LTLPlanner.h

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/* Author: Matt Maly */
 
#ifndef OMPL_CONTROL_PLANNERS_LTL_LTLPLANNER_
#define OMPL_CONTROL_PLANNERS_LTL_LTLPLANNER_
 
#include "ompl/control/planners/PlannerIncludes.h"
#include "ompl/control/planners/ltl/ProductGraph.h"
#include "ompl/control/planners/ltl/LTLSpaceInformation.h"
#include "ompl/datastructures/PDF.h"
#include <unordered_map>
#include <map>
#include <vector>
 
namespace ompl
{
    namespace control
    {
        class LTLPlanner : public base::Planner
        {
        public:
            LTLPlanner(const LTLSpaceInformationPtr &si, ProductGraphPtr a, double exploreTime = 0.5);
 
            ~LTLPlanner() override;
 
 
            void setup() override;
 
            void clear() override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void getTree(std::vector<base::State *> &tree) const;
 
            std::vector<ProductGraph::State *> getHighLevelPath(const std::vector<base::State *> &path,
                                                                ProductGraph::State *start = nullptr) const;
 
        protected:
            struct Motion
            {
            public:
                Motion() = default;
 
                Motion(const SpaceInformation *si);
 
                virtual ~Motion();
 
                base::State *state{nullptr};
 
                Control *control{nullptr};
 
                Motion *parent{nullptr};
 
                unsigned int steps{0};
 
                ProductGraph::State *abstractState{nullptr};
            };
 
            struct ProductGraphStateInfo
            {
                ProductGraphStateInfo() = default;
 
                void addMotion(Motion *m);
 
                double weight{0.};
                PDF<Motion *> motions;
                std::unordered_map<Motion *, PDF<Motion *>::Element *> motionElems;
                double volume{0.};
                double autWeight{0.};
                unsigned int numSel{0};
                PDF<ProductGraph::State *>::Element *pdfElem{nullptr};
            };
 
            virtual double updateWeight(ProductGraph::State *as);
 
            virtual void initAbstractInfo(ProductGraph::State *as);
 
            virtual void buildAvail(const std::vector<ProductGraph::State *> &lead);
 
            virtual bool explore(const std::vector<ProductGraph::State *> &lead, Motion *&soln, double duration);
 
            virtual double abstractEdgeWeight(ProductGraph::State *a, ProductGraph::State *b) const;
 
            base::StateSamplerPtr sampler_;
 
            ControlSamplerPtr controlSampler_;
 
            const LTLSpaceInformation *ltlsi_;
 
            ProductGraphPtr abstraction_;
 
            PDF<ProductGraph::State *> availDist_;
 
            RNG rng_;
 
            std::vector<Motion *> motions_;
 
            ProductGraph::State *prodStart_{nullptr};
 
            double exploreTime_;
 
            std::unordered_map<ProductGraph::State *, ProductGraphStateInfo> abstractInfo_;
 
        private:
            void clearMotions();
        };
    }
}
 
#endif