STRRTstar.h

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/* Author: Francesco Grothe */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_STRRT_STAR_
#define OMPL_GEOMETRIC_PLANNERS_RRT_STRRT_STAR_
 
#include <ompl/datastructures/NearestNeighbors.h>
#include <ompl/base/goals/GoalSampleableRegion.h>
#include <ompl/geometric/planners/PlannerIncludes.h>
#include <ompl/base/OptimizationObjective.h>
#include <ompl/base/spaces/SpaceTimeStateSpace.h>
#include <ompl/base/objectives/MinimizeArrivalTime.h>
#include <ompl/base/samplers/ConditionalStateSampler.h>
#include <ompl/tools/config/SelfConfig.h>
#include <ompl/util/GeometricEquations.h>
#include <boost/math/constants/constants.hpp>
 
namespace ompl
{
    namespace geometric
    {
        class STRRTstar : public base::Planner
        {
        public:
            explicit STRRTstar(const ompl::base::SpaceInformationPtr &si);
 
            ~STRRTstar() override;
 
            void clear() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void setRange(double distance);
 
            double getRange() const;
 
            double getOptimumApproxFactor() const;
 
            void setOptimumApproxFactor(double optimumApproxFactor);
 
            std::string getRewiringState() const;
 
            void setRewiringToOff();
 
            void setRewiringToRadius();
 
            void setRewiringToKNearest();
 
            double getRewireFactor() const;
 
            void setRewireFactor(double v);
 
            unsigned int getBatchSize() const;
 
            void setBatchSize(int v);
 
            void setTimeBoundFactorIncrease(double f);
 
            void setInitialTimeBoundFactor(double f);
 
            void setSampleUniformForUnboundedTime(bool uniform);
 
            void setup() override;
 
        protected:
 
            using TreeData = std::shared_ptr<ompl::NearestNeighbors<base::Motion *>>;
 
            struct TreeGrowingInfo
            {
                base::State *xstate;
                base::Motion *xmotion;
                bool start;
            };
 
            enum GrowState
            {
                TRAPPED,
                ADVANCED,
                REACHED
            };
 
            GrowState growTreeSingle(TreeData &tree, TreeGrowingInfo &tgi, base::Motion *rmotion, base::Motion *nmotion);
 
            GrowState growTree(TreeData &tree, TreeGrowingInfo &tgi, base::Motion *rmotion, std::vector<base::Motion *> &nbh,
                               bool connect);
 
            void increaseTimeBound(bool hasEqualBounds, double &oldBatchTimeBoundFactor, double &newBatchTimeBoundFactor,
                                   bool &startTree, unsigned int &batchSize, int &numBatchSamples);
 
            void getNeighbors(TreeData &tree, base::Motion *motion, std::vector<base::Motion *> &nbh) const;
 
            void freeMemory();
 
            double distanceFunction(const base::Motion *a, const base::Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }
 
            void pruneStartTree();
 
            base::Motion *pruneGoalTree();
 
            static base::Motion *computeSolutionMotion(base::Motion *motion);
 
            void removeInvalidGoals(const std::vector<base::Motion *> &invalidGoals);
 
            base::ConditionalStateSampler sampler_;
 
            TreeData tStart_;
 
            TreeData tGoal_;
 
            double maxDistance_{0.};
 
            double distanceBetweenTrees_;
 
            base::PathPtr bestSolution_{nullptr};
 
            double bestTime_ = std::numeric_limits<double>::infinity();
 
            unsigned int numIterations_ = 0;
 
            int numSolutions_ = 0;
 
            double minimumTime_ = std::numeric_limits<double>::infinity();
 
            double upperTimeBound_;
 
            double optimumApproxFactor_ = 1.0;
 
            base::Motion *startMotion_{nullptr};
 
            std::vector<base::Motion *> goalMotions_{};
 
            std::vector<base::Motion *> newBatchGoalMotions_{};
 
            base::State *tempState_{nullptr};  // temporary sampled goal states are stored here.
 
            base::State *nextGoal(int n, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor);
 
            base::State *nextGoal(const base::PlannerTerminationCondition &ptc, double oldBatchTimeBoundFactor,
                                  double newBatchTimeBoundFactor);
 
            base::State *nextGoal(const base::PlannerTerminationCondition &ptc, int n, double oldBatchTimeBoundFactor,
                                  double newBatchTimeBoundFactor);
 
            bool sampleGoalTime(base::State *goal, double oldBatchTimeBoundFactor, double newBatchTimeBoundFactor);
 
            static void removeFromParent(base::Motion *m);
 
            static void addDescendants(base::Motion *m, const TreeData &tree);
 
            void constructSolution(base::Motion *startMotion, base::Motion *goalMotion,
                                   const base::ReportIntermediateSolutionFn &intermediateSolutionCallback,
                                   const ompl::base::PlannerTerminationCondition& ptc);
 
            enum RewireState
            {
                // use r-disc search for rewiring
                RADIUS,
                // use k-nearest for rewiring
                KNEAREST,
                // don't use any rewiring
                OFF
            };
 
            RewireState rewireState_ = KNEAREST;
 
            double rewireFactor_{1.1};
 
            double k_rrt_{0u};
 
            double r_rrt_{0.};
 
            void calculateRewiringLowerBounds();
 
            bool rewireGoalTree(base::Motion *addedMotion);
 
            bool isTimeBounded_;
 
            double initialTimeBound_;
 
            unsigned int initialBatchSize_ = 512;
 
            double initialTimeBoundFactor_ = 2.0;
 
            double timeBoundFactorIncrease_ = 2.0;
 
            bool sampleOldBatch_ = true;
 
            bool sampleUniformForUnboundedTime_ = true;
 
            int goalStateSampleRatio_ = 4;
 
            ompl::RNG rng_;
        };
    }  // namespace geometric
}  // namespace ompl
 
#endif