ImplicitGraph.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_IMPLICITGRAPH_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_IMPLICITGRAPH_
 
#include <memory>
 
#include "ompl/base/samplers/InformedStateSampler.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/PlannerTerminationCondition.h"
#include "ompl/base/Planner.h"
 
#include "ompl/datastructures/NearestNeighborsGNATNoThreadSafety.h"
 
#include "ompl/geometric/planners/informedtrees/aitstar/Vertex.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace aitstar
        {
            class ImplicitGraph
            {
            public:
                ImplicitGraph(const ompl::base::Cost &solutionCost);
 
                virtual ~ImplicitGraph() = default;
 
                void setup(const ompl::base::SpaceInformationPtr &spaceInformation,
                           const ompl::base::ProblemDefinitionPtr &problemDefinition,
                           ompl::base::PlannerInputStates *inputStates);
 
                void clear();
 
                void setRewireFactor(double rewireFactor);
 
                double getRewireFactor() const;
 
                void setMaxNumberOfGoals(unsigned int maxNumberOfGoals);
 
                unsigned int getMaxNumberOfGoals() const;
 
                void setUseKNearest(bool useKNearest);
 
                bool getUseKNearest() const;
 
                void setTrackApproximateSolution(bool track);
 
                bool addSamples(std::size_t numNewSamples,
                                const ompl::base::PlannerTerminationCondition &terminationCondition);
 
                std::size_t getNumVertices() const;
 
                double getConnectionRadius() const;
 
                void registerStartState(const ompl::base::State *const startState);
 
                void registerGoalState(const ompl::base::State *const goalState);
 
                bool hasAStartState() const;
 
                bool hasAGoalState() const;
 
                void updateStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition,
                                              ompl::base::PlannerInputStates *inputStates);
 
                std::vector<std::shared_ptr<Vertex>> getNeighbors(const std::shared_ptr<Vertex> &vertex) const;
 
                bool isStart(const std::shared_ptr<Vertex> &vertex) const;
 
                bool isGoal(const std::shared_ptr<Vertex> &vertex) const;
 
                const std::vector<std::shared_ptr<Vertex>> &getStartVertices() const;
 
                const std::vector<std::shared_ptr<Vertex>> &getGoalVertices() const;
 
                std::vector<std::shared_ptr<Vertex>> getVertices() const;
 
                void prune();
 
                std::size_t getNumberOfSampledStates() const;
 
                std::size_t getNumberOfValidSamples() const;
 
                std::size_t getNumberOfStateCollisionChecks() const;
 
                std::size_t getNumberOfNearestNeighborCalls() const;
 
            private:
                std::size_t computeNumberOfSamplesInInformedSet() const;
 
                double computeConnectionRadius(std::size_t numSamples) const;
 
                std::size_t computeNumberOfNeighbors(std::size_t numSamples) const;
 
                bool canPossiblyImproveSolution(const std::shared_ptr<Vertex> &vertex) const;
 
                ompl::base::SpaceInformationPtr spaceInformation_;
 
                ompl::base::ProblemDefinitionPtr problemDefinition_;
 
                ompl::base::OptimizationObjectivePtr objective_;
 
                std::size_t batchId_;
 
                double rewireFactor_{1.0};
 
                bool trackApproximateSolution_{false};
 
                std::shared_ptr<Vertex> bestApproximateGoal_;
 
                bool useKNearest_{true};
 
                unsigned int maxNumGoals_{10u};
 
                double radius_{std::numeric_limits<double>::infinity()};
 
                std::size_t numNeighbors_{std::numeric_limits<std::size_t>::max()};
 
                std::size_t k_rgg_{std::numeric_limits<std::size_t>::max()};
 
                const ompl::base::Cost &solutionCost_;
 
                ompl::base::InformedSamplerPtr sampler_;
 
                ompl::NearestNeighborsGNATNoThreadSafety<std::shared_ptr<Vertex>> vertices_;
 
                std::vector<std::shared_ptr<Vertex>> startVertices_;
 
                std::vector<std::shared_ptr<Vertex>> goalVertices_;
 
                std::vector<std::shared_ptr<Vertex>> prunedStartVertices_;
 
                std::vector<std::shared_ptr<Vertex>> prunedGoalVertices_;
 
                std::vector<std::shared_ptr<Vertex>> newSamples_;
 
                mutable std::size_t numValidSamples_{0u};
 
                mutable std::size_t numSampledStates_{0u};
 
                mutable std::size_t numNearestNeighborsCalls_{0u};
            };
 
        }  // namespace aitstar
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_IMPLICITGRAPH_