ProjEST.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  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 Willow Garage 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: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_EST_PROJEST_
#define OMPL_GEOMETRIC_PLANNERS_EST_PROJEST_

#include "ompl/datastructures/Grid.h"
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/ProjectionEvaluator.h"
#include "ompl/datastructures/PDF.h"
#include <vector>

namespace ompl
{

    namespace geometric
    {

        class ProjEST : public base::Planner
        {
        public:

            ProjEST(const base::SpaceInformationPtr &si);

            virtual ~ProjEST();

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

            virtual void clear();

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

            double getGoalBias() const
            {
                return goalBias_;
            }

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

            double getRange() const
            {
                return maxDistance_;
            }

            void setProjectionEvaluator(const base::ProjectionEvaluatorPtr &projectionEvaluator)
            {
                projectionEvaluator_ = projectionEvaluator;
            }

            void setProjectionEvaluator(const std::string &name)
            {
                projectionEvaluator_ = si_->getStateSpace()->getProjection(name);
            }

            const base::ProjectionEvaluatorPtr& getProjectionEvaluator() const
            {
                return projectionEvaluator_;
            }

            virtual void setup();

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

        protected:

            class Motion
            {
            public:

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

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

                ~Motion()
                {
                }

                base::State       *state;

                Motion            *parent;
            };

            struct MotionInfo;

            typedef Grid<MotionInfo>::Cell GridCell;

            typedef PDF<GridCell*>        CellPDF;

            struct MotionInfo
            {
                Motion* operator[](unsigned int i)
                {
                    return motions_[i];
                }
                const Motion* operator[](unsigned int i) const
                {
                    return motions_[i];
                }
                void push_back(Motion *m)
                {
                    motions_.push_back(m);
                }
                unsigned int size() const
                {
                    return motions_.size();
                }
                bool empty() const
                {
                    return motions_.empty();
                }
                std::vector<Motion*> motions_;
                CellPDF::Element    *elem_;
            };


            struct TreeData
            {
                TreeData() : grid(0), size(0)
                {
                }

                Grid<MotionInfo> grid;

                unsigned int    size;
            };

            void freeMemory();

            void addMotion(Motion *motion);

            Motion* selectMotion();

            base::ValidStateSamplerPtr   sampler_;

            TreeData                     tree_;

            base::ProjectionEvaluatorPtr projectionEvaluator_;

            double                       goalBias_;

            double                       maxDistance_;

            RNG                          rng_;

            CellPDF                      pdf_;

            Motion                       *lastGoalMotion_;
        };

    }
}

#endif