STRIDE.h

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/* Author: Bryant Gipson, Mark Moll */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_STRIDE_STRIDE_
#define OMPL_GEOMETRIC_PLANNERS_STRIDE_STRIDE_
 
#include "ompl/datastructures/Grid.h"
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/datastructures/PDF.h"
#include <unordered_map>
#include <boost/scoped_ptr.hpp>
#include <vector>
 
namespace ompl
{
    template <typename _T>
    class NearestNeighborsGNAT;
 
    namespace geometric
    {
        class STRIDE : public base::Planner
        {
        public:
            STRIDE(const base::SpaceInformationPtr &si, bool useProjectedDistance = false, unsigned int degree = 16,
                   unsigned int minDegree = 12, unsigned int maxDegree = 18, unsigned int maxNumPtsPerLeaf = 6,
                   double estimatedDimension = 0.0);
            ~STRIDE() override;
 
            void setup() override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;
 
            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }
 
            double getGoalBias() const
            {
                return goalBias_;
            }
 
            void setUseProjectedDistance(bool useProjectedDistance)
            {
                useProjectedDistance_ = useProjectedDistance;
            }
            bool getUseProjectedDistance() const
            {
                return useProjectedDistance_;
            }
 
            void setDegree(unsigned int degree)
            {
                degree_ = degree;
            }
            unsigned int getDegree() const
            {
                return degree_;
            }
            void setMinDegree(unsigned int minDegree)
            {
                minDegree_ = minDegree;
            }
            unsigned int getMinDegree() const
            {
                return minDegree_;
            }
            void setMaxDegree(unsigned int maxDegree)
            {
                maxDegree_ = maxDegree;
            }
            unsigned int getMaxDegree() const
            {
                return maxDegree_;
            }
            void setMaxNumPtsPerLeaf(unsigned int maxNumPtsPerLeaf)
            {
                maxNumPtsPerLeaf_ = maxNumPtsPerLeaf;
            }
            unsigned int getMaxNumPtsPerLeaf() const
            {
                return maxNumPtsPerLeaf_;
            }
            void setEstimatedDimension(double estimatedDimension)
            {
                estimatedDimension_ = estimatedDimension;
            }
            double getEstimatedDimension() const
            {
                return estimatedDimension_;
            }
 
            void setRange(double distance)
            {
                maxDistance_ = distance;
            }
 
            double getRange() const
            {
                return maxDistance_;
            }
            void setMinValidPathFraction(double fraction)
            {
                minValidPathFraction_ = fraction;
            }
 
            double getMinValidPathFraction() const
            {
                return minValidPathFraction_;
            }
            void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
            {
                projectionEvaluator_ = projectionEvaluator;
            }
 
            void setProjectionEvaluator(const std::string &name)
            {
                projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
            }
 
            const base::ProjectionEvaluatorPtr &getProjectionEvaluator() const
            {
                return projectionEvaluator_;
            }
 
            void getPlannerData(base::PlannerData &data) const override;
 
        protected:
            class Motion
            {
            public:
                Motion() = default;
 
                Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
                {
                }
 
                ~Motion() = default;
 
                base::State *state{nullptr};
 
                Motion *parent{nullptr};
            };
 
            void freeMemory();
 
            void setupTree();
 
            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }
 
            double projectedDistanceFunction(const Motion *a, const Motion *b) const
            {
                unsigned int num_dims = projectionEvaluator_->getDimension();
                Eigen::VectorXd aproj(num_dims), bproj(num_dims);
                projectionEvaluator_->project(a->state, aproj);
                projectionEvaluator_->project(b->state, bproj);
                return (aproj - bproj).norm();
            }
 
            void addMotion(Motion *motion);
 
            Motion *selectMotion();
 
            base::ValidStateSamplerPtr sampler_;
 
            base::ProjectionEvaluatorPtr projectionEvaluator_;
 
            boost::scoped_ptr<NearestNeighborsGNAT<Motion *>> tree_;
 
            double goalBias_{.05};
 
            double maxDistance_{0.};
 
            bool useProjectedDistance_;
            unsigned int degree_;
            unsigned int minDegree_;
            unsigned int maxDegree_;
            unsigned int maxNumPtsPerLeaf_;
            double estimatedDimension_;
            double minValidPathFraction_{.2};
 
            RNG rng_;
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif