ThunderRetrieveRepair.h

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/* Author: Dave Coleman */
 
#ifndef OMPL_TOOLS_THUNDER_THUNDER_RETRIEVE_REPAIR_
#define OMPL_TOOLS_THUNDER_THUNDER_RETRIEVE_REPAIR_
 
#include <ompl/geometric/planners/PlannerIncludes.h>
#include <ompl/geometric/PathGeometric.h>
#include <ompl/geometric/PathSimplifier.h>
#include <ompl/datastructures/NearestNeighbors.h>
 
namespace ompl
{
    namespace tools
    {
        OMPL_CLASS_FORWARD(ThunderDB);
    }
 
    namespace geometric
    {
 
        OMPL_CLASS_FORWARD(ThunderRetrieveRepair);
 
        class ThunderRetrieveRepair : public base::Planner
        {
        public:
            ThunderRetrieveRepair(const base::SpaceInformationPtr &si, tools::ThunderDBPtr experienceDB);
 
            ~ThunderRetrieveRepair() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            const std::vector<PathGeometric> &getLastRecalledNearestPaths() const;
 
            std::size_t getLastRecalledNearestPathChosen() const;
 
            const PathGeometric &getChosenRecallPath() const;
 
            void getRepairPlannerDatas(std::vector<base::PlannerDataPtr> &data) const;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;
 
            void setExperienceDB(const tools::ThunderDBPtr &experienceDB);
 
            void setRepairPlanner(const base::PlannerPtr &planner);
 
            void setup() override;
 
            bool repairPath(const base::PlannerTerminationCondition &ptc, PathGeometric &primaryPath);
 
            bool replan(const base::State *start, const base::State *goal, PathGeometric &newPathSegment,
                        const base::PlannerTerminationCondition &ptc);
 
            int getNearestK() const
            {
                return nearestK_;
            }
 
            void setNearestK(int nearestK)
            {
                nearestK_ = nearestK;
            }
 
            void enableSmoothing(bool enable)
            {
                smoothingEnabled_ = enable;
            }
 
        protected:
            std::size_t checkMotionScore(const base::State *s1, const base::State *s2) const;
 
            void freeMemory();
 
            tools::ThunderDBPtr experienceDB_;
 
            std::vector<PathGeometric> nearestPaths_;
 
            std::size_t nearestPathsChosenID_;
 
            base::PlannerPtr repairPlanner_;
 
            base::ProblemDefinitionPtr repairProblemDef_;
 
            std::vector<base::PlannerDataPtr> repairPlannerDatas_;
 
            PathSimplifierPtr path_simplifier_;
 
            int nearestK_;
 
            bool smoothingEnabled_;
        };
 
    }  // namespace geometric
}  // namespace ompl
 
#endif