EITstar.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_
 
#include <memory>
 
#include "ompl/base/Cost.h"
#include "ompl/base/Planner.h"
#include "ompl/base/SpaceInformation.h"
 
#include "ompl/geometric/PathGeometric.h"
#include "ompl/geometric/planners/informedtrees/eitstar/Direction.h"
#include "ompl/geometric/planners/informedtrees/eitstar/RandomGeometricGraph.h"
#include "ompl/geometric/planners/informedtrees/eitstar/ForwardQueue.h"
#include "ompl/geometric/planners/informedtrees/eitstar/ReverseQueue.h"
 
namespace ompl
{
    namespace geometric
    {
        class EITstar : public ompl::base::Planner
        {
        public:
            explicit EITstar(const std::shared_ptr<ompl::base::SpaceInformation> &spaceInfo);
 
            ~EITstar();
 
            void setup() override;
 
            ompl::base::PlannerStatus
            solve(const ompl::base::PlannerTerminationCondition &terminationCondition) override;
 
            void clear() override;
 
            void clearQuery() override;
 
            ompl::base::Cost bestCost() const;
 
            void setBatchSize(unsigned int numSamples);
 
            unsigned int getBatchSize() const;
 
            void setInitialNumberOfSparseCollisionChecks(std::size_t numChecks);
 
            void setRadiusFactor(double factor);
 
            double getRadiusFactor() const;
 
            void setSuboptimalityFactor(double factor);
 
            void enablePruning(bool prune);
 
            bool isPruningEnabled() const;
 
            void trackApproximateSolutions(bool track);
 
            bool areApproximateSolutionsTracked() const;
 
            void setUseKNearest(bool useKNearest);
 
            bool getUseKNearest() const;
 
            void setMaxNumberOfGoals(unsigned int numberOfGoals);
 
            unsigned int getMaxNumberOfGoals() const;
 
            bool isForwardQueueEmpty() const;
 
            std::vector<eitstar::Edge> getForwardQueue() const;
 
            unsigned int getForwardEffort() const;
 
            bool isReverseQueueEmpty() const;
 
            std::vector<eitstar::Edge> getReverseQueue() const;
 
            std::vector<eitstar::Edge> getReverseTree() const;
 
            eitstar::Edge getNextForwardEdge() const;
 
            eitstar::Edge getNextReverseEdge() const;
 
            bool isStart(const std::shared_ptr<eitstar::State> &state) const;
 
            bool isGoal(const std::shared_ptr<eitstar::State> &state) const;
 
            void getPlannerData(base::PlannerData &data) const override;
 
        protected:
            // ---
            // The settings that turn EIT* into EIRM*.
            // ---
 
            void enableMultiquery(bool multiquery);
 
            bool isMultiqueryEnabled() const;
 
            void setStartGoalPruningThreshold(unsigned int threshold);
 
            unsigned int getStartGoalPruningThreshold() const;
 
        private:
            void iterate(const ompl::base::PlannerTerminationCondition &terminationCondition);
 
            void iterateReverseSearch();
 
            void iterateForwardSearch();
 
            void improveApproximation(const ompl::base::PlannerTerminationCondition &terminationCondition);
 
            bool continueSolving(const ompl::base::PlannerTerminationCondition &terminationCondition) const;
 
            bool continueReverseSearch() const;
 
            bool continueForwardSearch() const;
 
            void restartReverseSearch();
 
            void updateExactSolution();
 
            void updateApproximateSolution();
 
            ompl::base::PlannerStatus::StatusType updateSolution();
 
            ompl::base::PlannerStatus::StatusType ensureSetup();
 
            ompl::base::PlannerStatus::StatusType
            ensureStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition);
 
            std::shared_ptr<ompl::geometric::PathGeometric>
            getPathToState(const std::shared_ptr<eitstar::State> &state) const;
 
            void updateExactSolution(const std::shared_ptr<eitstar::State> &goalState);
 
            void updateApproximateSolution(const std::shared_ptr<eitstar::State> &state);
 
            void updateCurrentCostToCome(const std::shared_ptr<eitstar::State> &state);
 
            ompl::base::Cost computeCostToGoToGoal(const std::shared_ptr<eitstar::State> &state) const;
 
            void informAboutNewSolution() const;
 
            void informAboutPlannerStatus(ompl::base::PlannerStatus::StatusType status) const;
 
