CForest.h

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/* Authors: Javier V. Gómez, Ioan Sucan, Mark Moll */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_CFOREST_CFOREST_
#define OMPL_GEOMETRIC_PLANNERS_CFOREST_CFOREST_
 
#include "ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h"
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/tools/config/SelfConfig.h"
 
#include <mutex>
 
#include <vector>
 
namespace ompl
{
    namespace geometric
    {
        class CForest : public base::Planner
        {
        public:
            CForest(const base::SpaceInformationPtr &si);
 
            ~CForest() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            void clear() override;
 
            template <class T>
            void addPlannerInstance()
            {
                auto space(std::make_shared<base::CForestStateSpaceWrapper>(this, si_->getStateSpace().get()));
                auto si(std::make_shared<base::SpaceInformation>(space));
                si->setStateValidityChecker(si_->getStateValidityChecker());
                si->setMotionValidator(si_->getMotionValidator());
                auto planner(std::make_shared<T>(si));
                space->setPlanner(planner.get());
                addPlannerInstanceInternal(planner);
            }
 
            template <class T>
            void addPlannerInstances(std::size_t num = 2)
            {
                planners_.reserve(planners_.size() + num);
                for (std::size_t i = 0; i < num; ++i)
                {
                    addPlannerInstance<T>();
                }
            }
 
            void clearPlannerInstances()
            {
                planners_.clear();
            }
            base::PlannerPtr &getPlannerInstance(const std::size_t idx)
            {
                return planners_[idx];
            }
 
            void setup() override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void addSampler(const base::StateSamplerPtr &sampler)
            {
                addSamplerMutex_.lock();
                samplers_.push_back(sampler);
                addSamplerMutex_.unlock();
            }
 
            void setFocusSearch(const bool focus)
            {
                focusSearch_ = focus;
            }
 
            bool getFocusSearch() const
            {
                return focusSearch_;
            }
 
            void setNumThreads(unsigned int numThreads = 0);
 
            unsigned int getNumThreads()
            {
                return numThreads_;
            }
 
            std::string getBestCost() const;
 
            std::string getNumPathsShared() const;
 
            std::string getNumStatesShared() const;
 
        private:
            void addPlannerInstanceInternal(const base::PlannerPtr &planner);
 
            void newSolutionFound(const base::Planner *planner, const std::vector<const base::State *> &states,
                                  base::Cost cost);
 
        protected:
            void solve(base::Planner *planner, const base::PlannerTerminationCondition &ptc);
 
            base::OptimizationObjectivePtr opt_;
 
            std::vector<base::PlannerPtr> planners_;
 
            std::vector<base::StateSamplerPtr> samplers_;
 
            std::unordered_set<const base::State *> statesShared_;
 
            base::Cost bestCost_;
 
            unsigned int numPathsShared_{0u};
 
            unsigned int numStatesShared_{0u};
 
            std::mutex newSolutionFoundMutex_;
 
            std::mutex addSamplerMutex_;
 
            bool focusSearch_{true};
 
            unsigned int numThreads_;
        };
    }
}
 
#endif