PathHybridization.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_GEOMETRIC_PATH_HYBRIDIZATION_
#define OMPL_GEOMETRIC_PATH_HYBRIDIZATION_
 
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/OptimizationObjective.h"
#include "ompl/geometric/PathGeometric.h"
#include <boost/graph/graph_traits.hpp>
#include <boost/graph/adjacency_list.hpp>
#include <iostream>
#include <set>
 
namespace ompl
{
    namespace geometric
    {
 
        OMPL_CLASS_FORWARD(PathHybridization);
 
        class PathHybridization
        {
        public:
            PathHybridization(base::SpaceInformationPtr si);
 
            PathHybridization(base::SpaceInformationPtr si, base::OptimizationObjectivePtr obj);
 
            ~PathHybridization();
 
            const geometric::PathGeometricPtr &getHybridPath() const;
 
            void computeHybridPath();
 
            unsigned int recordPath(const geometric::PathGeometricPtr &pp, bool matchAcrossGaps);
 
            std::size_t pathCount() const;
 
            void matchPaths(const geometric::PathGeometric &p, const geometric::PathGeometric &q, double gapValue,
                            std::vector<int> &indexP, std::vector<int> &indexQ) const;
 
            void clear();
 
            void print(std::ostream &out = std::cout) const;
 
            const std::string &getName() const;
 
        private:
            struct vertex_state_t
            {
                using kind = boost::vertex_property_tag;
            };
 
            using HGraph = boost::adjacency_list<
                boost::vecS, boost::vecS, boost::undirectedS,
                boost::property<vertex_state_t, base::State *,
                                boost::property<boost::vertex_predecessor_t, unsigned long int,
                                                boost::property<boost::vertex_rank_t, base::Cost>>>,
                boost::property<boost::edge_weight_t, base::Cost>>;
 
            using Vertex = boost::graph_traits<HGraph>::vertex_descriptor;
            using Edge = boost::graph_traits<HGraph>::edge_descriptor;
 
            struct PathInfo
            {
                PathInfo(const geometric::PathGeometricPtr &path)
                  : path_(path), states_(path->getStates()), cost_(base::Cost())
                {
                    vertices_.reserve(states_.size());
                }
 
                bool operator==(const PathInfo &other) const
                {
                    return path_ == other.path_;
                }
 
                bool operator<(const PathInfo &other) const
                {
                    return path_ < other.path_;
                }
 
                geometric::PathGeometricPtr path_;
                const std::vector<base::State *> &states_;
                base::Cost cost_;
                std::vector<Vertex> vertices_;
            };
 
            void attemptNewEdge(const PathInfo &p, const PathInfo &q, int indexP, int indexQ);
 
            base::SpaceInformationPtr si_;
            base::OptimizationObjectivePtr obj_;
            HGraph g_;
            boost::property_map<HGraph, vertex_state_t>::type stateProperty_;
            Vertex root_;
            Vertex goal_;
            std::set<PathInfo> paths_;
            geometric::PathGeometricPtr hpath_;
 
            std::string name_;
        };
    }
}
 
#endif