TRRT.h

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/* Author: Dave Coleman, Ryan Luna */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_TRRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_TRRT_
 
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/base/OptimizationObjective.h"
 
/*
  NOTES:
  **Variable Names that have been converted to longer versions from standards:
  nearest_neighbors_ -> nn_
  planner_termination_condition -> ptc
 
  **Inherited Member Variables Key:
  si_ -> SpaceInformation
  pdef_ -> ProblemDefinition
  pis_ -> PlannerInputStates - Utility class to extract valid input states
*/
 
namespace ompl
{
    namespace geometric
    {
        class TRRT : public base::Planner
        {
        public:
            TRRT(const base::SpaceInformationPtr &si);
 
            ~TRRT() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &plannerTerminationCondition) override;
 
            void clear() override;
 
            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }
 
            double getGoalBias() const
            {
                return goalBias_;
            }
 
            void setRange(double distance)
            {
                maxDistance_ = distance;
            }
 
            double getRange() const
            {
                return maxDistance_;
            }
 
            void setTempChangeFactor(double factor)
            {
                tempChangeFactor_ = exp(factor);
            }
 
            double getTempChangeFactor() const
            {
                return log(tempChangeFactor_);
            }
 
            void setCostThreshold(double maxCost)
            {
                costThreshold_ = base::Cost(maxCost);
            }
 
            double getCostThreshold() const
            {
                return costThreshold_.value();
            }
 
            void setInitTemperature(double initTemperature)
            {
                initTemperature_ = initTemperature;
                temp_ = initTemperature_;
            }
 
            double getInitTemperature() const
            {
                return initTemperature_;
            }
 
            void setFrontierThreshold(double frontier_threshold)
            {
                frontierThreshold_ = frontier_threshold;
            }
 
            double getFrontierThreshold() const
            {
                return frontierThreshold_;
            }
 
            void setFrontierNodeRatio(double frontierNodeRatio)
            {
                frontierNodeRatio_ = frontierNodeRatio;
            }
 
            double getFrontierNodeRatio() const
            {
                return frontierNodeRatio_;
            }
 
            template <template <typename T> class NN>
            void setNearestNeighbors()
            {
                if (nearestNeighbors_->size() == 0)
                    OMPL_WARN("Calling setNearestNeighbors will clear all states.");
                clear();
                nearestNeighbors_ = std::make_shared<NN<Motion *>>();
                setup();
            }
 
            void setup() override;
 
        protected:
            class Motion
            {
            public:
                Motion() = default;
 
                Motion(const base::SpaceInformationPtr &si) : state(si->allocState())
                {
                }
 
                ~Motion() = default;
 
                base::State *state{nullptr};
 
                Motion *parent{nullptr};
 
                base::Cost cost;
            };
 
            void freeMemory();
 
            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }
 
            bool transitionTest(const base::Cost &motionCost);
 
            bool minExpansionControl(double randMotionDistance);
 
            base::StateSamplerPtr sampler_;
 
            std::shared_ptr<NearestNeighbors<Motion *>> nearestNeighbors_;
 
            double goalBias_{.05};
 
            double maxDistance_{0.};
 
            RNG rng_;
 
            Motion *lastGoalMotion_{nullptr};
 
            // *********************************************************************************************************
            // TRRT-Specific Variables
            // *********************************************************************************************************
 
            // Transtion Test -----------------------------------------------------------------------
 
            double temp_;
 
            base::Cost bestCost_;
 
            base::Cost worstCost_;
 
            base::Cost costThreshold_;
 
            double tempChangeFactor_;
 
            double initTemperature_;
 
            // Minimum Expansion Control --------------------------------------------------------------
 
            double nonfrontierCount_;
            double frontierCount_;
 
            double frontierThreshold_;
 
            double frontierNodeRatio_;
 
            ompl::base::OptimizationObjectivePtr opt_;
        };
    }
}
 
#endif