ProblemDefinition.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
/* Author: Ioan Sucan */
 
#ifndef OMPL_BASE_PROBLEM_DEFINITION_
#define OMPL_BASE_PROBLEM_DEFINITION_
 
#include "ompl/base/State.h"
#include "ompl/base/Goal.h"
#include "ompl/base/Path.h"
#include "ompl/base/Cost.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/SolutionNonExistenceProof.h"
#include "ompl/util/Console.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/ScopedState.h"
 
#include <vector>
#include <cstdlib>
#include <iostream>
#include <limits>
 
namespace ompl
{
    namespace base
    {
 
        OMPL_CLASS_FORWARD(ProblemDefinition);
        OMPL_CLASS_FORWARD(OptimizationObjective);
 
        struct PlannerSolution
        {
            PlannerSolution(const PathPtr &path)
              : path_(path)
              , length_(path ? path->length() : std::numeric_limits<double>::infinity())
            {
            }
 
            bool operator==(const PlannerSolution &p) const
            {
                return path_ == p.path_;
            }
 
            bool operator<(const PlannerSolution &b) const;
 
            void setApproximate(double difference)
            {
                approximate_ = true;
                difference_ = difference;
            }
 
            void setOptimized(const OptimizationObjectivePtr &opt, Cost cost, bool meetsObjective)
            {
                opt_ = opt;
                cost_ = cost;
                optimized_ = meetsObjective;
            }
 
            void setPlannerName(const std::string &name)
            {
                plannerName_ = name;
            }
 
            int index_{-1};
 
            PathPtr path_;
 
            double length_;
 
            bool approximate_{false};
 
            double difference_{0.};
 
            bool optimized_{false};
 
            OptimizationObjectivePtr opt_;
 
            Cost cost_;
 
            std::string plannerName_;
        };
 
        class Planner;
 
        using ReportIntermediateSolutionFn =
            std::function<void(const Planner *, const std::vector<const base::State *> &, const Cost)>;
 
        OMPL_CLASS_FORWARD(OptimizationObjective);
 
        class ProblemDefinition
        {
        public:
            // non-copyable
            ProblemDefinition(const ProblemDefinition &) = delete;
            ProblemDefinition &operator=(const ProblemDefinition &) = delete;
 
            ProblemDefinition(SpaceInformationPtr si);
 
            ProblemDefinitionPtr clone() const;
 
            virtual ~ProblemDefinition()
            {
                clearStartStates();
            }
 
            const SpaceInformationPtr &getSpaceInformation() const
            {
                return si_;
            }
 
            void addStartState(const State *state)
            {
                startStates_.push_back(si_->cloneState(state));
            }
 
            void addStartState(const ScopedState<> &state)
            {
                startStates_.push_back(si_->cloneState(state.get()));
            }
 
            bool hasStartState(const State *state, unsigned int *startIndex = nullptr) const;
 
            void clearStartStates()
            {
                for (auto &startState : startStates_)
                    si_->freeState(startState);
                startStates_.clear();
            }
 
            unsigned int getStartStateCount() const
            {
                return startStates_.size();
            }
 
            const State *getStartState(unsigned int index) const
            {
                return startStates_[index];
            }
 
            State *getStartState(unsigned int index)
            {
                return startStates_[index];
            }
 
            void setGoal(const GoalPtr &goal)
            {
                goal_ = goal;
            }
 
            void clearGoal()
            {
                goal_.reset();
            }
 
            const GoalPtr &getGoal() const
            {
                return goal_;
            }
 
            void getInputStates(std::vector<const State *> &states) const;
 
            void setStartAndGoalStates(const State *start, const State *goal,
                                       double threshold = std::numeric_limits<double>::epsilon());
 
            void setGoalState(const State *goal, double threshold = std::numeric_limits<double>::epsilon());
 
            void setStartAndGoalStates(const ScopedState<> &start, const ScopedState<> &goal,
                                       const double threshold = std::numeric_limits<double>::epsilon())
            {
                setStartAndGoalStates(start.get(), goal.get(), threshold);
            }
 
            void setGoalState(const ScopedState<> &goal,
                              const double threshold = std::numeric_limits<double>::epsilon())
            {
                setGoalState(goal.get(), threshold);
            }
 
            bool hasOptimizationObjective() const
            {
                return optimizationObjective_ != nullptr;
            }
 
            const OptimizationObjectivePtr &getOptimizationObjective() const
            {
                return optimizationObjective_;
            }
 
            void setOptimizationObjective(const OptimizationObjectivePtr &optimizationObjective)
            {
                optimizationObjective_ = optimizationObjective;
            }
 
            const ReportIntermediateSolutionFn &getIntermediateSolutionCallback() const
            {
                return intermediateSolutionCallback_;
            }
 
            void setIntermediateSolutionCallback(const ReportIntermediateSolutionFn &callback)
            {
                intermediateSolutionCallback_ = callback;
            }
 
            bool isTrivial(unsigned int *startIndex = nullptr, double *distance = nullptr) const;
 
            PathPtr isStraightLinePathValid() const;
 
            bool fixInvalidInputStates(double distStart, double distGoal, unsigned int attempts);
 
            bool hasSolution() const;
 
            bool hasExactSolution() const
            {
                return this->hasSolution() && !this->hasApproximateSolution();
            }
 
            bool hasApproximateSolution() const;
 
            double getSolutionDifference() const;
 
            bool hasOptimizedSolution() const;
 
            PathPtr getSolutionPath() const;
 
            bool getSolution(PlannerSolution &solution) const;
 
            void addSolutionPath(const PathPtr &path, bool approximate = false, double difference = -1.0,
                                 const std::string &plannerName = "Unknown") const;
 
            void addSolutionPath(const PlannerSolution &sol) const;
 
            std::size_t getSolutionCount() const;
 
            std::vector<PlannerSolution> getSolutions() const;
 
            void clearSolutionPaths() const;
 
            bool hasSolutionNonExistenceProof() const;
 
            void clearSolutionNonExistenceProof();
 
            const SolutionNonExistenceProofPtr &getSolutionNonExistenceProof() const;
 
            void setSolutionNonExistenceProof(const SolutionNonExistenceProofPtr &nonExistenceProof);
 
            void print(std::ostream &out = std::cout) const;
 
        protected:
            bool fixInvalidInputState(State *state, double dist, bool start, unsigned int attempts);
 
            SpaceInformationPtr si_;
 
            std::vector<State *> startStates_;
 
            GoalPtr goal_;
 
            SolutionNonExistenceProofPtr nonExistenceProof_;
 
            OptimizationObjectivePtr optimizationObjective_;
 
            ReportIntermediateSolutionFn intermediateSolutionCallback_;
 
        private:
            OMPL_CLASS_FORWARD(PlannerSolutionSet);
 
            PlannerSolutionSetPtr solutions_;
        };
    }
}
 
#endif