SPARStwo.h

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/* Author: Andrew Dobson */

#ifndef OMPL_GEOMETRIC_PLANNERS_SPARS_TWO_
#define OMPL_GEOMETRIC_PLANNERS_SPARS_TWO_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/geometric/PathSimplifier.h"
#include "ompl/util/Time.h"
#include "ompl/util/Hash.h"

#include <boost/range/adaptor/map.hpp>
#include <unordered_map>
#include <boost/graph/graph_traits.hpp>
#include <boost/graph/adjacency_list.hpp>
#include <boost/pending/disjoint_sets.hpp>
#include <functional>
#include <mutex>
#include <iostream>
#include <fstream>
#include <utility>
#include <vector>
#include <map>

namespace ompl
{

    namespace geometric
    {

        class SPARStwo : public base::Planner
        {
        public:

            enum GuardType
            {
                START,
                GOAL,
                COVERAGE,
                CONNECTIVITY,
                INTERFACE,
                QUALITY,
            };

            typedef unsigned long int VertexIndexType;

            typedef std::pair< VertexIndexType, VertexIndexType > VertexPair;

            struct InterfaceData
            {
                base::State *pointA_;
                base::State *pointB_;

                base::State *sigmaA_;
                base::State *sigmaB_;

                double       d_;

                InterfaceData() :
                    pointA_(nullptr),
                    pointB_(nullptr),
                    sigmaA_(nullptr),
                    sigmaB_(nullptr),
                    d_(std::numeric_limits<double>::infinity())
                {
                }

                void clear(const base::SpaceInformationPtr& si)
                {
                    if (pointA_)
                    {
                        si->freeState(pointA_);
                        pointA_ = nullptr;
                    }
                    if (pointB_)
                    {
                        si->freeState(pointB_);
                        pointB_ = nullptr;
                    }
                    if (sigmaA_)
                    {
                        si->freeState(sigmaA_);
                        sigmaA_ = nullptr;
                    }
                    if (sigmaB_)
                    {
                        si->freeState(sigmaB_);
                        sigmaB_ = nullptr;
                    }
                    d_ = std::numeric_limits<double>::infinity();
                }

                void setFirst(const base::State *p, const base::State *s, const base::SpaceInformationPtr& si)
                {
                    if (pointA_)
                        si->copyState(pointA_, p);
                    else
                        pointA_ = si->cloneState(p);
                    if (sigmaA_)
                        si->copyState(sigmaA_, s);
                    else
                        sigmaA_ = si->cloneState(s);
                    if (pointB_)
                        d_ = si->distance(pointA_, pointB_);
                }

                void setSecond(const base::State *p, const base::State *s, const base::SpaceInformationPtr& si)
                {
                    if (pointB_)
                        si->copyState(pointB_, p);
                    else
                        pointB_ = si->cloneState(p);
                    if (sigmaB_)
                        si->copyState(sigmaB_, s);
                    else
                        sigmaB_ = si->cloneState(s);
                    if (pointA_)
                        d_ = si->distance(pointA_, pointB_);
                }
            };

            typedef std::unordered_map<VertexPair, InterfaceData> InterfaceHash;

            struct vertex_state_t {
                typedef boost::vertex_property_tag kind;
            };

            struct vertex_color_t {
                typedef boost::vertex_property_tag kind;
            };

            struct vertex_interface_data_t {
                typedef boost::vertex_property_tag kind;
            };

            typedef boost::adjacency_list <
                boost::vecS, boost::vecS, boost::undirectedS,
                boost::property < vertex_state_t, base::State*,
                boost::property < boost::vertex_predecessor_t, VertexIndexType,
                boost::property < boost::vertex_rank_t, VertexIndexType,
                boost::property < vertex_color_t, GuardType,
                boost::property < vertex_interface_data_t, InterfaceHash > > > > >,
                boost::property < boost::edge_weight_t, base::Cost >
            > Graph;

            typedef boost::graph_traits<Graph>::vertex_descriptor Vertex;

            typedef boost::graph_traits<Graph>::edge_descriptor   Edge;

            SPARStwo(const base::SpaceInformationPtr &si);

            virtual ~SPARStwo();

            virtual void setProblemDefinition(const base::ProblemDefinitionPtr &pdef);

            void setStretchFactor(double t)
            {
                stretchFactor_ = t;
            }

            void setSparseDeltaFraction( double D )
            {
                sparseDeltaFraction_ = D;
                if (sparseDelta_ > 0.0) // setup was previously called
                    sparseDelta_ = D * si_->getMaximumExtent();
            }

            void setDenseDeltaFraction( double d )
            {
                denseDeltaFraction_ = d;
                if (denseDelta_ > 0.0) // setup was previously called
                    denseDelta_ = d * si_->getMaximumExtent();
            }

            void setMaxFailures( unsigned int m )
            {
                maxFailures_ = m;
            }

            unsigned int getMaxFailures( ) const
            {
                return maxFailures_;
            }

            double getDenseDeltaFraction( ) const
            {
                return denseDeltaFraction_;
            }

            double getSparseDeltaFraction( ) const
            {
                return sparseDeltaFraction_;
            }

            double getStretchFactor( ) const
            {
                return stretchFactor_;
            }

