RandomGeometricGraph.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_RANDOM_GEOMETRIC_GRAPH_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_RANDOM_GEOMETRIC_GRAPH_
 
#include <limits>
#include <memory>
#include <iostream>  // This is needed for ompl's nearest neighbors struct...
 
#include "ompl/datastructures/NearestNeighborsGNATNoThreadSafety.h"
#include "ompl/base/samplers/InformedStateSampler.h"
#include "ompl/base/Planner.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/OptimizationObjective.h"
 
#include "ompl/geometric/planners/informedtrees/eitstar/State.h"
#include "ompl/geometric/planners/informedtrees/eitstar/Edge.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace eitstar
        {
            class RandomGeometricGraph
            {
            public:
                RandomGeometricGraph(const std::shared_ptr<ompl::base::SpaceInformation> &spaceInfo,
                                     const ompl::base::Cost &solutionCost);

                ~RandomGeometricGraph() = default;

                void setup(const std::shared_ptr<ompl::base::ProblemDefinition> &problem,
                           ompl::base::PlannerInputStates *inputStates);

                void clear();

                void clearQuery();

                void updateStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition,
                                              ompl::base::PlannerInputStates *inputStates);

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

                void setRadiusFactor(double factor);

                double getRadiusFactor() const;

                void setEffortThreshold(const unsigned int threshold);

                unsigned int getEffortThreshold() const;

                void enablePruning(bool prune);

                bool isPruningEnabled() const;

                void enableMultiquery(bool multiquery);

                bool isMultiqueryEnabled() const;

                void setUseKNearest(bool useKNearest);

                bool getUseKNearest() const;

                void setMaxNumberOfGoals(unsigned int maxNumberOfGoals);

                unsigned int getMaxNumberOfGoals() const;

                bool addStates(std::size_t numStates,
                               const ompl::base::PlannerTerminationCondition &terminationCondition);

                void prune();

                std::vector<std::weak_ptr<State>> getNeighbors(const std::shared_ptr<State> &state) const;

                const std::vector<std::shared_ptr<State>> &getStartStates() const;

                const std::vector<std::shared_ptr<State>> &getGoalStates() const;

                unsigned int getNumberOfSampledStates() const;

                unsigned int getNumberOfValidSamples() const;

                unsigned int getNumberOfNearestNeighborCalls() const;

                std::shared_ptr<State> registerStartState(const ompl::base::State *start);

                std::shared_ptr<State> registerGoalState(const ompl::base::State *goal);

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

                bool hasStartState() const;

                bool hasGoalState() const;

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

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

                std::vector<std::shared_ptr<State>> getStates() const;

                void registerInvalidEdge(const Edge &edge) const;

                std::size_t getTag() const;

                unsigned int inadmissibleEffortToCome(const std::shared_ptr<State> &state) const;
 
            private:
                std::shared_ptr<State>
                getNewSample(const ompl::base::PlannerTerminationCondition &terminationCondition);

                std::size_t countSamplesInInformedSet() const;

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

                void pruneStartsAndGoals();

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

                unsigned int lowerBoundEffortToCome(const std::shared_ptr<State> &state) const;

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

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

                std::size_t computeNumberOfNeighbors(std::size_t numInformedSamples) const;

                double computeRadius(std::size_t numInformedSamples) const;

                mutable std::vector<std::shared_ptr<State>> whitelistedStates_{};

                std::size_t tag_{1u};

                std::vector<std::shared_ptr<State>> buffer_;

                std::vector<std::shared_ptr<State>> startGoalBuffer_;

                std::size_t currentNumSamples_{0u};

                NearestNeighborsGNATNoThreadSafety<std::shared_ptr<State>> samples_;

                std::vector<std::shared_ptr<State>> newSamples_;

                std::shared_ptr<ompl::base::InformedSampler> sampler_{nullptr};

                std::shared_ptr<ompl::base::SpaceInformation> spaceInfo_;

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

                std::shared_ptr<ompl::base::ProblemDefinition> problem_;

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

                std::vector<std::shared_ptr<State>> startStates_;

                std::vector<std::shared_ptr<State>> goalStates_;

                std::vector<std::shared_ptr<State>> prunedStartStates_;

                std::vector<std::shared_ptr<State>> prunedGoalStates_;

                bool isPruningEnabled_{true};

                bool isMultiqueryEnabled_{false};

                bool useKNearest_{true};

                unsigned int maxNumGoals_{1u};

                std::size_t numNeighbors_{std::numeric_limits<std::size_t>::max()};

                std::size_t k_rgg_{std::numeric_limits<std::size_t>::max()};

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

                double radiusFactor_{1.001};

                unsigned int effortThreshold_{50000};

                const double dimension_;

                const double unitNBallMeasure_;

                const ompl::base::Cost &solutionCost_;

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

                mutable unsigned int numSampledStates_{0u};

                mutable unsigned int numValidSamples_{0u};

                mutable unsigned int numNearestNeighborCalls_{0u};
            };
 
        }  // namespace eitstar
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_RANDOM_GEOMETRIC_GRAPH_