ThunderRetrieveRepair.h

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/* Author: Dave Coleman */

#ifndef OMPL_TOOLS_THUNDER_THUNDER_RETRIEVE_REPAIR_
#define OMPL_TOOLS_THUNDER_THUNDER_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(ThunderDB);
    }

    namespace geometric
    {


        OMPL_CLASS_FORWARD(ThunderRetrieveRepair);

        class ThunderRetrieveRepair : public base::Planner
        {
        public:

            ThunderRetrieveRepair(const base::SpaceInformationPtr &si, const tools::ThunderDBPtr &experienceDB);

            virtual ~ThunderRetrieveRepair(void);

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

            const std::vector<PathGeometric>& getLastRecalledNearestPaths() const;

            std::size_t getLastRecalledNearestPathChosen() const;

            const PathGeometric& getChosenRecallPath() const;

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

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

            virtual void clear(void);

            void setExperienceDB(const tools::ThunderDBPtr &experienceDB);

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

            virtual void setup(void);

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

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

            int getNearestK() const
            {
              return nearestK_;
            }

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

            void enableSmoothing(bool enable)
            {
                smoothingEnabled_ =  enable;
            }

        protected:

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

            void freeMemory(void);

            tools::ThunderDBPtr                          experienceDB_;

            std::vector<PathGeometric>                   nearestPaths_;

            std::size_t                                  nearestPathsChosenID_;

            base::PlannerPtr                             repairPlanner_;

            base::ProblemDefinitionPtr                   repairProblemDef_;

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

            PathSimplifierPtr                            path_simplifier_;

            int                                          nearestK_;

            bool                                         smoothingEnabled_;
        };

    } // namespace geometric
} // namespace ompl

#endif