EST.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
/* Author: Ryan Luna */
 
#ifndef OMPL_CONTROL_PLANNERS_EST_EST_
#define OMPL_CONTROL_PLANNERS_EST_EST_
 
#include "ompl/datastructures/Grid.h"
#include "ompl/control/planners/PlannerIncludes.h"
#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/datastructures/PDF.h"
#include <unordered_map>
#include <vector>
 
namespace ompl
{
    namespace control
    {
        class EST : public base::Planner
        {
        public:
            EST(const SpaceInformationPtr &si);
 
            ~EST() override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;
 
            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }
 
            double getGoalBias() const
            {
                return goalBias_;
            }
 
            void setRange(double distance)
            {
                maxDistance_ = distance;
            }
 
            double getRange() const
            {
                return maxDistance_;
            }
 
            void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
            {
                projectionEvaluator_ = projectionEvaluator;
            }
 
            void setProjectionEvaluator(const std::string &name)
            {
                projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
            }
 
            const base::ProjectionEvaluatorPtr &getProjectionEvaluator() const
            {
                return projectionEvaluator_;
            }
 
            void setup() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
        protected:
            class Motion
            {
            public:
                Motion() = default;
 
                Motion(const SpaceInformation *si)
                  : state(si->allocState()), control(si->allocControl())
                {
                }
 
                ~Motion() = default;
 
                base::State *state{nullptr};
 
                Control *control{nullptr};
 
                unsigned int steps{0};
 
                Motion *parent{nullptr};
            };
 
            struct MotionInfo;
 
            using GridCell = Grid<MotionInfo>::Cell;
 
            using CellPDF = PDF<GridCell *>;
 
            struct MotionInfo
            {
                Motion *operator[](unsigned int i)
                {
                    return motions_[i];
                }
                const Motion *operator[](unsigned int i) const
                {
                    return motions_[i];
                }
                void push_back(Motion *m)
                {
                    motions_.push_back(m);
                }
                unsigned int size() const
                {
                    return motions_.size();
                }
                bool empty() const
                {
                    return motions_.empty();
                }
                std::vector<Motion *> motions_;
                CellPDF::Element *elem_;
            };
 
            struct TreeData
            {
                TreeData() = default;
 
                Grid<MotionInfo> grid{0};
 
                unsigned int size{0};
            };
 
            void freeMemory();
 
            void addMotion(Motion *motion);
 
            Motion *selectMotion();
 
            base::ValidStateSamplerPtr sampler_;
 
            DirectedControlSamplerPtr controlSampler_;
 
            const SpaceInformation *siC_;
 
            TreeData tree_;
 
            base::ProjectionEvaluatorPtr projectionEvaluator_;
 
            double goalBias_{0.05};
 
            double maxDistance_{0.};
 
            RNG rng_;
 
            CellPDF pdf_;
 
            Motion *lastGoalMotion_{nullptr};
        };
    }
}
 
#endif