PlannerData.h

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/* Author: Ryan Luna, Luis G. Torres */
 
#ifndef OMPL_BASE_PLANNER_DATA_
#define OMPL_BASE_PLANNER_DATA_
 
#include <iostream>
#include <vector>
#include <map>
#include <set>
#include "ompl/base/State.h"
#include "ompl/base/Cost.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/util/ClassForward.h"
#include <boost/serialization/access.hpp>
 
namespace ompl
{
    namespace base
    {
        class PlannerDataVertex
        {
        public:
            PlannerDataVertex(const State *st, int tag = 0) : state_(st), tag_(tag)
            {
            }

            PlannerDataVertex(const PlannerDataVertex &rhs) = default;
            virtual ~PlannerDataVertex() = default;

            virtual int getTag() const
            {
                return tag_;
            }

            virtual void setTag(int tag)
            {
                tag_ = tag;
            }

            virtual const State *getState() const
            {
                return state_;
            }

            virtual PlannerDataVertex *clone() const
            {
                return new PlannerDataVertex(*this);
            }

            virtual bool operator==(const PlannerDataVertex &rhs) const
            {
                // States should be unique
                return state_ == rhs.state_;
            }

            bool operator!=(const PlannerDataVertex &rhs) const
            {
                return !(*this == rhs);
            }
 
        protected:
            PlannerDataVertex() = default;
 
            friend class boost::serialization::access;
            template <class Archive>
            void serialize(Archive &ar, const unsigned int /*version*/)
            {
                ar & tag_;
                // Serialization of the state pointer is handled by PlannerDataStorage
            }

            const State *state_;
            int tag_;
 
            friend class PlannerData;
            friend class PlannerDataStorage;
        };

        class PlannerDataEdge
        {
        public:
            PlannerDataEdge() = default;
            virtual ~PlannerDataEdge() = default;
            virtual PlannerDataEdge *clone() const
            {
                return new PlannerDataEdge();
            }

            virtual bool operator==(const PlannerDataEdge &rhs) const
            {
                return this == &rhs;
            }

            bool operator!=(const PlannerDataEdge &rhs) const
            {
                return !(*this == rhs);
            }
 
        protected:
            friend class boost::serialization::access;
            template <class Archive>
            void serialize(Archive & /*ar*/, const unsigned int /*version*/)
            {
            }
        };

        OMPL_CLASS_FORWARD(StateStorage);
        OMPL_CLASS_FORWARD(PlannerData);
 
        // Forward declaration for PlannerData::computeEdgeWeights
        class OptimizationObjective;


        class PlannerData
        {
        public:
            class Graph;

            static const PlannerDataEdge NO_EDGE;
            static const PlannerDataVertex NO_VERTEX;
            static const unsigned int INVALID_INDEX;
 
            // non-copyable
            PlannerData(const PlannerData &) = delete;
            PlannerData &operator=(const PlannerData &) = delete;

            PlannerData(SpaceInformationPtr si);
            virtual ~PlannerData();


            unsigned int addVertex(const PlannerDataVertex &st);
            unsigned int addStartVertex(const PlannerDataVertex &v);
            unsigned int addGoalVertex(const PlannerDataVertex &v);
            bool markStartState(const State *st);
            bool markGoalState(const State *st);
            bool tagState(const State *st, int tag);
            virtual bool removeVertex(const PlannerDataVertex &st);
            virtual bool removeVertex(unsigned int vIndex);
            virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge = PlannerDataEdge(),
                                 Cost weight = Cost(1.0));
            virtual bool addEdge(const PlannerDataVertex &v1, const PlannerDataVertex &v2,
                                 const PlannerDataEdge &edge = PlannerDataEdge(), Cost weight = Cost(1.0));
            virtual bool removeEdge(unsigned int v1, unsigned int v2);
            virtual bool removeEdge(const PlannerDataVertex &v1, const PlannerDataVertex &v2);
            virtual void clear();
            virtual void decoupleFromPlanner();


            unsigned int numEdges() const;
            unsigned int numVertices() const;
            unsigned int numStartVertices() const;
            unsigned int numGoalVertices() const;


            bool vertexExists(const PlannerDataVertex &v) const;
            const PlannerDataVertex &getVertex(unsigned int index) const;
            PlannerDataVertex &getVertex(unsigned int index);
            const PlannerDataVertex &getStartVertex(unsigned int i) const;
            PlannerDataVertex &getStartVertex(unsigned int i);
            const PlannerDataVertex &getGoalVertex(unsigned int i) const;
            PlannerDataVertex &getGoalVertex(unsigned int i);
            unsigned int getStartIndex(unsigned int i) const;
            unsigned int getGoalIndex(unsigned int i) const;
            bool isStartVertex(unsigned int index) const;
            bool isGoalVertex(unsigned int index) const;
            unsigned int vertexIndex(const PlannerDataVertex &v) const;


            bool edgeExists(unsigned int v1, unsigned int v2) const;
            const PlannerDataEdge &getEdge(unsigned int v1, unsigned int v2) const;
            PlannerDataEdge &getEdge(unsigned int v1, unsigned int v2);
            unsigned int getEdges(unsigned int v, std::vector<unsigned int> &edgeList) const;
            unsigned int getEdges(unsigned int v, std::map<unsigned int, const PlannerDataEdge *> &edgeMap) const;
            unsigned int getIncomingEdges(unsigned int v, std::vector<unsigned int> &edgeList) const;
            unsigned int getIncomingEdges(unsigned int v,
                                          std::map<unsigned int, const PlannerDataEdge *> &edgeMap) const;
            bool getEdgeWeight(unsigned int v1, unsigned int v2, Cost *weight) const;
            bool setEdgeWeight(unsigned int v1, unsigned int v2, Cost weight);
            void computeEdgeWeights(const OptimizationObjective &opt);
            void computeEdgeWeights();


            void printGraphviz(std::ostream &out = std::cout) const;

            void printGraphML(std::ostream &out = std::cout) const;

            void printPLY(std::ostream &out, bool asIs = false) const;


            void extractMinimumSpanningTree(unsigned int v, const OptimizationObjective &opt, PlannerData &mst) const;
            void extractReachable(unsigned int v, PlannerData &data) const;

            StateStoragePtr extractStateStorage() const;

            Graph &toBoostGraph();
            const Graph &toBoostGraph() const;


            const SpaceInformationPtr &getSpaceInformation() const;

            virtual bool hasControls() const;

            std::map<std::string, std::string> properties;
 
        protected:
            std::map<const State *, unsigned int> stateIndexMap_;
            std::vector<unsigned int> startVertexIndices_;
            std::vector<unsigned int> goalVertexIndices_;

            SpaceInformationPtr si_;
            std::set<State *> decoupledStates_;
 
        private:
            void freeMemory();
 
            // Abstract pointer that points to the Boost.Graph structure.
            // Obscured to prevent unnecessary inclusion of BGL throughout the
            // rest of the code.
            void *graphRaw_;
        };
    }  // namespace base
}  // namespace ompl
 
#endif