LightningRetrieveRepair.h

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/* Author: Dave Coleman */

#ifndef OMPL_GEOMETRIC_PLANNERS_EXPERIENCE_LIGHTNING_RETRIEVE_REPAIR_
#define OMPL_GEOMETRIC_PLANNERS_EXPERIENCE_LIGHTNING_RETRIEVE_REPAIR_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/geometric/PathSimplifier.h"
#include "ompl/datastructures/NearestNeighbors.h"

namespace ompl
{
    namespace tools
    {
        OMPL_CLASS_FORWARD(LightningDB);
    }

    namespace geometric
    {


        OMPL_CLASS_FORWARD(LightningRetrieveRepair);

        class LightningRetrieveRepair : public base::Planner
        {
        public:

            LightningRetrieveRepair(const base::SpaceInformationPtr &si, const tools::LightningDBPtr &experienceDB);

            virtual ~LightningRetrieveRepair();

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

            const std::vector<base::PlannerDataPtr>& getLastRecalledNearestPaths() const;

            std::size_t getLastRecalledNearestPathChosen() const;

            base::PlannerDataPtr getChosenRecallPath() const;

            void getRepairPlannerDatas(std::vector<base::PlannerDataPtr> &data) const;

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

            virtual void clear();

            void setLightningDB(const tools::LightningDBPtr &experienceDB);

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

            virtual void setup();

            bool repairPath(const base::PlannerTerminationCondition &ptc, geometric::PathGeometric &path);

            bool replan(const base::State *start, const base::State *goal, geometric::PathGeometric &newPathSegment,
                        const base::PlannerTerminationCondition &ptc);

            int getNumNearestSolutions() const
            {
              return nearestK_;
            }

            void setNumNearestSolutions(int nearestK)
            {
              nearestK_ = nearestK;
            }

        protected:

            std::size_t checkMotionScore(const base::State *s1, const base::State *s2) const;

            bool findBestPath(const base::State *startState, const base::State *goalState, base::PlannerDataPtr& chosenPath);

            tools::LightningDBPtr                            experienceDB_;

            std::vector<base::PlannerDataPtr>                nearestPaths_;

            std::size_t                                      nearestPathsChosenID_;

            base::PlannerPtr                                 repairPlanner_;

            base::ProblemDefinitionPtr                       repairProblemDef_;

            std::vector<base::PlannerDataPtr>                repairPlannerDatas_;

            geometric::PathSimplifierPtr                     psk_;

            int                                              nearestK_;
        };

    }
}

#endif