ProblemDefinition.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_PROBLEM_DEFINITION_
#define OMPL_BASE_PROBLEM_DEFINITION_
 
#include "ompl/base/State.h"
#include "ompl/base/Goal.h"
#include "ompl/base/Path.h"
#include "ompl/base/Cost.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/SolutionNonExistenceProof.h"
#include "ompl/util/Console.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/ScopedState.h"
 
#include <vector>
#include <cstdlib>
#include <iostream>
#include <limits>
 
namespace ompl
{
    namespace base
    {

        OMPL_CLASS_FORWARD(ProblemDefinition);
        OMPL_CLASS_FORWARD(OptimizationObjective);


        struct PlannerSolution
        {
            PlannerSolution(const PathPtr &path)
              : path_(path), length_(path ? path->length() : std::numeric_limits<double>::infinity())
            {
            }

            bool operator==(const PlannerSolution &p) const
            {
                return path_ == p.path_;
            }

            bool operator<(const PlannerSolution &b) const;

            void setApproximate(double difference)
            {
                approximate_ = true;
                difference_ = difference;
            }

            void setOptimized(const OptimizationObjectivePtr &opt, Cost cost, bool meetsObjective)
            {
                opt_ = opt;
                cost_ = cost;
                optimized_ = meetsObjective;
            }

            void setPlannerName(const std::string &name)
            {
                plannerName_ = name;
            }

            int index_{-1};

            PathPtr path_;

            double length_;

            bool approximate_{false};

            double difference_{0.};

            bool optimized_{false};

            OptimizationObjectivePtr opt_;

            Cost cost_;

            std::string plannerName_;
        };
 
        class Planner;

        using ReportIntermediateSolutionFn =
            std::function<void(const Planner *, const std::vector<const base::State *> &, const Cost)>;
 
        OMPL_CLASS_FORWARD(OptimizationObjective);

        class ProblemDefinition
        {
        public:
            // non-copyable
            ProblemDefinition(const ProblemDefinition &) = delete;
            ProblemDefinition &operator=(const ProblemDefinition &) = delete;

            ProblemDefinition(SpaceInformationPtr si);

            ProblemDefinitionPtr clone() const;
 
            virtual ~ProblemDefinition()
            {
                clearStartStates();
            }

            const SpaceInformationPtr &getSpaceInformation() const
            {
                return si_;
            }

            void addStartState(const State *state)
            {
                startStates_.push_back(si_->cloneState(state));
            }

            void addStartState(const ScopedState<> &state)
            {
                startStates_.push_back(si_->cloneState(state.get()));
            }

            bool hasStartState(const State *state, unsigned int *startIndex = nullptr) const;

            void clearStartStates()
            {
                for (auto &startState : startStates_)
                    si_->freeState(startState);
                startStates_.clear();
            }

            unsigned int getStartStateCount() const
            {
                return startStates_.size();
            }

            const State *getStartState(unsigned int index) const
            {
                return startStates_[index];
            }

            State *getStartState(unsigned int index)
            {
                return startStates_[index];
            }

            void setGoal(const GoalPtr &goal)
            {
                goal_ = goal;
            }

            void clearGoal()
            {
                goal_.reset();
            }

            const GoalPtr &getGoal() const
            {
                return goal_;
            }

            void getInputStates(std::vector<const State *> &states) const;

            void setStartAndGoalStates(const State *start, const State *goal,
                                       double threshold = std::numeric_limits<double>::epsilon());

            void setGoalState(const State *goal, double threshold = std::numeric_limits<double>::epsilon());

            void setStartAndGoalStates(const ScopedState<> &start, const ScopedState<> &goal,
                                       const double threshold = std::numeric_limits<double>::epsilon())
            {
                setStartAndGoalStates(start.get(), goal.get(), threshold);
            }

            void setGoalState(const ScopedState<> &goal,
                              const double threshold = std::numeric_limits<double>::epsilon())
            {
                setGoalState(goal.get(), threshold);
            }

            bool hasOptimizationObjective() const
            {
                return optimizationObjective_ != nullptr;
            }

            const OptimizationObjectivePtr &getOptimizationObjective() const
            {
                return optimizationObjective_;
            }

            void setOptimizationObjective(const OptimizationObjectivePtr &optimizationObjective)
            {
                optimizationObjective_ = optimizationObjective;
            }

            const ReportIntermediateSolutionFn &getIntermediateSolutionCallback() const
            {
                return intermediateSolutionCallback_;
            }

            void setIntermediateSolutionCallback(const ReportIntermediateSolutionFn &callback)
            {
                intermediateSolutionCallback_ = callback;
            }

            bool isTrivial(unsigned int *startIndex = nullptr, double *distance = nullptr) const;

            PathPtr isStraightLinePathValid() const;

            bool fixInvalidInputStates(double distStart, double distGoal, unsigned int attempts);

            bool hasSolution() const;

            bool hasExactSolution() const
            {
                return this->hasSolution() && !this->hasApproximateSolution();
            }

            bool hasApproximateSolution() const;

            double getSolutionDifference() const;

            bool hasOptimizedSolution() const;

            PathPtr getSolutionPath() const;

            bool getSolution(PlannerSolution &solution) const;

            void addSolutionPath(const PathPtr &path, bool approximate = false, double difference = -1.0,
                                 const std::string &plannerName = "Unknown") const;

            void addSolutionPath(const PlannerSolution &sol) const;

            std::size_t getSolutionCount() const;

            std::vector<PlannerSolution> getSolutions() const;

            void clearSolutionPaths() const;

            bool hasSolutionNonExistenceProof() const;

            void clearSolutionNonExistenceProof();

            const SolutionNonExistenceProofPtr &getSolutionNonExistenceProof() const;

            void setSolutionNonExistenceProof(const SolutionNonExistenceProofPtr &nonExistenceProof);

            void print(std::ostream &out = std::cout) const;
 
        protected:
            bool fixInvalidInputState(State *state, double dist, bool start, unsigned int attempts);

            SpaceInformationPtr si_;

            std::vector<State *> startStates_;

            GoalPtr goal_;

            SolutionNonExistenceProofPtr nonExistenceProof_;

            OptimizationObjectivePtr optimizationObjective_;

            ReportIntermediateSolutionFn intermediateSolutionCallback_;
 
        private:
            OMPL_CLASS_FORWARD(PlannerSolutionSet);

            PlannerSolutionSetPtr solutions_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif