State.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_STATE_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_STATE_
 
#include <memory>
#include <set>
#include <utility>
 
#include "ompl/base/Cost.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/State.h"
 
#include "ompl/geometric/planners/informedtrees/eitstar/Vertex.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace eitstar
        {
            class State : public std::enable_shared_from_this<State>  // Inheritance must be public here.
            {
            public:
                State(const std::shared_ptr<ompl::base::SpaceInformation> &spaceInfo,
                      const std::shared_ptr<ompl::base::OptimizationObjective> &objective);

                ~State();

                std::size_t getId() const;

                ompl::base::State *raw() const;

                bool hasForwardVertex() const;

                bool hasReverseVertex() const;

                std::shared_ptr<Vertex> asForwardVertex();

                std::shared_ptr<Vertex> asReverseVertex();

                void blacklist(const std::shared_ptr<State> &state);

                void whitelist(const std::shared_ptr<State> &state);

                bool isBlacklisted(const std::shared_ptr<State> &state) const;

                bool isWhitelisted(const std::shared_ptr<State> &state) const;

                void setEstimatedEffortToGo(std::size_t effort);

                void setEstimatedCostToGo(ompl::base::Cost cost);

                void setAdmissibleCostToGo(ompl::base::Cost cost);

                void setLowerBoundCostToGo(ompl::base::Cost cost);

                void setLowerBoundCostToCome(ompl::base::Cost cost);

                void setCurrentCostToCome(ompl::base::Cost cost);

                void setLowerBoundEffortToCome(unsigned int effort);

                void setInadmissibleEffortToCome(unsigned int effort);

                unsigned int getEstimatedEffortToGo() const;

                ompl::base::Cost getEstimatedCostToGo() const;

                ompl::base::Cost getAdmissibleCostToGo() const;

                ompl::base::Cost getLowerBoundCostToGo() const;

                ompl::base::Cost getLowerBoundCostToCome() const;

                ompl::base::Cost getCurrentCostToCome() const;

                unsigned int getLowerBoundEffortToCome() const;

                unsigned int getInadmissibleEffortToCome() const;

                const std::vector<std::weak_ptr<State>> getSourcesOfIncomingEdgesInForwardQueue() const;

                void addToSourcesOfIncomingEdgesInForwardQueue(const std::shared_ptr<State> &state) const;

                void removeFromSourcesOfIncomingEdgesInForwardQueue(const std::shared_ptr<State> &state) const;

                void resetSourcesOfIncomingEdgesInForwardQueue();

                void setIncomingCollisionCheckResolution(const std::shared_ptr<State> &source,
                                                         std::size_t numChecks) const;

                std::size_t getIncomingCollisionCheckResolution(const std::shared_ptr<State> &source) const;
 
            private:
                friend class RandomGeometricGraph;

                const std::size_t id_;

                unsigned int estimatedEffortToGo_{std::numeric_limits<unsigned int>::max()};

                ompl::base::Cost estimatedCostToGo_;

                unsigned int lowerBoundEffortToCome_{std::numeric_limits<unsigned int>::max()};

                unsigned int inadmissibleEffortToCome_{std::numeric_limits<unsigned int>::max()};

                ompl::base::Cost admissibleCostToGo_;

                ompl::base::Cost lowerBoundCostToGo_;

                ompl::base::Cost lowerBoundCostToCome_;

                ompl::base::Cost currentCostToCome_;

                ompl::base::State *state_;

                std::weak_ptr<Vertex> forwardVertex_{};

                std::weak_ptr<Vertex> reverseVertex_{};

                mutable std::pair<std::size_t, std::vector<std::weak_ptr<State>>> neighbors_{};

                std::set<std::size_t> blacklist_{};  // Maybe this would be faster as vector?

                std::set<std::size_t> whitelist_{};  // Maybe this would be faster as vector?

                mutable std::vector<std::weak_ptr<State>> sourcesOfIncomingEdgesInForwardQueue_{};

                mutable std::map<std::size_t, std::size_t> incomingCollisionCheckResolution_{};

                std::shared_ptr<ompl::base::SpaceInformation> spaceInfo_;

                std::shared_ptr<ompl::base::OptimizationObjective> objective_;
            };
 
        }  // namespace eitstar
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_STATE_