Vertex.h

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/**********************************************************************
 * Attribution Notice:
 *
 * This file contains code partially derived from the AIT* or BIT* planner
 * in the Open Motion Planning Library (OMPL). Structural elements such as
 * vertex representation and basic parent–child relationships were adapted
 * from that planner.
 *
 * Additional modifications and new logic for the BLIT* planner were
 * independently developed by Yi Wang.
 *********************************************************************/
 
// Authors: Yi Wang, Eyal Weiss, Bingxian Mu, Oren Salzman
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BLITSTAR_VERTEX_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BLITSTAR_VERTEX_
 
#include <memory>
#include <vector>
 
#include "ompl/base/OptimizationObjective.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/ScopedState.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/State.h"
#include "ompl/datastructures/BinaryHeap.h"
 
#include "ompl/geometric/planners/lazyinformedtrees/blitstar/Queuetypes.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace blitstar
        {
            class Vertex : public std::enable_shared_from_this<Vertex>
            {
            public:
                Vertex(const ompl::base::SpaceInformationPtr &spaceInformation,
                       const ompl::base::ProblemDefinitionPtr &problemDefinition, const std::size_t &batchId);

                explicit Vertex(const std::shared_ptr<Vertex> &other);

                virtual ~Vertex();

                std::size_t getId() const;

                ompl::base::State *getState();

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

                ompl::base::ScopedState<> getScopedState() const;

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

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

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

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

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

                ompl::base::Cost getValidForwardEdgeCost() const;
                ompl::base::Cost getValidReverseEdgeCost() const;

                void resetForwardParent();
                void resetReverseParent();
                void resetForwardEdgeParent();
                void resetReverseEdgeParent();

                bool hasForwardParent() const;
                bool hasReverseParent() const;
                bool hasReverseEdgeParent() const;
                bool hasForwardEdgeParent() const;

                std::shared_ptr<Vertex> getForwardParent() const;
                std::shared_ptr<Vertex> getForwardEdgeParent() const;

                std::shared_ptr<Vertex> getReverseParent() const;
                std::shared_ptr<Vertex> getReverseEdgeParent() const;

                void setForwardEdgeCost(const ompl::base::Cost &cost);

                void setCostToComeFromStart(const ompl::base::Cost &cost);

                void setCostToComeFromGoal(const ompl::base::Cost &cost);

                void setCostToGoToGoal(const ompl::base::Cost &cost);

                void setCostToGoToStart(const ompl::base::Cost &cost);

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

                void removeFromForwardChildren(std::size_t vertexId);

                std::vector<std::shared_ptr<Vertex>> getForwardChildren() const;

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

                void removeFromReverseChildren(std::size_t vertexId);

                std::vector<std::shared_ptr<Vertex>> getReverseChildren() const;

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

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

                void blacklistAsChild(const std::shared_ptr<Vertex> &vertex) const;
 
                std::size_t getIncomingCollisionCheckResolution(const std::size_t vertexId) const;
 
                void setIncomingCollisionCheckResolution(const std::size_t vertexId, std::size_t numChecks) const;
                bool isBlacklistedAsChild(const std::shared_ptr<Vertex> &vertex) const;

                bool hasCachedNeighbors() const;
                void cacheNeighbors(const std::vector<std::shared_ptr<Vertex>> &neighbors) const;

                const std::vector<std::shared_ptr<Vertex>> getNeighbors() const;

                bool isGoal();
                void setMeet();
                bool isStart();
                bool meetVertex();

                bool nearObstacle();
                void setGoalVertex();
                bool forwardInvalid();
                bool reverseInvalid();

                void setStartVertex();
                void setNearObstacle();
                void setForwardInvalid();
                void setReverseInvalid();

                void setReverseExpanded();
                void setForwardExpanded();

                bool isForwardExpanded();
                bool isReverseExpanded();

                std::size_t getForwardId();
                std::size_t getReverseId();

                ompl::base::Cost getLowerCostBoundToGoal();
                ompl::base::Cost getLowerCostBoundToStart();

                void setForwardId(const std::size_t counter);
                void setReverseId(const std::size_t counter);

                void setLowerCostBoundToGoal(const ompl::base::Cost &ToGoal);
                void setLowerCostBoundToStart(const ompl::base::Cost &ToStart);

