SelfConfig.h

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2011, Rice University.
 *  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 Rice University 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.
 *********************************************************************/
 
/* Author: Ioan Sucan */
 
#ifndef OMPL_TOOLS_SELF_CONFIG_
#define OMPL_TOOLS_SELF_CONFIG_
 
#include "ompl/base/Goal.h"
#include "ompl/base/Planner.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/datastructures/NearestNeighborsSqrtApprox.h"
#include "ompl/datastructures/NearestNeighborsGNAT.h"
#include "ompl/datastructures/NearestNeighborsGNATNoThreadSafety.h"
#include <mutex>
#include <iostream>
#include <string>
 
namespace ompl
{
    namespace tools
    {
        class SelfConfig
        {
        public:
            SelfConfig(const base::SpaceInformationPtr &si, const std::string &context = std::string());
 
            ~SelfConfig();
 
            double getProbabilityOfValidState();
 
            double getAverageValidMotionLength();
 
            void configureValidStateSamplingAttempts(unsigned int &attempts);
 
            void configurePlannerRange(double &range);
 
            void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj);
 
            void print(std::ostream &out = std::cout) const;
 
            template <typename _T>
            static NearestNeighbors<_T> *getDefaultNearestNeighbors(const base::Planner *planner)
            {
                const base::StateSpacePtr &space = planner->getSpaceInformation()->getStateSpace();
                const base::PlannerSpecs &specs = planner->getSpecs();
                if (space->isMetricSpace())
                {
                    if (specs.multithreaded)
                        return new NearestNeighborsGNAT<_T>();
                    return new NearestNeighborsGNATNoThreadSafety<_T>();
                }
                return new NearestNeighborsSqrtApprox<_T>();
            }
 
            static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
 
        private:
            class SelfConfigImpl;
 
            SelfConfigImpl *impl_;
            std::string context_;
            static std::mutex staticConstructorLock_;
        };
    }
}
 
#endif