            unsigned int countNumVerticesInForwardTree() const;
 
            unsigned int countNumVerticesInReverseTree() const;
 
            std::vector<eitstar::Edge> expand(const std::shared_ptr<eitstar::State> &state) const;
 
            std::vector<eitstar::Edge> expandUnlessGoal(const std::shared_ptr<eitstar::State> &state) const;
 
            bool isClosed(const std::shared_ptr<eitstar::Vertex> &vertex) const;
 
            bool isInForwardTree(const eitstar::Edge &edge) const;
 
            bool isInReverseTree(const eitstar::Edge &edge) const;
 
            bool doesImproveReversePath(const eitstar::Edge &edge) const;
 
            bool doesImproveReverseTree(const eitstar::Edge &edge, const ompl::base::Cost &edgeCost) const;
 
            bool couldImproveForwardPath(const eitstar::Edge &edge) const;
 
            bool couldImproveForwardTree(const eitstar::Edge &edge) const;
 
            bool doesImproveForwardPath(const eitstar::Edge &edge, const ompl::base::Cost &edgeCost) const;
 
            bool doesImproveForwardTree(const eitstar::Edge &edge, const ompl::base::Cost &edgeCost) const;
 
            ompl::base::Cost estimateCostToTarget(const eitstar::Edge &edge) const;
 
            unsigned int estimateEffortToTarget(const eitstar::Edge &edge) const;
 
            bool isValid(const eitstar::Edge &edge) const;
 
            bool couldBeValid(const eitstar::Edge &edge) const;
 
            bool isValidAtResolution(const eitstar::Edge &edge, std::size_t numChecks) const;
 
            bool isBetter(const ompl::base::Cost &lhs, const ompl::base::Cost &rhs) const;
 
            ompl::base::Cost combine(const ompl::base::Cost &lhs, const ompl::base::Cost &rhs) const;
 
            template <typename... Costs>
            ompl::base::Cost combine(const ompl::base::Cost &cost, const Costs &... costs) const
            {
                return combine(cost, combine(costs...));
            }
 
            void expandStartVerticesIntoForwardQueue();
 
            void expandGoalVerticesIntoReverseQueue();
 
            eitstar::RandomGeometricGraph graph_;
 
            unsigned int batchSize_{100u};
 
            double suboptimalityFactor_{std::numeric_limits<double>::infinity()};
 
            std::size_t initialNumSparseCollisionChecks_{1u};
 
            std::size_t numSparseCollisionChecksCurrentLevel_{1u};
 
            std::size_t numSparseCollisionChecksPreviousLevel_{0u};
 
            bool isMultiqueryEnabled_{false};
 
            bool isPruningEnabled_{true};
 
            bool trackApproximateSolutions_{true};
 
            ompl::base::State *detectionState_;
 
            std::vector<std::shared_ptr<eitstar::Vertex>> startVertices_;
 
            std::vector<std::shared_ptr<eitstar::Vertex>> goalVertices_;
 
            std::unique_ptr<eitstar::ForwardQueue> forwardQueue_;
 
            std::unique_ptr<eitstar::ReverseQueue> reverseQueue_;
 
            std::size_t iteration_{0u};
 
            std::size_t reverseSearchTag_{1u};
 
            std::size_t startExpansionGraphTag_{0u};
 
            std::shared_ptr<ompl::base::ProblemDefinition> &problem_ = ompl::base::Planner::pdef_;
 
            std::shared_ptr<ompl::base::SpaceInformation> &spaceInfo_ = ompl::base::Planner::si_;
 
            std::shared_ptr<ompl::base::StateSpace> space_;
 
            std::shared_ptr<ompl::base::OptimizationObjective> objective_;
 
            std::shared_ptr<ompl::base::MotionValidator> motionValidator_;
 
            ompl::base::Cost solutionCost_{std::numeric_limits<double>::signaling_NaN()};
 
            ompl::base::Cost reverseCost_{std::numeric_limits<double>::signaling_NaN()};
 
            ompl::base::Cost approximateSolutionCost_{std::numeric_limits<double>::signaling_NaN()};
 
            ompl::base::Cost approximateSolutionCostToGoal_{std::numeric_limits<double>::signaling_NaN()};
 
            mutable unsigned int numProcessedEdges_{0u};
 
            mutable unsigned int numCollisionCheckedEdges_{0u};
        };
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_