ThunderDB.h

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/* Author: Dave Coleman
*/
 
#ifndef OMPL_TOOLS_THUNDER_THUNDERDB_
#define OMPL_TOOLS_THUNDER_THUNDERDB_
 
#include <ompl/base/StateSpace.h>
#include <ompl/geometric/PathGeometric.h>
#include <ompl/base/PlannerData.h>
#include <ompl/base/PlannerDataStorage.h>
#include <ompl/base/State.h>
#include <ompl/base/SpaceInformation.h>
#include <ompl/datastructures/NearestNeighbors.h>
#include <ompl/tools/thunder/SPARSdb.h>
 
namespace ompl
{
    namespace tools
    {
        OMPL_CLASS_FORWARD(ThunderDB);
 
        using SPARSdbPtr = std::shared_ptr<ompl::geometric::SPARSdb>;
 
        class ThunderDB
        {
        public:
            ThunderDB(const base::StateSpacePtr &space);
 
            virtual ~ThunderDB();
 
            bool load(const std::string &fileName);
 
            bool addPath(ompl::geometric::PathGeometric &solutionPath, double &insertionTime);
 
            bool saveIfChanged(const std::string &fileName);
 
            bool save(const std::string &fileName);
 
            void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const;
 
            void setSPARSdb(ompl::tools::SPARSdbPtr &prm);
 
            ompl::tools::SPARSdbPtr &getSPARSdb();
 
            bool findNearestStartGoal(int nearestK, const base::State *start, const base::State *goal,
                                      ompl::geometric::SPARSdb::CandidateSolution &candidateSolution,
                                      const base::PlannerTerminationCondition &ptc);
 
            void debugVertex(const ompl::base::PlannerDataVertex &vertex);
            void debugState(const ompl::base::State *state);
 
            int getNumPathsInserted() const
            {
                return numPathsInserted_;
            }
 
            bool getSavingEnabled()
            {
                return saving_enabled_;
            }
 
            void setSavingEnabled(bool saving_enabled)
            {
                saving_enabled_ = saving_enabled;
            }
 
            bool isEmpty()
            {
                return spars_->getNumVertices() == 0u;
            }
 
        protected:
            base::SpaceInformationPtr si_;  // TODO: is this even necessary?
 
            ompl::base::PlannerDataStorage plannerDataStorage_;
 
            // Track unsaved paths to determine if a save is required
            int numPathsInserted_;
 
            // Use SPARSdb's graph datastructure to store experience
            ompl::tools::SPARSdbPtr spars_;
 
            // Allow the database to save to file (new experiences)
            bool saving_enabled_;
 
        };  // end of class ThunderDB
 
    }  // end of namespace
 
}  // end of namespace
#endif