BiEST.h

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/* Author: Ryan Luna */

#ifndef OMPL_GEOMETRIC_PLANNERS_EST_BIEST_
#define OMPL_GEOMETRIC_PLANNERS_EST_BIEST_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/datastructures/PDF.h"
#include <vector>

namespace ompl
{

    namespace geometric
    {

        class BiEST : public base::Planner
        {
        public:

            BiEST(const base::SpaceInformationPtr &si);

            virtual ~BiEST();

            virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);

            virtual void clear();

            void setRange(double distance)
            {
                maxDistance_ = distance;

                // Make the neighborhood radius smaller than sampling range to
                // keep probabilities relatively high for rejection sampling
                nbrhoodRadius_ = maxDistance_ / 3.0;
            }

            double getRange() const
            {
                return maxDistance_;
            }

            virtual void setup();

            virtual void getPlannerData(base::PlannerData &data) const;

        protected:

            class Motion
            {
            public:

                Motion() : state(NULL), parent(NULL), element(NULL), root(NULL)
                {
                }

                Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(NULL), element(NULL), root(NULL)
                {
                }

                ~Motion()
                {
                }

                base::State           *state;

                Motion                *parent;

                PDF<Motion*>::Element *element;

                const base::State     *root;
            };

            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }

            std::shared_ptr< NearestNeighbors<Motion*> > nnStart_;
            std::shared_ptr< NearestNeighbors<Motion*> > nnGoal_;

            std::vector<Motion*> startMotions_;
            std::vector<Motion*> goalMotions_;

            PDF<Motion*> startPdf_;
            PDF<Motion*> goalPdf_;

            void freeMemory();

            void addMotion(Motion* motion, std::vector<Motion*>& motions,
                           PDF<Motion*>& pdf, std::shared_ptr< NearestNeighbors<Motion*> > nn,
                           const std::vector<Motion*>& neighbors);

            base::ValidStateSamplerPtr   sampler_;

            double                       maxDistance_;

            double                       nbrhoodRadius_;

            RNG                          rng_;

            std::pair<base::State*, base::State*>      connectionPoint_;
        };

    }
}

#endif