TSRRT.h

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/* Author: Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_TSRRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_TSRRT_
 
#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
 
namespace ompl
{
    namespace geometric
    {
        OMPL_CLASS_FORWARD(TaskSpaceConfig);
 
        class TaskSpaceConfig
        {
        public:
            virtual ~TaskSpaceConfig()
            {
            }
            // Returns the dimension of the task space.
            virtual int getDimension() const = 0;
            // Project the c-space state into the task-space.
            virtual void project(const base::State *state, Eigen::Ref<Eigen::VectorXd> ts_proj) const = 0;
 
            // Sample point uniformly in task-space.
            virtual void sample(Eigen::Ref<Eigen::VectorXd> ts_proj) const = 0;
 
            // Given a point in task-space, generate a configuraton space state
            // that projects to this point.  seed is the nearest task-space neighbor.
            virtual bool lift(const Eigen::Ref<Eigen::VectorXd> &ts_proj, const base::State *seed,
                              base::State *state) const = 0;
        };
 
        class TSRRT : public base::Planner
        {
        public:
            TSRRT(const base::SpaceInformationPtr &si, const TaskSpaceConfigPtr &task_space);
 
            virtual ~TSRRT();
 
            virtual void getPlannerData(base::PlannerData &data) const;
 
            virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);
 
            virtual void clear();
 
            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }
 
            double getGoalBias() const
            {
                return goalBias_;
            }
 
            void setRange(double distance)
            {
                maxDistance_ = distance;
            }
 
            double getRange() const
            {
                return maxDistance_;
            }
 
            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                nn_.reset(new NN<Motion *>());
            }
 
            virtual void setup();
 
        protected:
            class Motion
            {
            public:
                Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(nullptr)
                {
                }
 
                ~Motion() = default;
 
                base::State *state{nullptr};
 
                Motion *parent{nullptr};
 
                // Projection of the state into the task space.
                Eigen::VectorXd proj;
            };
 
            void freeMemory();
 
            double distanceFunction(const Motion *a, const Motion *b) const
            {
                double sqr_dist = 0.0;
                for (int ix = 0; ix < a->proj.size(); ++ix)
                {
                    double sqr_val = (*b).proj[ix] - (*a).proj[ix];
                    sqr_val *= sqr_val;
 
                    sqr_dist += sqr_val;
                }
                return sqr_dist;
            }
 
            std::shared_ptr<NearestNeighbors<Motion *>> nn_;
 
            double goalBias_{0.05};
 
            double maxDistance_{0.};
 
            RNG rng_;
 
            Motion *lastGoalMotion_{nullptr};
 
            // Mapping to/from task space.
            TaskSpaceConfigPtr task_space_;
        };
 
    }  // namespace geometric
}  // namespace ompl
 
#endif