LazyLBTRRT.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2015, Tel Aviv 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 Tel Aviv 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: Oren Salzman, Mark Moll */

#ifndef OMPL_CONTRIB_LAZY_LBTRRT_
#define OMPL_CONTRIB_LAZY_LBTRRT_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/base/goals/GoalSampleableRegion.h"
#include "ompl/datastructures/LPAstarOnGraph.h"

#include <fstream>
#include <vector>
#include <tuple>
#include <cassert>

#include <boost/graph/graph_traits.hpp>
#include <boost/graph/adjacency_list.hpp>

namespace ompl
{

    namespace geometric
    {

        class LazyLBTRRT : public base::Planner
        {
        public:

            LazyLBTRRT(const base::SpaceInformationPtr &si);

            virtual ~LazyLBTRRT(void);

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

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

            virtual void clear(void);

            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }

            double getGoalBias(void) const
            {
                return goalBias_;
            }

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

            double getRange(void) const
            {
                return maxDistance_;
            }

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

            virtual void setup(void);

            void setApproximationFactor (double epsilon)
            {
                epsilon_ = epsilon;
            }

            // Planner progress property functions
            std::string getIterationCount() const
            {
                return std::to_string(iterations_);
            }
            std::string getBestCost() const
            {
                return std::to_string(bestCost_);
            }

        protected:
            class Motion
            {
            public:

                Motion(void) : state_(nullptr)
                {
                }

                Motion(const base::SpaceInformationPtr &si) : state_(si->allocState())
                {
                }

                ~Motion(void)
                {
                }

                std::size_t       id_;

                base::State       *state_;
            };

            typedef boost::property<boost::edge_weight_t, double> WeightProperty;
            typedef boost::adjacency_list<  boost::vecS, //container type for the out edge list
            boost::vecS,            //container type for the vertex list
            boost::undirectedS,     // directedS / undirectedS / bidirectionalS.
            std::size_t,            //vertex properties
            WeightProperty          //edge properties
                >  BoostGraph;

            friend class CostEstimatorApx; //allow CostEstimatorApx access to private members
            class CostEstimatorApx
            {
            public:
                CostEstimatorApx(LazyLBTRRT *alg)
                    : alg_(alg)
                {
                }
                double operator()(std::size_t i)
                {
                    double lb_estimate = (*(alg_->LPAstarLb_))(i);
                    if (lb_estimate != std::numeric_limits<double>::infinity())
                        return lb_estimate;

                    return alg_->distanceFunction(alg_->idToMotionMap_[i], alg_->startMotion_);
                }
            private:
                LazyLBTRRT *alg_;
                Motion     *target_;
            }; //CostEstimatorApx

            class CostEstimatorLb
            {
            public:
                CostEstimatorLb(base::Goal *goal, std::vector<Motion*> &idToMotionMap)
                    : goal_(goal), idToMotionMap_(idToMotionMap)
                {
                }
                double operator()(std::size_t i)
                {
                    double dist = 0.0;
                    goal_->isSatisfied(idToMotionMap_[i]->state_,  &dist);

                    return dist;
                }
            private:
                base::Goal           *goal_;
                std::vector<Motion*> &idToMotionMap_;
            }; //CostEstimatorLb

            typedef LPAstarOnGraph<BoostGraph, CostEstimatorApx> LPAstarApx;
            typedef LPAstarOnGraph<BoostGraph, CostEstimatorLb>  LPAstarLb;

            void sampleBiased(const base::GoalSampleableRegion* goal_s, base::State *rstate);

            void freeMemory(void);

            double distanceFunction(const base::State *a, const base::State *b) const
            {
                return si_->distance(a, b);
            }
            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state_, b->state_);
            }
            bool checkMotion(const base::State *a, const base::State *b) const
            {
                return si_->checkMotion(a,b);
            }
            bool checkMotion(const Motion *a, const Motion *b) const
            {
                return si_->checkMotion(a->state_, b->state_);
            }

            Motion* getMotion(std::size_t id) const
            {
                assert (idToMotionMap_.size() > id);
                return idToMotionMap_[id];
            }
            void addVertex(const Motion *a)
            {
                boost::add_vertex(a->id_, graphApx_);
                boost::add_vertex(a->id_, graphLb_);
            }

            void addEdgeApx(Motion *a, Motion *b, double c)
            {
                WeightProperty w (c);
                boost::add_edge(a->id_, b->id_, w, graphApx_);
                LPAstarApx_->insertEdge(a->id_, b->id_, c);
                LPAstarApx_->insertEdge(b->id_, a->id_, c);
            }
            void addEdgeLb(const Motion *a, const Motion *b, double c)
            {
                WeightProperty w (c);
                boost::add_edge(a->id_, b->id_, w, graphLb_);
                LPAstarLb_->insertEdge(a->id_, b->id_, c);
                LPAstarLb_->insertEdge(b->id_, a->id_, c);
            }
            bool edgeExistsApx(std::size_t a, std::size_t b)
            {
                return boost::edge(a, b, graphApx_).second;
            }
            bool edgeExistsApx(const Motion *a, const Motion *b)
            {
                return edgeExistsApx(a->id_, b->id_);
            }
            bool edgeExistsLb(const Motion *a, const Motion *b)
            {
                return boost::edge(a->id_, b->id_, graphLb_).second;
            }
            void removeEdgeLb(const Motion *a, const Motion *b)
            {
                boost::remove_edge(a->id_, b->id_, graphLb_);
                LPAstarLb_->removeEdge(a->id_, b->id_);
                LPAstarLb_->removeEdge(b->id_, a->id_);
                return;
            }
            std::tuple<Motion*, base::State*, double> rrtExtend(
                const base::GoalSampleableRegion *goal_s, base::State *xstate,
                Motion *rmotion, double &approxdif);
            void rrt(const base::PlannerTerminationCondition &ptc,
                base::GoalSampleableRegion *goal_s, base::State *xstate,
                Motion *rmotion, double &approxdif);
            Motion* createMotion(const base::GoalSampleableRegion *goal_s, const base::State *st);
            Motion* createGoalMotion(const base::GoalSampleableRegion *goal_s);

            void closeBounds(const base::PlannerTerminationCondition &ptc);

            double getApproximationFactor(void) const
            {
                return epsilon_;
            }

            base::StateSamplerPtr               sampler_;

            std::shared_ptr< NearestNeighbors<Motion*> > nn_;

            double                              goalBias_;

            double                              maxDistance_;

            RNG                                 rng_;

            double                              epsilon_;

            Motion                             *lastGoalMotion_;

            BoostGraph                          graphLb_;
            BoostGraph                          graphApx_;
            Motion                             *startMotion_;
            Motion                             *goalMotion_;     //root of LPAstarApx_
            LPAstarApx                         *LPAstarApx_;    //rooted at target
            LPAstarLb                          *LPAstarLb_;     //rooted at source
            std::vector<Motion*>                idToMotionMap_;

            // Planner progress properties
            unsigned int                        iterations_;
            double                              bestCost_;
        };

    }
}

#endif //OMPL_CONTRIB_LAZY_LBTRRT_