LightningDB.h

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/* Author: Dave Coleman
   Desc:   Implementation of the Lightning Framework for experienced-based planning
 
   Paper:  Berenson, Dmitry, Pieter Abbeel, and Ken Goldberg.
           "A robot path planning framework that learns from experience."
           Robotics and Automation (ICRA), 2012 IEEE International Conference on. IEEE, 2012.
*/
 
#ifndef OMPL_TOOLS_LIGHTNING_LIGHTNINGDB_
#define OMPL_TOOLS_LIGHTNING_LIGHTNINGDB_
 
#include "ompl/base/StateSpace.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/base/PlannerData.h"
#include "ompl/base/PlannerDataStorage.h"
#include "ompl/base/State.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/datastructures/NearestNeighbors.h"
 
namespace ompl
{
    namespace tools
    {
        OMPL_CLASS_FORWARD(LightningDB);
 
        class LightningDB
        {
        public:
            LightningDB(const base::StateSpacePtr &space);
 
            virtual ~LightningDB();
 
            bool load(const std::string &fileName);
 
            void addPath(geometric::PathGeometric &solutionPath, double &insertionTime);
            void addPathHelper(geometric::PathGeometric &solutionPath);
 
            bool saveIfChanged(const std::string &fileName);
 
            bool save(const std::string &fileName);
 
            void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const;
 
            std::vector<ompl::base::PlannerDataPtr> findNearestStartGoal(int nearestK, const base::State *start,
                                                                         const base::State *goal);
 
            std::size_t getExperiencesCount() const;
 
            std::size_t getStatesCount() const;
 
            int getNumUnsavedPaths() const
            {
                return numUnsavedPaths_;
            }
 
            bool isEmpty()
            {
                return getExperiencesCount() == 0;
            }
 
        private:
            double distanceFunction(const ompl::base::PlannerDataPtr &a, const ompl::base::PlannerDataPtr &b) const;
 
        protected:
            base::SpaceInformationPtr si_;
 
            ompl::base::PlannerDataStorage plannerDataStorage_;
 
            // A nearest-neighbors datastructure containing the tree of start/goal states combined
            std::shared_ptr<NearestNeighbors<ompl::base::PlannerDataPtr>> nn_;
 
            // Reusable plannerData instance for filling in start and goal and performing searches on the tree
            ompl::base::PlannerDataPtr nnSearchKey_;
 
            // Track unsaved paths to determine if a save is required
            int numUnsavedPaths_{0};
 
        };  // end of class LightningDB
 
    }  // end of namespace
 
}  // end of namespace
#endif