SyclopRRT.h

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/* Author: Matt Maly */
 
#ifndef OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
#define OMPL_CONTROL_PLANNERS_SYCLOP_SYCLOPRRT_
 
#include "ompl/control/planners/syclop/Syclop.h"
#include "ompl/control/planners/syclop/Decomposition.h"
#include "ompl/control/planners/syclop/GridDecomposition.h"
#include "ompl/datastructures/NearestNeighbors.h"
 
namespace ompl
{
    namespace control
    {
        class SyclopRRT : public Syclop
        {
        public:
            SyclopRRT(const SpaceInformationPtr &si, const DecompositionPtr &d)
              : Syclop(si, d, "SyclopRRT"), regionalNN_(false)
            {
            }
 
            ~SyclopRRT() override
            {
                freeMemory();
            }
 
            void setup() override;
            void clear() override;
            void getPlannerData(base::PlannerData &data) const override;

            void setRegionalNearestNeighbors(bool enabled)
            {
                regionalNN_ = enabled;
            }

            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                if (nn_ && nn_->size() != 0)
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                regionalNN_ = false;
                nn_ = std::make_shared<NN<Motion *>>();
                setup();
            }
 
        protected:
            Syclop::Motion *addRoot(const base::State *s) override;
            void selectAndExtend(Region &region, std::vector<Motion *> &newMotions) override;

            void freeMemory();

            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }
 
            base::StateSamplerPtr sampler_;
            DirectedControlSamplerPtr controlSampler_;
            std::shared_ptr<NearestNeighbors<Motion *>> nn_;
            bool regionalNN_;

            Motion *lastGoalMotion_;
        };
    }  // namespace control
}  // namespace ompl
#endif