SPARSdb.h

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/* Author: Andrew Dobson, Dave Coleman */
 
#ifndef OMPL_TOOLS_THUNDER_SPARS_DB_
#define OMPL_TOOLS_THUNDER_SPARS_DB_
 
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/geometric/PathSimplifier.h"
#include "ompl/util/Time.h"
#include "ompl/util/Hash.h"
 
#include <boost/range/adaptor/map.hpp>
#include <unordered_map>
#include <boost/graph/graph_traits.hpp>
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/filtered_graph.hpp>
#include <boost/graph/graph_utility.hpp>
#include <boost/graph/astar_search.hpp>
#include <boost/graph/connected_components.hpp>
#include <boost/property_map/property_map.hpp>
#include <boost/pending/disjoint_sets.hpp>
#include <thread>
#include <iostream>
#include <fstream>
#include <utility>
#include <vector>
#include <map>
 
namespace ompl
{
    namespace geometric
    {
        class SPARSdb : public base::Planner
        {
        public:
            enum GuardType
            {
                START,
                GOAL,
                COVERAGE,
                CONNECTIVITY,
                INTERFACE,
                QUALITY,
            };
 
            // BOOST GRAPH DETAILS
 
            using VertexIndexType = unsigned long int;
 
            using VertexPair = std::pair<VertexIndexType, VertexIndexType>;
 
 
            struct InterfaceData
            {
                base::State *pointA_{nullptr};
                base::State *pointB_{nullptr};
 
                base::State *sigmaA_{nullptr};
                base::State *sigmaB_{nullptr};
 
                double d_{std::numeric_limits<double>::infinity()};
 
                InterfaceData() = default;
 
                void clear(const base::SpaceInformationPtr &si)
                {
                    if (pointA_ != nullptr)
                    {
                        si->freeState(pointA_);
                        pointA_ = nullptr;
                    }
                    if (pointB_ != nullptr)
                    {
                        si->freeState(pointB_);
                        pointB_ = nullptr;
                    }
                    if (sigmaA_ != nullptr)
                    {
                        si->freeState(sigmaA_);
                        sigmaA_ = nullptr;
                    }
                    if (sigmaB_ != nullptr)
                    {
                        si->freeState(sigmaB_);
                        sigmaB_ = nullptr;
                    }
                    d_ = std::numeric_limits<double>::infinity();
                }
 
                void setFirst(const base::State *p, const base::State *s, const base::SpaceInformationPtr &si)
                {
                    if (pointA_ != nullptr)
                        si->copyState(pointA_, p);
                    else
                        pointA_ = si->cloneState(p);
                    if (sigmaA_ != nullptr)
                        si->copyState(sigmaA_, s);
                    else
                        sigmaA_ = si->cloneState(s);
                    if (pointB_ != nullptr)
                        d_ = si->distance(pointA_, pointB_);
                }
 
                void setSecond(const base::State *p, const base::State *s, const base::SpaceInformationPtr &si)
                {
                    if (pointB_ != nullptr)
                        si->copyState(pointB_, p);
                    else
                        pointB_ = si->cloneState(p);
                    if (sigmaB_ != nullptr)
                        si->copyState(sigmaB_, s);
                    else
                        sigmaB_ = si->cloneState(s);
                    if (pointA_ != nullptr)
                        d_ = si->distance(pointA_, pointB_);
                }
            };
 
            using InterfaceHash = std::unordered_map<VertexPair, InterfaceData>;
 
            // The InterfaceHash structure is wrapped inside of this struct due to a compilation error on
            // GCC 4.6 with Boost 1.48.  An implicit assignment operator overload does not compile with these
            // components, so an explicit overload is given here.
            // Remove this struct when the minimum Boost requirement is > v1.48.
            struct InterfaceHashStruct
            {
                InterfaceHash interfaceHash;
            };
 
            // Vertex properties
 
            struct vertex_state_t
            {
                using kind = boost::vertex_property_tag;
            };
 
            struct vertex_color_t
            {
                using kind = boost::vertex_property_tag;
            };
 
            struct vertex_interface_data_t
            {
                using kind = boost::vertex_property_tag;
            };
 
            // Edge properties
 
            struct edge_collision_state_t
            {
                using kind = boost::edge_property_tag;
            };
 
            enum EdgeCollisionState
            {
                NOT_CHECKED,
                IN_COLLISION,
                FREE
            };
 
            struct CandidateSolution
            {
                bool isApproximate_;
                base::PathPtr path_;
                // Edge 0 is edge from vertex 0 to vertex 1. Thus, there is n-1 edges for n vertices
                std::vector<EdgeCollisionState> edgeCollisionStatus_;
                // TODO save the collision state of the vertexes also?
 
