BiTRRT.h

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/* Author: Ryan Luna */

#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_BITRRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_BITRRT_

#include <cmath>
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/base/OptimizationObjective.h"

namespace ompl
{
    namespace geometric
    {


        class BiTRRT : public base::Planner
        {
        public:
            BiTRRT(const base::SpaceInformationPtr& si);
            virtual ~BiTRRT();
            virtual void clear();
            virtual void setup();
            virtual void getPlannerData(base::PlannerData &data) const;
            virtual base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc);

            void setRange(double distance)
            {
                maxDistance_ = distance;
            }

            double getRange() const
            {
                return maxDistance_;
            }

            void setTempChangeFactor(double factor)
            {
                tempChangeFactor_ = exp(factor);
            }

            double getTempChangeFactor() const
            {
                return log(tempChangeFactor_);
            }

            void setCostThreshold(double maxCost)
            {
                costThreshold_ = base::Cost(maxCost);
            }

            double getCostThreshold() const
            {
                return costThreshold_.value();
            }

            void setInitTemperature(double initTemperature)
            {
                initTemperature_ = initTemperature;
            }

            double getInitTemperature() const
            {
                return initTemperature_;
            }

            void setFrontierThreshold(double frontierThreshold)
            {
                frontierThreshold_ = frontierThreshold;
            }

            double getFrontierThreshold() const
            {
                return frontierThreshold_;
            }

            void setFrontierNodeRatio(double frontierNodeRatio)
            {
                frontierNodeRatio_ = frontierNodeRatio;
            }

            double getFrontierNodeRatio() const
            {
                return frontierNodeRatio_;
            }

            template<template<typename T> class NN>
            void setNearestNeighbors()
            {
                tStart_.reset(new NN<Motion*>());
                tGoal_.reset(new NN<Motion*>());
            }

        protected:

            class Motion
            {
            public:

                Motion() : state(nullptr), parent(nullptr), root(nullptr) {}

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

                ~Motion() {}


                base::State       *state;

                Motion            *parent;

                base::Cost         cost;

                const base::State *root;

            };

            void freeMemory();

            typedef std::shared_ptr< NearestNeighbors<Motion*> > TreeData;

            Motion* addMotion(const base::State* state, TreeData& tree, Motion* parent = nullptr);

            bool transitionTest(const base::Cost& motionCost);

            bool minExpansionControl(double dist);

            enum GrowResult
            {
                FAILED,
                ADVANCED,
                SUCCESS
            };

            GrowResult extendTree(Motion* rmotion, TreeData& tree, Motion*& xmotion);

            GrowResult extendTree(Motion* nearest, TreeData& tree, Motion* toMotion, Motion*& result);

            bool connectTrees(Motion* nmotion, TreeData& tree, Motion* xmotion);

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

            double  maxDistance_;

            double  tempChangeFactor_;

            base::Cost                                      bestCost_;

            base::Cost                                      worstCost_;

            base::Cost                                      costThreshold_;

            double  initTemperature_;

            double  frontierThreshold_;

            double  frontierNodeRatio_;

            double  temp_;

            double  nonfrontierCount_;

            double  frontierCount_;

            double  connectionRange_;

            std::pair<Motion*, Motion*> connectionPoint_;

            TreeData tStart_;

            TreeData tGoal_;

            ompl::base::OptimizationObjectivePtr opt_;
        };
    }
}

#endif