Thunder.h

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/* Author: Dave Coleman
*/
 
#ifndef OMPL_TOOLS_THUNDER_THUNDER_
#define OMPL_TOOLS_THUNDER_THUNDER_
 
#include <ompl/tools/experience/ExperienceSetup.h>  // the parent class
 
#include <ompl/tools/thunder/ThunderDB.h>
#include <ompl/geometric/planners/experience/ThunderRetrieveRepair.h>
 
#include <ompl/base/Planner.h>
#include <ompl/base/PlannerData.h>
#include <ompl/base/ProblemDefinition.h>
#include <ompl/base/SpaceInformation.h>
#include <ompl/base/ProblemDefinition.h>
#include <ompl/base/StateSpace.h>  // for storing to file
 
#include <ompl/geometric/PathGeometric.h>
#include <ompl/geometric/PathSimplifier.h>
 
#include <ompl/tools/multiplan/ParallelPlan.h>
 
#include <ompl/util/Console.h>
#include <ompl/util/Exception.h>
 
namespace ompl
{
    namespace tools
    {
        OMPL_CLASS_FORWARD(Thunder);
 
        class Thunder : public ompl::tools::ExperienceSetup
        {
        public:
            explicit Thunder(const base::SpaceInformationPtr &si);
 
            explicit Thunder(const base::StateSpacePtr &space);
 
        private:
            void initialize();
 
        public:
            void printResultsInfo(std::ostream &out = std::cout) const override;
 
            void printLogs(std::ostream &out = std::cout) const override;
 
            ompl::base::PlannerPtr &getPlanner()
            {
                return planner_;
            }
 
            ompl::geometric::ThunderRetrieveRepair &getRetrieveRepairPlanner() const
            {
                return static_cast<ompl::geometric::ThunderRetrieveRepair &>(*rrPlanner_);
            }
 
            void setRepairPlanner(const base::PlannerPtr &planner) override
            {
                static_cast<ompl::geometric::ThunderRetrieveRepair &>(*rrPlanner_).setRepairPlanner(planner);
            }
 
            void setPlannerAllocator(const base::PlannerAllocator &pa);
 
            base::PlannerStatus solve(double time = 1.0) override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            bool save() override;
 
            bool saveIfChanged() override;
 
            void clear() override;
 
            void print(std::ostream &out = std::cout) const override;
 
            void setup() override;
 
            void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const override;
 
            std::size_t getExperiencesCount() const override;
 
            void convertPlannerData(const ompl::base::PlannerDataPtr &plannerData,
                                    ompl::geometric::PathGeometric &path);
 
            bool reversePathIfNecessary(ompl::geometric::PathGeometric &path1, ompl::geometric::PathGeometric &path2);
 
            ompl::tools::ThunderDBPtr getExperienceDB();
 
            bool doPostProcessing() override;
 
        protected:
            base::PlannerPtr rrPlanner_;
 
            base::PlannerPtr planner2_;
 
            bool dualThreadScratchEnabled_{true};
 
            ompl::tools::ParallelPlanPtr pp_;
 
            ompl::tools::ThunderDBPtr experienceDB_;
 
            std::vector<ompl::geometric::PathGeometric> queuedSolutionPaths_;
 
        };  // end of class Thunder
 
    }  // end of namespace
 
}  // end of namespace
#endif