Vertex.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_VERTEX_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_VERTEX_
 
#include <memory>
#include <vector>
 
#include "ompl/base/OptimizationObjective.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/ScopedState.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/State.h"
#include "ompl/datastructures/BinaryHeap.h"
 
#include "ompl/geometric/planners/informedtrees/aitstar/Edge.h"
#include "ompl/geometric/planners/informedtrees/aitstar/Queuetypes.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace aitstar
        {
            class Vertex : public std::enable_shared_from_this<Vertex>
            {
            public:
                Vertex(const ompl::base::SpaceInformationPtr &spaceInformation,
                       const ompl::base::ProblemDefinitionPtr &problemDefinition, const std::size_t &batchId);
 
                explicit Vertex(const std::shared_ptr<Vertex> &other);
 
                virtual ~Vertex();
 
                std::size_t getId() const;
 
                ompl::base::State *getState();
 
                ompl::base::State const *getState() const;
 
                ompl::base::ScopedState<> getScopedState() const;
 
                ompl::base::Cost getCostToComeFromStart() const;
 
                ompl::base::Cost getCostToComeFromGoal() const;
 
                ompl::base::Cost getExpandedCostToComeFromGoal() const;
 
                ompl::base::Cost getCostToGoToGoal() const;
 
                ompl::base::Cost getEdgeCostFromForwardParent() const;
 
                bool hasForwardParent() const;
 
                void setForwardParent(const std::shared_ptr<Vertex> &vertex, const ompl::base::Cost &edgeCost);
 
                void resetForwardParent();
 
                bool hasReverseParent() const;
 
                void setReverseParent(const std::shared_ptr<Vertex> &vertex);
 
                void resetReverseParent();
 
                std::shared_ptr<Vertex> getForwardParent() const;
 
                std::shared_ptr<Vertex> getReverseParent() const;
 
                void setForwardEdgeCost(const ompl::base::Cost &cost);
 
                void setCostToComeFromStart(const ompl::base::Cost &cost);
 
                void setCostToComeFromGoal(const ompl::base::Cost &cost);
 
                void resetCostToComeFromGoal();
 
                void resetExpandedCostToComeFromGoal();
 
                void setExpandedCostToComeFromGoal(const ompl::base::Cost &cost);
 
                void setCostToGoToGoal(const ompl::base::Cost &cost);
 
                void updateCostOfForwardBranch() const;
 
                std::vector<std::weak_ptr<Vertex>> invalidateReverseBranch();
 
                std::vector<std::weak_ptr<Vertex>> invalidateForwardBranch();
 
                void addToForwardChildren(const std::shared_ptr<Vertex> &vertex);
 
                void removeFromForwardChildren(std::size_t vertexId);
 
                std::vector<std::shared_ptr<Vertex>> getForwardChildren() const;
 
                void addToReverseChildren(const std::shared_ptr<Vertex> &vertex);
 
                void removeFromReverseChildren(std::size_t vertexId);
 
                std::vector<std::shared_ptr<Vertex>> getReverseChildren() const;
 
                void whitelistAsChild(const std::shared_ptr<Vertex> &vertex) const;
 
                bool isWhitelistedAsChild(const std::shared_ptr<Vertex> &vertex) const;
 
                void blacklistAsChild(const std::shared_ptr<Vertex> &vertex) const;
 
                bool isBlacklistedAsChild(const std::shared_ptr<Vertex> &vertex) const;
 
                bool hasCachedNeighbors() const;
 
                void cacheNeighbors(const std::vector<std::shared_ptr<Vertex>> &neighbors) const;
 
                const std::vector<std::shared_ptr<Vertex>> getNeighbors() const;
 
                bool isConsistent() const;
 
                void setReverseQueuePointer(typename VertexQueue::Element *pointer);
 
                typename VertexQueue::Element *getReverseQueuePointer() const;
 
                void resetReverseQueuePointer();
 
                void addToForwardQueueIncomingLookup(typename EdgeQueue::Element *pointer);
 
                void addToForwardQueueOutgoingLookup(typename EdgeQueue::Element *pointer);
 
                std::vector<EdgeQueue::Element *> getForwardQueueIncomingLookup() const;
 
                std::vector<EdgeQueue::Element *> getForwardQueueOutgoingLookup() const;
 
                void removeFromForwardQueueIncomingLookup(typename EdgeQueue::Element *element);
 
                void removeFromForwardQueueOutgoingLookup(typename EdgeQueue::Element *element);
 
                void resetForwardQueueIncomingLookup();
 
                void resetForwardQueueOutgoingLookup();
 
                void callOnForwardBranch(const std::function<void(const std::shared_ptr<Vertex> &)> &function);
 
                void callOnReverseBranch(const std::function<void(const std::shared_ptr<Vertex> &)> &function);
 
            private:
                const ompl::base::SpaceInformationPtr spaceInformation_;
 
                const ompl::base::ProblemDefinitionPtr problemDefinition_;
 
                const ompl::base::OptimizationObjectivePtr objective_;
 
                std::vector<std::weak_ptr<Vertex>> forwardChildren_{};
 
                std::vector<std::weak_ptr<Vertex>> reverseChildren_{};
 
                mutable std::vector<std::weak_ptr<Vertex>> neighbors_{};
 
                mutable std::vector<std::weak_ptr<Vertex>> whitelistedChildren_{};
 
                mutable std::vector<std::weak_ptr<Vertex>> blacklistedChildren_{};
 
                std::weak_ptr<Vertex> forwardParent_;
 
                std::weak_ptr<Vertex> reverseParent_;
 
                ompl::base::State *state_;
 
                ompl::base::Cost costToComeFromStart_;
 
                ompl::base::Cost edgeCostFromForwardParent_;
 
                mutable ompl::base::Cost costToComeFromGoal_;
 
                mutable ompl::base::Cost expandedCostToComeFromGoal_;
 
                mutable ompl::base::Cost costToGoToGoal_;
 
                const std::size_t vertexId_;
 
                const std::size_t &batchId_;
 
                mutable std::size_t neighborBatchId_{0u};
 
                mutable std::size_t reverseQueuePointerId_{0u};
 
                mutable typename VertexQueue::Element *reverseQueuePointer_{nullptr};
 
                mutable std::vector<EdgeQueue::Element *> forwardQueueIncomingLookup_;
 
                mutable std::vector<EdgeQueue::Element *> forwardQueueOutgoingLookup_;
            };
 
        }  // namespace aitstar
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_AITSTAR_VERTEX_