                std::size_t getStateCount()
                {
                    return static_cast<ompl::geometric::PathGeometric &>(*path_).getStateCount();
                }
 
                ompl::geometric::PathGeometric &getGeometricPath()
                {
                    return static_cast<ompl::geometric::PathGeometric &>(*path_);
                }
            };
 
 
            using VertexProperties = boost::property<
                vertex_state_t, base::State *,
                boost::property<
                    boost::vertex_predecessor_t, VertexIndexType,
                    boost::property<boost::vertex_rank_t, VertexIndexType,
                                    boost::property<vertex_color_t, GuardType,
                                                    boost::property<vertex_interface_data_t, InterfaceHashStruct>>>>>;
 
            using EdgeProperties =
                boost::property<boost::edge_weight_t, double, boost::property<edge_collision_state_t, int>>;
 
            using Graph = boost::adjacency_list<boost::vecS,  // store in std::vector
                                                boost::vecS,  // store in std::vector
                                                boost::undirectedS, VertexProperties, EdgeProperties>;
 
            using Vertex = boost::graph_traits<Graph>::vertex_descriptor;
 
            using Edge = boost::graph_traits<Graph>::edge_descriptor;
 
            // Typedefs for property maps
 
            using EdgeCollisionStateMap = boost::property_map<Graph, edge_collision_state_t>::type;
 
 
            class edgeWeightMap
            {
            private:
                const Graph &g_;  // Graph used
                const EdgeCollisionStateMap &collisionStates_;
 
            public:
                using key_type = Edge;
                using value_type = double;
                using reference = double &;
                using category = boost::readable_property_map_tag;
 
                edgeWeightMap(const Graph &graph, const EdgeCollisionStateMap &collisionStates);
 
                double get(Edge e) const;
            };
 
 
            class foundGoalException
            {
            };
 
 
            class CustomVisitor : public boost::default_astar_visitor
            {
            private:
                Vertex goal;  // Goal Vertex of the search
 
            public:
                CustomVisitor(Vertex goal);
 
                void examine_vertex(Vertex u, const Graph &g) const;
            };
 
            // SPARS MEMBER FUNCTIONS
 
            SPARSdb(const base::SpaceInformationPtr &si);
 
            ~SPARSdb() override;
 
            void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;
 
            void setStretchFactor(double t)
            {
                stretchFactor_ = t;
            }
 
            void setSparseDeltaFraction(double D)
            {
                sparseDeltaFraction_ = D;
                if (sparseDelta_ > 0.0)  // setup was previously called
                    sparseDelta_ = D * si_->getMaximumExtent();
            }
 
            void setDenseDeltaFraction(double d)
            {
                denseDeltaFraction_ = d;
                if (denseDelta_ > 0.0)  // setup was previously called
                    denseDelta_ = d * si_->getMaximumExtent();
            }
 
            void setMaxFailures(unsigned int m)
            {
                maxFailures_ = m;
            }
 
            unsigned int getMaxFailures() const
            {
                return maxFailures_;
            }
 
            double getDenseDeltaFraction() const
            {
                return denseDeltaFraction_;
            }
 
            double getSparseDeltaFraction() const
            {
                return sparseDeltaFraction_;
            }
 
            double getStretchFactor() const
            {
                return stretchFactor_;
            }
 
            bool getGuardSpacingFactor(double pathLength, double &numGuards, double &spacingFactor);
 
            bool getGuardSpacingFactor(double pathLength, int &numGuards, double &spacingFactor);
 
            bool addPathToRoadmap(const base::PlannerTerminationCondition &ptc,
                                  ompl::geometric::PathGeometric &solutionPath);
 
            bool checkStartGoalConnection(ompl::geometric::PathGeometric &solutionPath);
 
            bool addStateToRoadmap(const base::PlannerTerminationCondition &ptc, base::State *newState);
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clearQuery() override;
 
            void clear() override;
 
            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                if (nn_ && nn_->size() != 0)
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                nn_ = std::make_shared<NN<Vertex>>();
                if (isSetup())
                    setup();
            }
 
            bool getSimilarPaths(int nearestK, const base::State *start, const base::State *goal,
                                 CandidateSolution &candidateSolution, const base::PlannerTerminationCondition &ptc);
 
            void setup() override;
 
            const Graph &getRoadmap() const
            {
                return g_;
            }
 
            unsigned int getNumVertices() const
            {
                return boost::num_vertices(g_);
            }
 
            unsigned int getNumEdges() const
            {
                return boost::num_edges(g_);
            }
 
            unsigned int getNumConnectedComponents() const
            {
                // Make sure graph is populated
                if (getNumVertices() == 0u)
                    return 0;
 
                std::vector<int> components(boost::num_vertices(g_));
 
