BiTRRT.h

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/* Author: Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_BITRRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_BITRRT_
 
#include <cmath>
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/base/OptimizationObjective.h"
 
namespace ompl
{
    namespace geometric
    {
 
        class BiTRRT : public base::Planner
        {
        public:
            BiTRRT(const base::SpaceInformationPtr &si);
            ~BiTRRT() override;
            void clear() override;
            void setup() override;
            void getPlannerData(base::PlannerData &data) const override;
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void setRange(double distance)
            {
                maxDistance_ = distance;
            }
 
            double getRange() const
            {
                return maxDistance_;
            }
 
            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;
            }
 
            double getInitTemperature() const
            {
                return initTemperature_;
            }
 
            void setFrontierThreshold(double frontierThreshold)
            {
                frontierThreshold_ = frontierThreshold;
            }
 
            double getFrontierThreshold() const
            {
                return frontierThreshold_;
            }
 
            void setFrontierNodeRatio(double frontierNodeRatio)
            {
                frontierNodeRatio_ = frontierNodeRatio;
            }
 
            double getFrontierNodeRatio() const
            {
                return frontierNodeRatio_;
            }
 
            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                if ((tStart_ && tStart_->size() != 0) || (tGoal_ && tGoal_->size() != 0))
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                tStart_ = std::make_shared<NN<Motion *>>();
                tGoal_ = std::make_shared<NN<Motion *>>();
                setup();
            }
 
        protected:
            class Motion
            {
            public:
                Motion() = default;
 
                Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
                {
                }
 
                ~Motion() = default;
 
                base::State *state{nullptr};
 
                Motion *parent{nullptr};
 
                base::Cost cost;
 
                const base::State *root{nullptr};
            };
 
            void freeMemory();
 
            using TreeData = std::shared_ptr<NearestNeighbors<Motion *>>;
 
            Motion *addMotion(const base::State *state, TreeData &tree, Motion *parent = nullptr);
 
            bool transitionTest(const base::Cost &motionCost);
 
            bool minExpansionControl(double dist);
 
            enum GrowResult
            {
                FAILED,
                ADVANCED,
                SUCCESS
            };
 
            GrowResult extendTree(Motion *toMotion, TreeData &tree, Motion *&result);
 
            GrowResult extendTree(Motion *nearest, TreeData &tree, Motion *toMotion, Motion *&result);
 
            bool connectTrees(Motion *nmotion, TreeData &tree, Motion *xmotion);
 
            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }
 
            double maxDistance_{0.};
 
            double tempChangeFactor_;
 
            base::Cost bestCost_;
 
            base::Cost worstCost_;
 
            base::Cost costThreshold_{std::numeric_limits<double>::infinity()};
 
            double initTemperature_{100.};
 
            double frontierThreshold_{0.};
 
            double frontierNodeRatio_{.1};
 
            double temp_;
 
            double nonfrontierCount_;
 
            double frontierCount_;
 
            double connectionRange_;
 
            std::pair<Motion *, Motion *> connectionPoint_{nullptr, nullptr};
 
            TreeData tStart_;
 
            TreeData tGoal_;
 
            ompl::base::OptimizationObjectivePtr opt_;
        };
    }
}
 
#endif