RandomGeometricGraph.h

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2019, University of Oxford
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of the University of Toronto nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_RANDOM_GEOMETRIC_GRAPH_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_RANDOM_GEOMETRIC_GRAPH_
 
#include <limits>
#include <memory>
#include <iostream>  // This is needed for ompl's nearest neighbors struct...
 
#include "ompl/datastructures/NearestNeighborsGNATNoThreadSafety.h"
#include "ompl/base/samplers/InformedStateSampler.h"
#include "ompl/base/Planner.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/OptimizationObjective.h"
 
#include "ompl/geometric/planners/informedtrees/eitstar/State.h"
#include "ompl/geometric/planners/informedtrees/eitstar/Edge.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace eitstar
        {
            class RandomGeometricGraph
            {
            public:
                RandomGeometricGraph(const std::shared_ptr<ompl::base::SpaceInformation> &spaceInfo,
                                     const ompl::base::Cost &solutionCost);
 
                ~RandomGeometricGraph() = default;
 
                void setup(const std::shared_ptr<ompl::base::ProblemDefinition> &problem,
                           ompl::base::PlannerInputStates *inputStates);
 
                void clear();
 
                void clearQuery();
 
                void updateStartAndGoalStates(const ompl::base::PlannerTerminationCondition &terminationCondition,
                                              ompl::base::PlannerInputStates *inputStates);
 
                ompl::base::Cost minPossibleCost() const;
 
                void setRadiusFactor(double factor);
 
                double getRadiusFactor() const;
 
                void setEffortThreshold(const unsigned int threshold);
 
                unsigned int getEffortThreshold() const;
 
                void enablePruning(bool prune);
 
                bool isPruningEnabled() const;
 
                void enableMultiquery(bool multiquery);
 
                bool isMultiqueryEnabled() const;
 
                void setUseKNearest(bool useKNearest);
 
                bool getUseKNearest() const;
 
                void setMaxNumberOfGoals(unsigned int maxNumberOfGoals);
 
                unsigned int getMaxNumberOfGoals() const;
 
                bool addStates(std::size_t numStates,
                               const ompl::base::PlannerTerminationCondition &terminationCondition);
 
                void prune();
 
                std::vector<std::weak_ptr<State>> getNeighbors(const std::shared_ptr<State> &state) const;
 
                const std::vector<std::shared_ptr<State>> &getStartStates() const;
 
                const std::vector<std::shared_ptr<State>> &getGoalStates() const;
 
                unsigned int getNumberOfSampledStates() const;
 
                unsigned int getNumberOfValidSamples() const;
 
                unsigned int getNumberOfNearestNeighborCalls() const;
 
                std::shared_ptr<State> registerStartState(const ompl::base::State *start);
 
                std::shared_ptr<State> registerGoalState(const ompl::base::State *goal);
 
                void registerWhitelistedState(const std::shared_ptr<State> &state) const;
 
                bool hasStartState() const;
 
                bool hasGoalState() const;
 
                bool isStart(const std::shared_ptr<State> &state) const;
 
                bool isGoal(const std::shared_ptr<State> &state) const;
 
                std::vector<std::shared_ptr<State>> getStates() const;
 
                void registerInvalidEdge(const Edge &edge) const;
 
                std::size_t getTag() const;
 
                unsigned int inadmissibleEffortToCome(const std::shared_ptr<State> &state) const;
 
            private:
                std::shared_ptr<State> getNewSample(const ompl::base::PlannerTerminationCondition& terminationCondition);
 
                std::size_t countSamplesInInformedSet() const;
 
                bool canBePruned(const std::shared_ptr<State> &state) const;
 
                void pruneStartsAndGoals();
 
                ompl::base::Cost lowerBoundCostToCome(const std::shared_ptr<State> &state) const;
 
                unsigned int lowerBoundEffortToCome(const std::shared_ptr<State> &state) const;
 
                ompl::base::Cost lowerBoundCostToGo(const std::shared_ptr<State> &state) const;
 
                void initializeState(const std::shared_ptr<State> &state);
 
                std::size_t computeNumberOfNeighbors(std::size_t numInformedSamples) const;
 
                double computeRadius(std::size_t numInformedSamples) const;
 
                mutable std::vector<std::shared_ptr<State>> whitelistedStates_{};
 
                std::size_t tag_{1u};
 
                std::vector<std::shared_ptr<State>> buffer_;
 
                std::vector<std::shared_ptr<State>> startGoalBuffer_;
 
                std::size_t currentNumSamples_{0u};
 
                NearestNeighborsGNATNoThreadSafety<std::shared_ptr<State>> samples_;
 
                std::vector<std::shared_ptr<State>> newSamples_;
 
                std::shared_ptr<ompl::base::InformedSampler> sampler_{nullptr};
 
                std::shared_ptr<ompl::base::SpaceInformation> spaceInfo_;
 
                std::shared_ptr<ompl::base::StateSpace> space_;
 
                std::shared_ptr<ompl::base::ProblemDefinition> problem_;
 
                std::shared_ptr<ompl::base::OptimizationObjective> objective_;
 
                std::vector<std::shared_ptr<State>> startStates_;
 
                std::vector<std::shared_ptr<State>> goalStates_;
 
                std::vector<std::shared_ptr<State>> prunedStartStates_;
 
                std::vector<std::shared_ptr<State>> prunedGoalStates_;
 
                bool isPruningEnabled_{true};
 
                bool isMultiqueryEnabled_{false};
 
                bool useKNearest_{true};
 
                unsigned int maxNumGoals_{1u};
 
                std::size_t numNeighbors_{std::numeric_limits<std::size_t>::max()};
 
                std::size_t k_rgg_{std::numeric_limits<std::size_t>::max()};
 
                double radius_{std::numeric_limits<double>::infinity()};
 
                double radiusFactor_{1.001};
 
                unsigned int effortThreshold_{50000};
 
                const double dimension_;
 
                const double unitNBallMeasure_;
 
                const ompl::base::Cost &solutionCost_;
 
                ompl::base::Cost minPossibleCost_{std::numeric_limits<double>::signaling_NaN()};
 
                mutable unsigned int numSampledStates_{0u};
 
                mutable unsigned int numValidSamples_{0u};
 
                mutable unsigned int numNearestNeighborCalls_{0u};
            };
 
        }  // namespace eitstar
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_RANDOM_GEOMETRIC_GRAPH_