Vertex.h

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/* Authors: Jonathan Gammell, Marlin Strub */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_VERTEX_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_VERTEX_
 
#include <memory>
#include <vector>
 
#include "ompl/base/OptimizationObjective.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/geometric/planners/informedtrees/BITstar.h"
#include "ompl/geometric/planners/informedtrees/bitstar/SearchQueue.h"
 
namespace ompl
{
    namespace geometric
    {
        class BITstar::Vertex
        {
        public:
            // ---
            // Construction and destruction.
            // ---
 
          Vertex(ompl::base::SpaceInformationPtr spaceInformation, const CostHelper *const costHelpPtr, SearchQueue *const queuePtr,
                   const std::shared_ptr<const unsigned int> &approximationId, bool root = false);
 
            virtual ~Vertex();
 
            // ---
            // State access.
            // ---
 
            BITstar::VertexId getId() const;
 
            ompl::base::State *state();
 
            ompl::base::State const *state() const;
 
            // ---
            // Graph information access.
            // ---
 
            bool isRoot() const;
 
            bool hasParent() const;
 
            bool isInTree() const;
 
            unsigned int getDepth() const;
 
            VertexConstPtr getParent() const;
 
            VertexPtr getParent();
 
            bool isConsistent() const;
 
            bool isPruned() const;
 
            bool isExpandedOnCurrentApproximation() const;
 
            bool isExpandedOnCurrentSearch() const;
 
            bool hasEverBeenExpandedAsRewiring() const;
 
            // ---
            // Graph modification.
            // ---
 
            void addParent(const VertexPtr &newParent, const ompl::base::Cost &edgeInCost);
 
            void removeParent(bool updateChildCosts);
 
            bool hasChildren() const;
 
            void getChildren(VertexConstPtrVector *children) const;
 
            void getChildren(VertexPtrVector *children);
 
            void addChild(const VertexPtr &newChild);
 
            void removeChild(const VertexPtr &oldChild);
 
            void blacklistChild(const VertexConstPtr &vertex);
 
            void whitelistChild(const VertexConstPtr &vertex);
 
            bool isBlacklistedAsChild(const VertexConstPtr &vertex) const;
 
            bool isWhitelistedAsChild(const VertexConstPtr &vertex) const;
 
            void clearBlacklist();
 
            void clearWhitelist();
 
            ompl::base::Cost getCost() const;
 
            ompl::base::Cost getEdgeInCost() const;
 
            void registerExpansion();
 
            void registerRewiringExpansion();
 
            void markPruned();
 
            void markUnpruned();
 
            // ---
            // Edge queue lookups.
            // ---
 
            void insertInEdgeQueueInLookup(const SearchQueue::EdgeQueueElemPtr &inEdge);
 
            void insertInEdgeQueueOutLookup(const SearchQueue::EdgeQueueElemPtr &outEdge);
 
            void removeFromEdgeQueueInLookup(const SearchQueue::EdgeQueueElemPtr &inEdge);
 
            void removeFromEdgeQueueOutLookup(const SearchQueue::EdgeQueueElemPtr &outEdge);
 
            void removeFromEdgeQueueInLookup(const SearchQueue::EdgeQueueElemPtrVector::const_iterator &inEdge);
 
            void removeFromEdgeQueueOutLookup(const SearchQueue::EdgeQueueElemPtrVector::const_iterator &outEdge);
 
            BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator edgeQueueInLookupConstBegin();
 
            BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator edgeQueueOutLookupConstBegin();
 
            BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator edgeQueueInLookupConstEnd();
 
            BITstar::SearchQueue::EdgeQueueElemPtrVector::const_iterator edgeQueueOutLookupConstEnd();
 
            unsigned int edgeQueueInLookupSize();
 
            unsigned int edgeQueueOutLookupSize();
 
            void clearEdgeQueueInLookup();
 
            void clearEdgeQueueOutLookup();
 
        private:
            // ---
            // Internal bookkeeping.
            // ---
 
            void updateCostAndDepth(bool cascadeUpdates = true);
 
            // ---
            // Member variables.
            // ---
 
            BITstar::VertexId id_;
 
            ompl::base::SpaceInformationPtr si_;
 
            const CostHelper *const costHelpPtr_;
 
            SearchQueue *const queuePtr_;
 
            ompl::base::State *state_;
 
            bool isRoot_;
 
            bool isPruned_{false};
 
            unsigned int depth_{0u};
 
            VertexPtr parentPtr_;
 
            ompl::base::Cost edgeCost_;
 
            ompl::base::Cost cost_;
 
            ompl::base::Cost costAtExpansion_;
 
            std::vector<VertexWeakPtr> children_;
 
            SearchQueue::EdgeQueueElemPtrVector edgeQueueInLookup_;
 
            SearchQueue::EdgeQueueElemPtrVector edgeQueueOutLookup_;
 
            std::set<BITstar::VertexId> childIdBlacklist_;
 
            std::set<BITstar::VertexId> childIdWhitelist_;
 
            unsigned int lookupApproximationId_{0u};
 
            unsigned int expansionApproximationId_{0u};
 
            unsigned int expansionSearchId_{0u};
 
            bool hasEverBeenExpandedAsRewiring_{false};
 
            const std::shared_ptr<const unsigned int> currentSearchId_;
 
            const std::shared_ptr<const unsigned int> currentApproximationId_;
 
            void removeFromEdgeQueueInLookup(const SearchQueue::EdgeQueueElemPtrVector::iterator &iterToDelete);
 
            void removeFromEdgeQueueOutLookup(const SearchQueue::EdgeQueueElemPtrVector::iterator &iterToDelete);
 
            void clearLookupsIfOutdated();
        };  // class Vertex
    } // namespace geometric
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BITSTAR_VERTEX_