CForest.h

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/* Authors: Javier V. Gómez, Ioan Sucan, Mark Moll */

#ifndef OMPL_GEOMETRIC_PLANNERS_CFOREST_CFOREST_
#define OMPL_GEOMETRIC_PLANNERS_CFOREST_CFOREST_


#include "ompl/geometric/planners/cforest/CForestStateSpaceWrapper.h"
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/tools/config/SelfConfig.h"

#include <mutex>

#include <vector>

namespace ompl
{

    namespace geometric
    {

        class CForest : public base::Planner
        {
        public:

            CForest(const base::SpaceInformationPtr &si);

            virtual ~CForest();

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

            virtual void clear();

            template <class T>
            void addPlannerInstance()
            {
                base::CForestStateSpaceWrapper *cfspace = new base::CForestStateSpaceWrapper(this, si_->getStateSpace().get());
                base::StateSpacePtr space(cfspace);
                base::SpaceInformationPtr si(new base::SpaceInformation(space));
                si->setStateValidityChecker(si_->getStateValidityChecker());
                si->setMotionValidator(si_->getMotionValidator());
                base::PlannerPtr planner(new T(si));
                cfspace->setPlanner(planner.get());
                addPlannerInstanceInternal(planner);
            }

            template <class T>
            void addPlannerInstances(std::size_t num = 2)
            {
                planners_.reserve(planners_.size() + num);
                for (std::size_t i = 0 ; i < num; ++i)
                {
                    addPlannerInstance<T>();
                }
            }

            void clearPlannerInstances()
            {
                planners_.clear();
            }
            base::PlannerPtr& getPlannerInstance(const std::size_t idx)
            {
                return planners_[idx];
            }

            virtual void setup();

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

            void addSampler(base::StateSamplerPtr sampler)
            {
                addSamplerMutex_.lock();
                samplers_.push_back(sampler);
                addSamplerMutex_.unlock();
            }

            void setFocusSearch(const bool focus)
            {
                focusSearch_ = focus;
            }

            bool getFocusSearch() const
            {
                return focusSearch_;
            }

            void setNumThreads(unsigned int numThreads = 0);

            unsigned int getNumThreads()
            {
                return numThreads_;
            }

            std::string getBestCost() const;

            std::string getNumPathsShared() const;

            std::string getNumStatesShared() const;

        private:

            void addPlannerInstanceInternal(const base::PlannerPtr &planner);

            void newSolutionFound(const base::Planner *planner, const std::vector<const base::State *> &states, const base::Cost cost);

        protected:

            void solve(base::Planner *planner, const base::PlannerTerminationCondition &ptc);

            base::OptimizationObjectivePtr               opt_;

            std::vector<base::PlannerPtr>                planners_;

            std::vector<base::StateSamplerPtr>           samplers_;

            std::unordered_set<const base::State *>      statesShared_;

            base::Cost                                   bestCost_;

            unsigned int                                 numPathsShared_;

            unsigned int                                 numStatesShared_;

            std::mutex                                   newSolutionFoundMutex_;

            std::mutex                                   addSamplerMutex_;

            bool                                         focusSearch_;

            unsigned int                                 numThreads_;
        };
    }
}

#endif