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

            void constructRoadmap(const base::PlannerTerminationCondition &ptc, bool stopOnMaxFail);

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

            void clearQuery();

            virtual void clear();

            template<template<typename T> class NN>
            void setNearestNeighbors()
            {
                nn_.reset(new NN< Vertex >());
                if (isSetup())
                    setup();
            }

            virtual void setup();

            const Graph& getRoadmap() const
            {
                return g_;
            }

            unsigned int milestoneCount() const
            {
                return boost::num_vertices(g_);
            }

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

            void printDebug(std::ostream &out = std::cout) const;

            // Planner progress property functions
            std::string getIterationCount() const
            {
                return boost::lexical_cast<std::string>(iterations_);
            }
            std::string getBestCost() const
            {
                return boost::lexical_cast<std::string>(bestCost_);
            }

        protected:

            void freeMemory();

            void checkQueryStateInitialization();

            bool checkAddCoverage(const base::State *qNew, std::vector<Vertex> &visibleNeighborhood);

            bool checkAddConnectivity(const base::State *qNew, std::vector<Vertex> &visibleNeighborhood);

            bool checkAddInterface(const base::State *qNew, std::vector<Vertex> &graphNeighborhood, std::vector<Vertex> &visibleNeighborhood);

            bool checkAddPath( Vertex v );

            void resetFailures();

            void findGraphNeighbors(base::State *st, std::vector<Vertex> &graphNeighborhood, std::vector<Vertex> &visibleNeighborhood);

            void approachGraph( Vertex v );

            Vertex findGraphRepresentative(base::State *st);

            void findCloseRepresentatives(base::State *workArea, const base::State *qNew, Vertex qRep,
                                          std::map<Vertex, base::State*> &closeRepresentatives, const base::PlannerTerminationCondition &ptc);

            void updatePairPoints(Vertex rep, const base::State *q, Vertex r, const base::State *s);

            void computeVPP(Vertex v, Vertex vp, std::vector<Vertex> &VPPs);

            void computeX(Vertex v, Vertex vp, Vertex vpp, std::vector<Vertex> &Xs);

            VertexPair index( Vertex vp, Vertex vpp );

            InterfaceData& getData( Vertex v, Vertex vp, Vertex vpp );

            void distanceCheck(Vertex rep, const base::State *q, Vertex r, const base::State *s, Vertex rp);

            void abandonLists(base::State *st);

            Vertex addGuard(base::State *state, GuardType type);

            void connectGuards( Vertex v, Vertex vp );

            bool haveSolution(const std::vector<Vertex> &start, const std::vector<Vertex> &goal, base::PathPtr &solution);

            void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution);

            bool reachedTerminationCriterion() const;

            bool reachedFailureLimit () const;

            base::PathPtr constructSolution(const Vertex start, const Vertex goal) const;

            bool sameComponent(Vertex m1, Vertex m2);

            double distanceFunction(const Vertex a, const Vertex b) const
            {
                return si_->distance(stateProperty_[a], stateProperty_[b]);
            }

            base::ValidStateSamplerPtr                                          sampler_;

            base::StateSamplerPtr                                               simpleSampler_;

            std::shared_ptr< NearestNeighbors<Vertex> >                         nn_;

            Graph                                                               g_;

            std::vector<Vertex>                                                 startM_;

            std::vector<Vertex>                                                 goalM_;

            Vertex                                                              queryVertex_;

            double                                                              stretchFactor_;

            double                                                              sparseDeltaFraction_;

            double                                                              denseDeltaFraction_;

            unsigned int                                                        maxFailures_;

            unsigned int                                                        nearSamplePoints_;

            boost::property_map<Graph, vertex_state_t>::type                    stateProperty_;

            PathSimplifierPtr                                                   psimp_;

            boost::property_map<Graph, boost::edge_weight_t>::type              weightProperty_;

            boost::property_map<Graph, vertex_color_t>::type                    colorProperty_;

            boost::property_map<Graph, vertex_interface_data_t>::type           interfaceDataProperty_;

            boost::disjoint_sets<
                boost::property_map<Graph, boost::vertex_rank_t>::type,
                boost::property_map<Graph, boost::vertex_predecessor_t>::type >
                                                                                disjointSets_;
            RNG                                                                 rng_;

            bool                                                                addedSolution_;

            unsigned int                                                        consecutiveFailures_;

            double                                                              sparseDelta_;

            double                                                              denseDelta_;

            mutable std::mutex                                                  graphMutex_;

            base::OptimizationObjectivePtr                                      opt_;

            base::Cost costHeuristic(Vertex u, Vertex v) const;

            // Planner progress properties
            long unsigned int                                                   iterations_;
            base::Cost                                                          bestCost_;
        };

    }
}

#endif