Vertex.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_VERTEX_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_VERTEX_
 
#include <memory>
#include <vector>
 
#include "ompl/base/Cost.h"
#include "ompl/base/OptimizationObjective.h"
#include "ompl/datastructures/BinaryHeap.h"
 
#include "ompl/geometric/planners/informedtrees/eitstar/Direction.h"
#include "ompl/geometric/planners/informedtrees/eitstar/Edge.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace eitstar
        {
            // Forward declare the EIT* state class.
            class State;

            class Vertex : public std::enable_shared_from_this<Vertex>  // Inheritance must be public here.
            {
            public:
                Vertex(const std::shared_ptr<State> &state,
                       const std::shared_ptr<ompl::base::OptimizationObjective> &objective, const Direction &direction);

                ~Vertex();

                std::size_t getId() const;

                std::shared_ptr<State> getState() const;

                const std::vector<std::shared_ptr<Vertex>> &getChildren() const;

                bool hasChildren() const;

                std::vector<std::shared_ptr<Vertex>>
                updateCurrentCostOfChildren(const std::shared_ptr<ompl::base::OptimizationObjective> &objective);

                void addChild(const std::shared_ptr<Vertex> &vertex);

                void removeChild(const std::shared_ptr<Vertex> &vertex);

                std::weak_ptr<Vertex> getParent() const;

                bool isParent(const std::shared_ptr<Vertex> &vertex) const;

                std::weak_ptr<Vertex> getTwin() const;

                void updateParent(const std::shared_ptr<Vertex> &vertex);

                void setEdgeCost(const ompl::base::Cost &edgeCost);

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

                void resetParent();

                void setTwin(const std::shared_ptr<Vertex> &vertex);

                void clearChildren();

                std::size_t getExpandTag() const;

                void registerExpansionInReverseSearch(std::size_t tag);

                void callOnBranch(const std::function<void(const std::shared_ptr<eitstar::State> &)> &function);
 
            private:
                const std::size_t id_;

                const std::shared_ptr<const ompl::base::OptimizationObjective> objective_;

                ompl::base::Cost edgeCost_{std::numeric_limits<double>::signaling_NaN()};

                std::weak_ptr<Vertex> parent_{};

                std::weak_ptr<Vertex> twin_{};

                std::vector<std::shared_ptr<Vertex>> children_{};

                std::size_t expandTag_{0u};

                const std::shared_ptr<State> state_;

                const Direction direction_;

                friend class ReverseQueue;

                mutable std::vector<ompl::BinaryHeap<
                    std::tuple<ompl::base::Cost, ompl::base::Cost, unsigned int, unsigned int, Edge>,
                    std::function<bool(
                        const std::tuple<ompl::base::Cost, ompl::base::Cost, unsigned int, unsigned int, Edge> &,
                        const std::tuple<ompl::base::Cost, ompl::base::Cost, unsigned int, unsigned int, Edge> &)>>::
                                        Element *>
                    outgoingReverseQueueLookup_;
            };
 
        }  // namespace eitstar
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_QUEUE_