GeneticSearch.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_GEOMETRIC_GENETIC_SEARCH_
#define OMPL_GEOMETRIC_GENETIC_SEARCH_
 
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/goals/GoalRegion.h"
#include "ompl/geometric/HillClimbing.h"
#include "ompl/util/Console.h"
 
namespace ompl
{
    namespace geometric
    {
        class GeneticSearch
        {
        public:
            GeneticSearch(const base::SpaceInformationPtr &si);
            ~GeneticSearch();
 
            bool solve(double solveTime, const base::GoalRegion &goal, base::State *result,
                       const std::vector<base::State *> &hint = std::vector<base::State *>());
 
            void setMaxImproveSteps(unsigned int maxSteps)
            {
                hc_.setMaxImproveSteps(maxSteps);
            }
 
            unsigned int getMaxImproveSteps() const
            {
                return hc_.getMaxImproveSteps();
            }
 
            void setValidityCheck(bool valid)
            {
                checkValidity_ = valid;
                hc_.setValidityCheck(valid);
            }
 
            bool getValidityCheck() const
            {
                return checkValidity_;
            }
 
            void setTryImprove(bool flag)
            {
                tryImprove_ = flag;
            }
 
            bool getTryImprove() const
            {
                return tryImprove_;
            }
 
            void setPoolSize(unsigned int size)
            {
                poolSize_ = size;
            }
 
            unsigned int getPoolSize() const
            {
                return poolSize_;
            }
 
            void setPoolMutationSize(unsigned int size)
            {
                poolMutation_ = size;
            }
 
            unsigned int getPoolMutationSize() const
            {
                return poolMutation_;
            }
 
            void setPoolRandomSize(unsigned int size)
            {
                poolRandom_ = size;
            }
 
            unsigned int getPoolRandomSize() const
            {
                return poolRandom_;
            }
 
            void setRange(double distance)
            {
                maxDistance_ = distance;
            }
 
            double getRange() const
            {
                return maxDistance_;
            }
 
            void clear();
 
        private:
            void tryToImprove(const base::GoalRegion &goal, base::State *state, double distance);
 
            bool valid(const base::State *state) const
            {
                return checkValidity_ ? si_->isValid(state) : true;
            }
 
            struct Individual
            {
                base::State *state;
                double distance;
                bool valid;
            };
 
            struct IndividualSort
            {
                bool operator()(const Individual &a, const Individual &b)
                {
                    if (a.valid == b.valid)
                        return a.distance < b.distance;
                    return a.valid;
                }
            };
 
            HillClimbing hc_;
            base::SpaceInformationPtr si_;
            base::StateSamplerPtr sampler_;
            std::vector<Individual> pool_;
            unsigned int poolSize_;
            unsigned int poolMutation_;
            unsigned int poolRandom_;
            unsigned int generations_;
            bool checkValidity_;
            bool tryImprove_;
 
            double maxDistance_;
        };
    }
}
 
#endif