                // it always overcounts by 1, i think because it is missing vertex 0 which is the new state insertion
                // component
                return boost::connected_components(g_, &components[0]) - 1;
            }
 
            unsigned int getNumPathInsertionFailed() const
            {
                return numPathInsertionFailures_;
            }
 
            unsigned int getNumConsecutiveFailures() const
            {
                return consecutiveFailures_;
            }
 
            long unsigned int getIterations() const
            {
                return iterations_;
            }
 
            bool convertVertexPathToStatePath(std::vector<Vertex> &vertexPath, const base::State *actualStart,
                                              const base::State *actualGoal, CandidateSolution &candidateSolution,
                                              bool disableCollisionWarning = false);
 
            void getPlannerData(base::PlannerData &data) const override;
 
            void setPlannerData(const base::PlannerData &data);
 
            bool reachedFailureLimit() const;
 
            void printDebug(std::ostream &out = std::cout) const;
 
            void clearEdgeCollisionStates();
 
        protected:
            void freeMemory();
 
            void checkQueryStateInitialization();
 
            bool checkAddCoverage(const base::State *qNew, std::vector<Vertex> &visibleNeighborhood);
 
            bool checkAddConnectivity(const base::State *qNew, std::vector<Vertex> &visibleNeighborhood);
 
            bool checkAddInterface(const base::State *qNew, std::vector<Vertex> &graphNeighborhood,
                                   std::vector<Vertex> &visibleNeighborhood);
 
            bool checkAddPath(Vertex v);
 
            void resetFailures();
 
            void findGraphNeighbors(base::State *state, std::vector<Vertex> &graphNeighborhood,
                                    std::vector<Vertex> &visibleNeighborhood);
 
            bool findGraphNeighbors(const base::State *state, std::vector<Vertex> &graphNeighborhood);
 
            void approachGraph(Vertex v);
 
            Vertex findGraphRepresentative(base::State *st);
 
            void findCloseRepresentatives(base::State *workState, const base::State *qNew, Vertex qRep,
                                          std::map<Vertex, base::State *> &closeRepresentatives,
                                          const base::PlannerTerminationCondition &ptc);
 
            void updatePairPoints(Vertex rep, const base::State *q, Vertex r, const base::State *s);
 
            void computeVPP(Vertex v, Vertex vp, std::vector<Vertex> &VPPs);
 
            void computeX(Vertex v, Vertex vp, Vertex vpp, std::vector<Vertex> &Xs);
 
            VertexPair index(Vertex vp, Vertex vpp);
 
            InterfaceData &getData(Vertex v, Vertex vp, Vertex vpp);
 
            void distanceCheck(Vertex rep, const base::State *q, Vertex r, const base::State *s, Vertex rp);
 
            void abandonLists(base::State *st);
 
            Vertex addGuard(base::State *state, GuardType type);
 
            void connectGuards(Vertex v, Vertex vp);
 
            bool getPaths(const std::vector<Vertex> &candidateStarts, const std::vector<Vertex> &candidateGoals,
                          const base::State *actualStart, const base::State *actualGoal,
                          CandidateSolution &candidateSolution, const base::PlannerTerminationCondition &ptc);
 
            bool lazyCollisionSearch(const Vertex &start, const Vertex &goal, const base::State *actualStart,
                                     const base::State *actualGoal, CandidateSolution &candidateSolution,
                                     const base::PlannerTerminationCondition &ptc);
 
            bool lazyCollisionCheck(std::vector<Vertex> &vertexPath, const base::PlannerTerminationCondition &ptc);
 
            void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution);
 
            bool constructSolution(Vertex start, Vertex goal, std::vector<Vertex> &vertexPath) const;
 
            bool sameComponent(Vertex m1, Vertex m2);
 
            double distanceFunction(const Vertex a, const Vertex b) const
            {
                return si_->distance(stateProperty_[a], stateProperty_[b]);
            }
 
            base::ValidStateSamplerPtr sampler_;
 
            std::shared_ptr<NearestNeighbors<Vertex>> nn_;
 
            Graph g_;
 
            std::vector<Vertex> startM_;
 
            std::vector<Vertex> goalM_;
 
            Vertex queryVertex_;
 
            double stretchFactor_{3.};
 
            double sparseDeltaFraction_{.25};
 
            double denseDeltaFraction_{.001};
 
            unsigned int maxFailures_{5000u};
 
            unsigned int numPathInsertionFailures_{0u};
 
            unsigned int nearSamplePoints_;
 
            PathSimplifierPtr psimp_;
 
            boost::property_map<Graph, boost::edge_weight_t>::type edgeWeightProperty_;  // TODO: this is not used
 
            EdgeCollisionStateMap edgeCollisionStateProperty_;
 
            boost::property_map<Graph, vertex_state_t>::type stateProperty_;
 
            boost::property_map<Graph, vertex_color_t>::type colorProperty_;
 
            boost::property_map<Graph, vertex_interface_data_t>::type interfaceDataProperty_;
 
            boost::disjoint_sets<boost::property_map<Graph, boost::vertex_rank_t>::type,
                                 boost::property_map<Graph, boost::vertex_predecessor_t>::type> disjointSets_;
            RNG rng_;
 
            bool addedSolution_{false};
 
            unsigned int consecutiveFailures_{0u};
 
            long unsigned int iterations_{0ul};
 
            double sparseDelta_{0.};
 
            double denseDelta_{0.};
 
            std::vector<Vertex> startVertexCandidateNeighbors_;
            std::vector<Vertex> goalVertexCandidateNeighbors_;
 
            bool verbose_{false};
        };
    }
}
 
#endif