VFRRT.h

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/* Authors: Caleb Voss, Wilson Beebe */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_VFRRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_VFRRT_
 
#include <limits>
 
#include <Eigen/Core>
 
#include <ompl/geometric/planners/rrt/RRT.h>
 
namespace ompl
{
    namespace geometric
    {
        class VFRRT : public RRT
        {
        public:
            using VectorField = std::function<Eigen::VectorXd(const base::State *)>;
 
            VFRRT(const base::SpaceInformationPtr &si, VectorField vf, double exploration, double initial_lambda,
                  unsigned int update_freq);
 
            ~VFRRT() override;
 
            void clear() override;
 
            double determineMeanNorm();
 
            Eigen::VectorXd getNewDirection(const base::State *qnear, const base::State *qrand);
 
            double biasedSampling(const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield, double lambdaScale);
 
            void updateGain();
 
            Eigen::VectorXd computeAlphaBeta(double omega, const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield);
 
            Motion *extendTree(Motion *m, base::State *rstate, const Eigen::VectorXd &v);
            void updateExplorationEfficiency(Motion *m);
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void setup() override;
 
        private:
            const VectorField vf_;
 
            unsigned int efficientCount_{0u};
 
            unsigned int inefficientCount_{0u};
 
            double explorationInefficiency_{0.};
 
            double explorationSetting_;
 
            double lambda_;
 
            unsigned int nth_step_;
 
            unsigned int step_{0u};
 
            double meanNorm_{0.};
 
            unsigned int vfdim_{0u};
        };
    }
}
#endif