::string &progressPropertyName,
                                            const PlannerProgressProperty &prop)
            {
                plannerProgressProperties_[progressPropertyName] = prop;
            }
 
            SpaceInformationPtr si_;
 
            ProblemDefinitionPtr pdef_;
 
            PlannerInputStates pis_;
 
            std::string name_;
 
            PlannerSpecs specs_;
 
            ParamSet params_;
 
            PlannerProgressProperties plannerProgressProperties_;
 
            bool setup_;
        };
 
        using PlannerAllocator = std::function<PlannerPtr(const SpaceInformationPtr &)>;
    }
}
 
#endif