                void resetMeet();
                void resetNearObstacle();
                void resetBackwardParent();
                void resetForwardId();
                void resetReverseId();
                void resetForwardInvalid();
                void resetReverseInvalid();
                void resetForwardExpanded();
                void resetReverseExpanded();
                void resetCostToComeFromGoal();
                void resetCostToComeFromStart();

                void resetForwardVertexQueuePointer();
                void resetReverseVertexQueuePointer();

                typename VertexQueue::Element *getForwardVertexQueuePointer() const;
                typename VertexQueue::Element *getReverseVertexQueuePointer() const;
                void setForwardVertexQueuePointer(typename VertexQueue::Element *pointer);
                void setReverseVertexQueuePointer(typename VertexQueue::Element *pointer);

                void setForwardValidParent(const std::shared_ptr<Vertex> &vertex, const ompl::base::Cost &edgeCost);
                void setReverseValidParent(const std::shared_ptr<Vertex> &vertex, const ompl::base::Cost &edgeCost);

                void setReverseVertexParent(const std::shared_ptr<Vertex> &vertex, const ompl::base::Cost &edgeCost);
                void setForwardVertexParent(const std::shared_ptr<Vertex> &vertex, const ompl::base::Cost &edgeCost);
 
            private:
                const ompl::base::SpaceInformationPtr spaceInformation_;

                const ompl::base::ProblemDefinitionPtr problemDefinition_;

                const ompl::base::OptimizationObjectivePtr objective_;

                std::vector<std::weak_ptr<Vertex>> forwardChildren_{};
                std::vector<std::weak_ptr<Vertex>> reverseChildren_{};

                mutable std::vector<std::weak_ptr<Vertex>> neighbors_{};

                mutable std::vector<std::weak_ptr<Vertex>> whitelistedChildren_{};

                mutable std::vector<std::weak_ptr<Vertex>> blacklistedChildren_{};

                std::weak_ptr<Vertex> forwardParent_;
                std::weak_ptr<Vertex> forwardEdgeParent_;

                std::weak_ptr<Vertex> reverseParent_;
                std::weak_ptr<Vertex> reverseEdgeParent_;

                ompl::base::State *state_;

                mutable ompl::base::Cost costToComeFromStart_{0u};
                mutable ompl::base::Cost costToComeFromGoal_{0u};

                ompl::base::Cost lowerCostBoundToGoToGoal_{0u};
                ompl::base::Cost lowerCostBoundToGoToStart_{0u};

                ompl::base::Cost edgeCostFromForwardParent_{0u};
                ompl::base::Cost edgeCostFromBackwardParent_{0u};

                ompl::base::Cost edgeCostFromValidForwardParent_{0u};
                ompl::base::Cost edgeCostFromValidReverseParent_{0u};

                mutable ompl::base::Cost expandedCostToComeFromGoal_{0u};
                mutable ompl::base::Cost expandedCostToComeFromStart_{0u};

                mutable ompl::base::Cost costToGoToGoal_{0u};

                mutable ompl::base::Cost costToGoToStart_{0u};

                mutable ompl::base::Cost totalEstimateCost_{0u};

                bool goalVertex_{false};
                bool meetVertex_{false};
                bool startVertex_{false};

                bool nearObstacle_{false};

                const std::size_t vertexId_;

                const std::size_t &batchId_;

                bool IsForwardExpanded_{false};
                bool IsReverseExpanded_{false};

                std::size_t ForwardVersion_{0};
                std::size_t ReverseVersion_{0};

                bool forwardInvalidChildState_{false};
                bool reverseInvalidChildState_{false};

                mutable std::size_t neighborBatchId_{0u};

                mutable std::size_t forwardVertexQueuePointerId_{0u};
                mutable std::size_t reverseVertexQueuePointerId_{0u};
 
                mutable std::map<std::size_t, std::size_t> incomingCollisionCheckResolution_{};
                mutable typename VertexQueue::Element *reverseVertexQueuePointer_{nullptr};
                mutable typename VertexQueue::Element *forwardVertexQueuePointer_{nullptr};
            };
 
        }  // namespace blitstar
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_BLITSTAR_VERTEX_