STRRTstar.h

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/* Author: Francesco Grothe */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_STRRT_STAR_
#define OMPL_GEOMETRIC_PLANNERS_RRT_STRRT_STAR_
 
#include <ompl/datastructures/NearestNeighbors.h>
#include <ompl/base/goals/GoalSampleableRegion.h>
#include <ompl/geometric/planners/PlannerIncludes.h>
#include <ompl/base/OptimizationObjective.h>
#include <ompl/base/spaces/SpaceTimeStateSpace.h>
#include <ompl/base/objectives/MinimizeArrivalTime.h>
#include <ompl/base/samplers/ConditionalStateSampler.h>
#include <ompl/tools/config/SelfConfig.h>
#include <ompl/util/GeometricEquations.h>
#include <boost/math/constants/constants.hpp>
 
namespace ompl
{
    namespace geometric
    {

        class STRRTstar : public base::Planner
        {
        public:
            using Motion = base::ConditionalStateSampler::Motion;

            explicit STRRTstar(const ompl::base::SpaceInformationPtr &si);
 
            ~STRRTstar() override;
 
            void clear() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;

            void setRange(double distance);

            double getRange() const;

            double getOptimumApproxFactor() const;

            void setOptimumApproxFactor(double optimumApproxFactor);
 
            std::string getRewiringState() const;

            void setRewiringToOff();

            void setRewiringToRadius();

            void setRewiringToKNearest();
 
            double getRewireFactor() const;
 
            void setRewireFactor(double v);

            unsigned int getBatchSize() const;
 
            void setBatchSize(int v);

            void setTimeBoundFactorIncrease(double f);

            void setInitialTimeBoundFactor(double f);

            void setSampleUniformForUnboundedTime(bool uniform);
 
            void setup() override;

            using TreeData = std::shared_ptr<ompl::NearestNeighbors<Motion *>>;
 
        protected:
            struct TreeGrowingInfo
            {
                base::State *xstate;
                Motion *xmotion;
                bool start;
            };

            enum GrowState
            {
                TRAPPED,
                ADVANCED,
                REACHED
            };

            GrowState growTreeSingle(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion, Motion *nmotion);

            GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, Motion *rmotion, std::vector<Motion *> &nbh,
                               bool connect);

            void increaseTimeBound(bool hasEqualBounds, double &oldBatchTimeBoundFactor,
                                   double &newBatchTimeBoundFactor, bool &startTree, unsigned int &batchSize,
                                   int &numBatchSamples);

            void getNeighbors(TreeData &tree, Motion *motion, std::vector<Motion *> &nbh) const;

            void freeMemory();

            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }

            void pruneStartTree();

            Motion *pruneGoalTree();

            static Motion *computeSolutionMotion(Motion *motion);

            void removeInvalidGoals(const std::vector<Motion *> &invalidGoals);

            base::ConditionalStateSampler sampler_;

            TreeData tStart_;

            TreeData tGoal_;

            double maxDistance_{0.};

            double distanceBetweenTrees_;

            base::PathPtr bestSolution_{nullptr};

            double bestTime_ = std::numeric_limits<double>::infinity();

            unsigned int numIterations_ = 0;

            int numSolutions_ = 0;

            double minimumTime_ = std::numeric_limits<double>::infinity();

            double upperTimeBound_;

            double optimumApproxFactor_ = 1.0;

            Motion *startMotion_{nullptr};

            std::vector<Motion *> goalMotions_{};

            std::vector<Motion *> newBatchGoalMotions_{};

 
            base::State *tempState_{nullptr};  // temporary sampled goal states are stored here.

            base::State *nextGoal(int n, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor);

            base::State *nextGoal(const base::PlannerTerminationCondition &ptc, double oldBatchTimeBoundFactor,
                                  double newBatchTimeBoundFactor);

            base::State *nextGoal(const base::PlannerTerminationCondition &ptc, int n, double oldBatchTimeBoundFactor,
                                  double newBatchTimeBoundFactor);

            bool sampleGoalTime(base::State *goal, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor);

            static void removeFromParent(Motion *m);

            static void addDescendants(Motion *m, const TreeData &tree);
 
            void constructSolution(Motion *startMotion, Motion *goalMotion,
                                   const base::ReportIntermediateSolutionFn &intermediateSolutionCallback,
                                   const ompl::base::PlannerTerminationCondition &ptc);
 
            enum RewireState
            {
                // use r-disc search for rewiring
                RADIUS,
                // use k-nearest for rewiring
                KNEAREST,
                // don't use any rewiring
                OFF
            };
 
            RewireState rewireState_ = KNEAREST;

            double rewireFactor_{1.1};

            double k_rrt_{0u};

            double r_rrt_{0.};

            void calculateRewiringLowerBounds();
 
            bool rewireGoalTree(Motion *addedMotion);

            bool isTimeBounded_;

            double initialTimeBound_;

            unsigned int initialBatchSize_ = 512;

            double initialTimeBoundFactor_ = 2.0;

            double timeBoundFactorIncrease_ = 2.0;
 
            bool sampleOldBatch_ = true;

            bool sampleUniformForUnboundedTime_ = true;

            int goalStateSampleRatio_ = 4;

            ompl::RNG rng_;
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif