AITstar.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_
 
#include <algorithm>
#include <memory>
 
#include "ompl/base/Planner.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/geometric/planners/informedtrees/aitstar/Edge.h"
#include "ompl/geometric/planners/informedtrees/aitstar/ImplicitGraph.h"
#include "ompl/geometric/planners/informedtrees/aitstar/Vertex.h"
#include "ompl/geometric/planners/informedtrees/aitstar/Queuetypes.h"
 
namespace ompl
{
    namespace geometric
    {
        class AITstar : public ompl::base::Planner
        {
        public:
            explicit AITstar(const ompl::base::SpaceInformationPtr &spaceInformation);
 
            ~AITstar() = default;
 
            void setup() override;
 
            ompl::base::PlannerStatus::StatusType ensureSetup();
 
            ompl::base::PlannerStatus::StatusType
            ensureStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition);
 
            void clear() override;
 
            ompl::base::PlannerStatus
            solve(const ompl::base::PlannerTerminationCondition &terminationCondition) override;
 
            ompl::base::Cost bestCost() const;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            void setBatchSize(std::size_t batchSize);
 
            std::size_t getBatchSize() const;
 
            void setRewireFactor(double rewireFactor);
 
            double getRewireFactor() const;
 
            void trackApproximateSolutions(bool track);
 
            bool areApproximateSolutionsTracked() const;
 
            void enablePruning(bool prune);
 
            bool isPruningEnabled() const;
 
            void setUseKNearest(bool useKNearest);
 
            bool getUseKNearest() const;
 
            void setMaxNumberOfGoals(unsigned int numberOfGoals);
 
            unsigned int getMaxNumberOfGoals() const;
 
            std::vector<aitstar::Edge> getEdgesInQueue() const;
 
            std::vector<std::shared_ptr<aitstar::Vertex>> getVerticesInQueue() const;
 
            aitstar::Edge getNextEdgeInQueue() const;
 
            std::shared_ptr<aitstar::Vertex> getNextVertexInQueue() const;
 
            std::vector<std::shared_ptr<aitstar::Vertex>> getVerticesInReverseSearchTree() const;
 
        private:
            void iterate(const ompl::base::PlannerTerminationCondition &terminationCondition);
 
            void iterateForwardSearch();
 
            void iterateReverseSearch();
 
            void updateReverseSearchVertex(const std::shared_ptr<aitstar::Vertex> &vertex);
 
            void updateReverseSearchNeighbors(const std::shared_ptr<aitstar::Vertex> &vertex);
 
            void insertOrUpdateInForwardQueue(const aitstar::Edge &edge);
 
            void insertOrUpdateInForwardQueue(const std::vector<aitstar::Edge> &edges);
 
            void insertOrUpdateInReverseQueue(const std::shared_ptr<aitstar::Vertex> &vertex);
 
            void rebuildForwardQueue();
 
            void rebuildReverseQueue();
 
            void clearForwardQueue();
 
            void clearReverseQueue();
 
            void informAboutNewSolution() const;
 
            void informAboutPlannerStatus(ompl::base::PlannerStatus::StatusType status) const;
 
            void insertGoalVerticesInReverseQueue();
 
            void expandStartVerticesIntoForwardQueue();
 
            bool continueReverseSearch() const;
 
            bool continueForwardSearch();
 
            std::shared_ptr<ompl::geometric::PathGeometric>
            getPathToVertex(const std::shared_ptr<aitstar::Vertex> &vertex) const;
 
            std::array<ompl::base::Cost, 3u> computeSortKey(const std::shared_ptr<aitstar::Vertex> &parent,
                                                            const std::shared_ptr<aitstar::Vertex> &child) const;
 
            std::array<ompl::base::Cost, 2u> computeSortKey(const std::shared_ptr<aitstar::Vertex> &vertex) const;
 
            void insertOutgoingEdges(const std::shared_ptr<aitstar::Vertex> &vertex);
 
            std::vector<aitstar::Edge> getOutgoingEdges(const std::shared_ptr<aitstar::Vertex> &vertex) const;
 
            void updateExactSolution();
 
            void updateApproximateSolution(const std::shared_ptr<aitstar::Vertex> &vertex);
 
            void updateApproximateSolution();
 
            ompl::base::PlannerStatus::StatusType updateSolution();
 
            ompl::base::PlannerStatus::StatusType updateSolution(const std::shared_ptr<aitstar::Vertex> &vertex);
 
            ompl::base::Cost computeCostToGoToStartHeuristic(const std::shared_ptr<aitstar::Vertex> &vertex) const;
 
            ompl::base::Cost computeCostToGoToGoalHeuristic(const std::shared_ptr<aitstar::Vertex> &vertex) const;
 
            ompl::base::Cost computeCostToGoToGoal(const std::shared_ptr<aitstar::Vertex> &vertex) const;
 
            ompl::base::Cost computeBestCostToComeFromGoalOfAnyStart() const;
 
            std::size_t countNumVerticesInForwardTree() const;
 
            std::size_t countNumVerticesInReverseTree() const;
 
            void invalidateCostToComeFromGoalOfReverseBranch(const std::shared_ptr<aitstar::Vertex> &vertex);
 
            ompl::base::Cost solutionCost_;
 
            ompl::base::Cost approximateSolutionCost_{};
 
            ompl::base::Cost approximateSolutionCostToGoal_{};
 
            aitstar::ImplicitGraph graph_;
 
            aitstar::EdgeQueue forwardQueue_;
 
            aitstar::VertexQueue reverseQueue_;
 
            bool isEdgeBetter(const aitstar::Edge &lhs, const aitstar::Edge &rhs) const;
 
            bool isVertexBetter(const aitstar::KeyVertexPair &lhs, const aitstar::KeyVertexPair &rhs) const;
 
            std::size_t numInconsistentOrUnconnectedTargets_{0u};
 
            std::size_t numIterations_{0u};
 
            std::size_t batchSize_{100u};
 
            bool trackApproximateSolutions_{true};
 
            bool isPruningEnabled_{true};
 
            ompl::base::OptimizationObjectivePtr objective_;
 
            ompl::base::MotionValidatorPtr motionValidator_;
 
            std::size_t numProcessedEdges_{0u};
 
            std::size_t numEdgeCollisionChecks_{0u};
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR