AnytimePathShortening.h

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/* Author: Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_ANYTIMEOPTIMIZATION_ANYTIMEPATHSHORTENING_
#define OMPL_GEOMETRIC_PLANNERS_ANYTIMEOPTIMIZATION_ANYTIMEPATHSHORTENING_
 
#include "ompl/base/Planner.h"
#include <vector>
#include <thread>
#include <mutex>
 
namespace ompl
{
    namespace geometric
    {
        OMPL_CLASS_FORWARD(PathGeometric);
 
 
        class AnytimePathShortening : public base::Planner
        {
        public:
            template<typename PlannerType>
            static std::shared_ptr<AnytimePathShortening> createPlanner(
                const base::SpaceInformationPtr &si,
                unsigned int numPlanners = std::max(1u, std::thread::hardware_concurrency()))
            {
                auto result = std::make_shared<AnytimePathShortening>(si);
                result->planners_.reserve(numPlanners);
                for (unsigned int i = 0; i < numPlanners; ++i)
                    result->planners_.emplace_back(std::make_shared<PlannerType>(si));
                return result;
            }
            template<typename ... PlannerTypes>
            static std::shared_ptr<AnytimePathShortening> createPlanner(const base::SpaceInformationPtr &si)
            {
                auto result = std::make_shared<AnytimePathShortening>(si);
                result->planners_ = std::vector<base::PlannerPtr>{std::make_shared<PlannerTypes>(si)...};
                return result;
            }
 
            AnytimePathShortening(const base::SpaceInformationPtr &si);
 
            ~AnytimePathShortening() override;
 
            void addPlanner(base::PlannerPtr &planner);
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            virtual void getPlannerData(ompl::base::PlannerData &data, unsigned int idx) const;
 
            void setup() override;
 
            void checkValidity() override;
 
            unsigned int getNumPlanners() const;
 
            base::PlannerPtr getPlanner(unsigned int idx) const;
 
            bool isShortcutting() const;
 
            void setShortcut(bool shortcut);
 
            bool isHybridizing() const;
 
            void setHybridize(bool hybridize);
 
            unsigned int maxHybridizationPaths() const;
 
            void setMaxHybridizationPath(unsigned int maxPathCount);
 
            void setPlanners(const std::string &plannerList);
 
            std::string getPlanners() const;
 
            void setDefaultNumPlanners(unsigned int numPlanners);
 
            unsigned int getDefaultNumPlanners() const;
 
            std::string getBestCost() const;
 
            void printSettings(std::ostream &out) const override;
 
        protected:
            void addPath(const geometric::PathGeometricPtr &path, base::Planner *planner);
 
            virtual void threadSolve(base::Planner *planner, const base::PlannerTerminationCondition &ptc);
 
            std::vector<base::PlannerPtr> planners_;
 
            bool shortcut_{true};
 
            bool hybridize_{true};
 
            unsigned int maxHybridPaths_{24};
 
            unsigned int defaultNumPlanners_;
 
            base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
 
            std::mutex lock_;
        };
    }
}
#endif