State.h

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// Authors: Marlin Strub
 
#ifndef OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_STATE_
#define OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_STATE_
 
#include <memory>
#include <set>
#include <utility>
 
#include "ompl/base/Cost.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/State.h"
 
#include "ompl/geometric/planners/informedtrees/eitstar/Vertex.h"
 
namespace ompl
{
    namespace geometric
    {
        namespace eitstar
        {
            class State : public std::enable_shared_from_this<State>  // Inheritance must be public here.
            {
            public:
                State(const std::shared_ptr<ompl::base::SpaceInformation> &spaceInfo,
                      const std::shared_ptr<ompl::base::OptimizationObjective> &objective);
 
                ~State();
 
                std::size_t getId() const;
 
                ompl::base::State *raw() const;
 
                bool hasForwardVertex() const;
 
                bool hasReverseVertex() const;
 
                std::shared_ptr<Vertex> asForwardVertex();
 
                std::shared_ptr<Vertex> asReverseVertex();
 
                void blacklist(const std::shared_ptr<State> &state);
 
                void whitelist(const std::shared_ptr<State> &state);
 
                bool isBlacklisted(const std::shared_ptr<State> &state) const;
 
                bool isWhitelisted(const std::shared_ptr<State> &state) const;
 
                void setEstimatedEffortToGo(std::size_t effort);
 
                void setEstimatedCostToGo(ompl::base::Cost cost);
 
                void setAdmissibleCostToGo(ompl::base::Cost cost);
 
                void setLowerBoundCostToGo(ompl::base::Cost cost);
 
                void setLowerBoundCostToCome(ompl::base::Cost cost);
 
                void setCurrentCostToCome(ompl::base::Cost cost);
 
                void setLowerBoundEffortToCome(unsigned int effort);
 
                void setInadmissibleEffortToCome(unsigned int effort);
 
                unsigned int getEstimatedEffortToGo() const;
 
                ompl::base::Cost getEstimatedCostToGo() const;
 
                ompl::base::Cost getAdmissibleCostToGo() const;
 
                ompl::base::Cost getLowerBoundCostToGo() const;
 
                ompl::base::Cost getLowerBoundCostToCome() const;
 
                ompl::base::Cost getCurrentCostToCome() const;
 
                unsigned int getLowerBoundEffortToCome() const;
 
                unsigned int getInadmissibleEffortToCome() const;
 
                const std::vector<std::weak_ptr<State>> getSourcesOfIncomingEdgesInForwardQueue() const;
 
                void addToSourcesOfIncomingEdgesInForwardQueue(const std::shared_ptr<State> &state) const;
 
                void removeFromSourcesOfIncomingEdgesInForwardQueue(const std::shared_ptr<State> &state) const;
 
                void resetSourcesOfIncomingEdgesInForwardQueue();
 
                void setIncomingCollisionCheckResolution(const std::shared_ptr<State> &source,
                                                         std::size_t numChecks) const;
 
                std::size_t getIncomingCollisionCheckResolution(const std::shared_ptr<State> &source) const;
 
            private:
                friend class RandomGeometricGraph;
 
                const std::size_t id_;
 
                unsigned int estimatedEffortToGo_{std::numeric_limits<unsigned int>::max()};
 
                ompl::base::Cost estimatedCostToGo_;
 
                unsigned int lowerBoundEffortToCome_{std::numeric_limits<unsigned int>::max()};
 
                unsigned int inadmissibleEffortToCome_{std::numeric_limits<unsigned int>::max()};
 
                ompl::base::Cost admissibleCostToGo_;
 
                ompl::base::Cost lowerBoundCostToGo_;
 
                ompl::base::Cost lowerBoundCostToCome_;
 
                ompl::base::Cost currentCostToCome_;
 
                ompl::base::State *state_;
 
                std::weak_ptr<Vertex> forwardVertex_{};
 
                std::weak_ptr<Vertex> reverseVertex_{};
 
                mutable std::pair<std::size_t, std::vector<std::weak_ptr<State>>> neighbors_{};
 
                std::set<std::size_t> blacklist_{};  // Maybe this would be faster as vector?
 
                std::set<std::size_t> whitelist_{};  // Maybe this would be faster as vector?
 
                mutable std::vector<std::weak_ptr<State>> sourcesOfIncomingEdgesInForwardQueue_{};
 
                mutable std::map<std::size_t, std::size_t> incomingCollisionCheckResolution_{};
 
                std::shared_ptr<ompl::base::SpaceInformation> spaceInfo_;
 
                std::shared_ptr<ompl::base::OptimizationObjective> objective_;
            };
 
        }  // namespace eitstar
 
    }  // namespace geometric
 
}  // namespace ompl
 
#endif  // OMPL_GEOMETRIC_PLANNERS_INFORMEDTREES_EITSTAR_STATE_