KPIECE1.h

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/* Author: Ioan Sucan */
 
#ifndef OMPL_CONTROL_PLANNERS_KPIECE_KPIECE1_
#define OMPL_CONTROL_PLANNERS_KPIECE_KPIECE1_
 
#include "ompl/control/planners/PlannerIncludes.h"
#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/datastructures/GridB.h"
#include <vector>
#include <set>
 
namespace ompl
{
    namespace control
    {
        class KPIECE1 : public base::Planner
        {
        public:
            KPIECE1(const SpaceInformationPtr &si);
 
            ~KPIECE1() override;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;
 
            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }
 
            double getGoalBias() const
            {
                return goalBias_;
            }
 
            void setBorderFraction(double bp)
            {
                selectBorderFraction_ = bp;
            }
 
            double getBorderFraction() const
            {
                return selectBorderFraction_;
            }
 
            void setCellScoreFactor(double good, double bad)
            {
                setGoodCellScoreFactor(good);
                setBadCellScoreFactor(bad);
            }
 
            void setBadCellScoreFactor(double bad)
            {
                badScoreFactor_ = bad;
            }
 
            void setGoodCellScoreFactor(double good)
            {
                goodScoreFactor_ = good;
            }
 
            double getGoodCellScoreFactor() const
            {
                return goodScoreFactor_;
            }
 
            double getBadCellScoreFactor() const
            {
                return badScoreFactor_;
            }
 
            void setMaxCloseSamplesCount(unsigned int nCloseSamples)
            {
                nCloseSamples_ = nCloseSamples;
            }
 
            unsigned int getMaxCloseSamplesCount() const
            {
                return nCloseSamples_;
            }
 
            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:
            struct Motion
            {
                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 CellData
            {
                CellData() = default;
 
                ~CellData() = default;
 
                std::vector<Motion *> motions;
 
                double coverage{0.0};
 
                unsigned int selections{1};
 
                double score{1.0};
 
                unsigned int iteration{0};
 
                double importance{0.0};
            };
 
            struct OrderCellsByImportance
            {
                bool operator()(const CellData *const a, const CellData *const b) const
                {
                    return a->importance > b->importance;
                }
            };
 
            using Grid = GridB<CellData *, OrderCellsByImportance>;
 
            struct CloseSample
            {
                CloseSample(Grid::Cell *c, Motion *m, double d) : cell(c), motion(m), distance(d)
                {
                }
 
                Grid::Cell *cell;
 
                Motion *motion;
 
                double distance;
 
                bool operator<(const CloseSample &other) const
                {
                    return distance < other.distance;
                }
            };
 
            struct CloseSamples
            {
                CloseSamples(unsigned int size) : maxSize(size)
                {
                }
 
                bool consider(Grid::Cell *cell, Motion *motion, double distance);
 
                bool selectMotion(Motion *&smotion, Grid::Cell *&scell);
 
                bool canSample() const
                {
                    return !samples.empty();
                }
 
                unsigned int maxSize;
 
                std::set<CloseSample> samples;
            };
 
            struct TreeData
            {
                TreeData() = default;
 
                Grid grid{0};
 
                unsigned int size{0};
 
                unsigned int iteration{1};
            };
 
            static void computeImportance(Grid::Cell *cell, void * /*unused*/)
            {
                CellData &cd = *(cell->data);
                cd.importance = cd.score / ((cell->neighbors + 1) * cd.coverage * cd.selections);
            }
 
            void freeMemory();
 
            void freeGridMotions(Grid &grid);
 
            void freeCellData(CellData *cdata);
 
            void freeMotion(Motion *motion);
 
            Grid::Cell *addMotion(Motion *motion, double dist);
 
            bool selectMotion(Motion *&smotion, Grid::Cell *&scell);
 
            unsigned int findNextMotion(const std::vector<Grid::Coord> &coords, unsigned int index, unsigned int count);
 
            ControlSamplerPtr controlSampler_;
 
            TreeData tree_;
 
            const SpaceInformation *siC_;
 
            base::ProjectionEvaluatorPtr projectionEvaluator_;
 
            double goodScoreFactor_{0.9};
 
            double badScoreFactor_{0.45};
 
            unsigned int nCloseSamples_{30};
 
            double selectBorderFraction_{0.8};
 
            double goalBias_{0.05};
 
            RNG rng_;
 
            Motion *lastGoalMotion_{nullptr};
        };
    }
}
 
#endif