TRRTstar.h

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/* Author: Joris Chomarat */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_TRRTstar_
#define OMPL_GEOMETRIC_PLANNERS_RRT_TRRTstar_
 
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/OptimizationObjective.h"
#include "ompl/datastructures/NearestNeighbors.h"
 
#include <limits>
#include <vector>
#include <queue>
#include <deque>
#include <utility>
#include <list>
 
namespace ompl
{
    namespace geometric
    {

        class TRRTstar : public base::Planner
        {
        public:
            TRRTstar(const base::SpaceInformationPtr &si);
 
            ~TRRTstar() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;
 
            void setup() override;

            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }

            double getGoalBias() const
            {
                return goalBias_;
            }

            void setRange(double distance)
            {
                maxDistance_ = distance;
            }

            double getRange() const
            {
                return maxDistance_;
            }

            void setRewireFactor(double rewireFactor)
            {
                rewireFactor_ = rewireFactor;
                calculateRewiringLowerBounds();
            }

            double getRewireFactor() const
            {
                return rewireFactor_;
            }

            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                if (nn_ && nn_->size() != 0)
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                nn_ = std::make_shared<NN<Motion *>>();
                setup();
            }

            void setDelayCC(bool delayCC)
            {
                delayCC_ = delayCC;
            }

            bool getDelayCC() const
            {
                return delayCC_;
            }

            void setTreePruning(bool prune);

            bool getTreePruning() const
            {
                return useTreePruning_;
            }

            void setPruneThreshold(const double pp)
            {
                pruneThreshold_ = pp;
            }

            double getPruneThreshold() const
            {
                return pruneThreshold_;
            }

            void setAdmissibleCostToCome(const bool admissible)
            {
                useAdmissibleCostToCome_ = admissible;
            }

            bool getAdmissibleCostToCome() const
            {
                return useAdmissibleCostToCome_;
            }

            void setBatchSize(unsigned int batchSize)
            {
                batchSize_ = batchSize;
            }

            unsigned int getBatchSize() const
            {
                return batchSize_;
            }

            void setKNearest(bool useKNearest)
            {
                useKNearest_ = useKNearest;
            }

            bool getKNearest() const
            {
                return useKNearest_;
            }

            void setNumSamplingAttempts(unsigned int numAttempts)
            {
                numSampleAttempts_ = numAttempts;
            }

            unsigned int getNumSamplingAttempts() const
            {
                return numSampleAttempts_;
            }
 
            unsigned int numIterations() const
            {
                return iterations_;
            }
 
            ompl::base::Cost bestCost() const
            {
                return bestCost_;
            }

            void setTempChangeFactor(double factor)
            {
                tempChangeFactor_ = exp(factor);
            }

            double getTempChangeFactor() const
            {
                return log(tempChangeFactor_);
            }

            void setCostThreshold(double maxCost)
            {
                costThreshold_ = base::Cost(maxCost);
            }

            double getCostThreshold() const
            {
                return costThreshold_.value();
            }

            void setInitTemperature(double initTemperature)
            {
                initTemperature_ = initTemperature;
                temp_ = initTemperature_;
            }

            double getInitTemperature() const
            {
                return initTemperature_;
            }
 
        protected:
            class Motion
            {
            public:
                Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(nullptr), inGoal(false)
                {
                }
 
                ~Motion() = default;

                base::State *state;

                Motion *parent;

                bool inGoal;

                base::Cost cost;

                base::Cost incCost;

                std::vector<Motion *> children;
            };

            void allocSampler();

            bool sampleUniform(base::State *statePtr);

            void freeMemory();
 
            // For sorting a list of costs and getting only their sorted indices
            struct CostIndexCompare
            {
                CostIndexCompare(const std::vector<base::Cost> &costs, const base::OptimizationObjective &opt)
                  : costs_(costs), opt_(opt)
                {
                }
                bool operator()(unsigned i, unsigned j)
                {
                    return opt_.isCostBetterThan(costs_[i], costs_[j]);
                }
                const std::vector<base::Cost> &costs_;
                const base::OptimizationObjective &opt_;
            };

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

            bool transitionTest(const base::Cost &motionCost);

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

            void removeFromParent(Motion *m);

            void updateChildCosts(Motion *m);

            int pruneTree(const base::Cost &pruneTreeCost);

            base::Cost solutionHeuristic(const Motion *motion) const;

            void addChildrenToList(std::queue<Motion *, std::deque<Motion *>> *motionList, Motion *motion);

            bool keepCondition(const Motion *motion, const base::Cost &threshold) const;

            void calculateRewiringLowerBounds();

            base::StateSamplerPtr sampler_;

            base::InformedSamplerPtr infSampler_;

            std::shared_ptr<NearestNeighbors<Motion *>> nn_;

            double goalBias_{.05};

            double maxDistance_{0.};

            RNG rng_;

            bool useKNearest_{true};

            double rewireFactor_{1.1};

            double k_rrt_{0u};

            double r_rrt_{0.};

            bool delayCC_{true};

            base::OptimizationObjectivePtr opt_;

            Motion *bestGoalMotion_{nullptr};

            std::vector<Motion *> goalMotions_;

            bool useTreePruning_{false};

            double pruneThreshold_{.05};

            bool useAdmissibleCostToCome_{true};

            unsigned int numSampleAttempts_{100u};

            unsigned int batchSize_{1u};

            std::vector<Motion *> startMotions_;

            base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};

            base::Cost prunedCost_{std::numeric_limits<double>::quiet_NaN()};

            double prunedMeasure_{0.};

            unsigned int iterations_{0u};
 
            // *********************************************************************************************************
            // TRRTstar-Specific Variables
            // *********************************************************************************************************
 
            // Transition Test -----------------------------------------------------------------------

            double temp_;

            base::Cost worstCost_{base::Cost(std::numeric_limits<double>::infinity())};

            base::Cost costThreshold_{base::Cost(std::numeric_limits<double>::infinity())};

            double tempChangeFactor_{.1};

            double initTemperature_{100.0};

            // Planner progress property functions
            std::string numIterationsProperty() const
            {
                return std::to_string(numIterations());
            }
            std::string bestCostProperty() const
            {
                return std::to_string(bestCost().value());
            }
        };
 
    }  // namespace geometric
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_RRT_TRRTstar_