Thunder.h

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/* Author: Dave Coleman
*/

#ifndef OMPL_TOOLS_THUNDER_THUNDER_
#define OMPL_TOOLS_THUNDER_THUNDER_

#include <ompl/tools/experience/ExperienceSetup.h> // the parent class

#include <ompl/tools/thunder/ThunderDB.h>
#include <ompl/geometric/planners/experience/ThunderRetrieveRepair.h>

#include <ompl/base/Planner.h>
#include <ompl/base/PlannerData.h>
#include <ompl/base/ProblemDefinition.h>
#include <ompl/base/SpaceInformation.h>
#include <ompl/base/ProblemDefinition.h>
#include <ompl/base/StateSpace.h> // for storing to file

#include <ompl/geometric/PathGeometric.h>
#include <ompl/geometric/PathSimplifier.h>

#include <ompl/tools/multiplan/ParallelPlan.h>

#include <ompl/util/Console.h>
#include <ompl/util/Exception.h>

namespace ompl
{

    namespace tools
    {
        OMPL_CLASS_FORWARD(Thunder);

        class Thunder : public ompl::tools::ExperienceSetup
        {
        public:

            explicit
            Thunder(const base::SpaceInformationPtr &si);

            explicit
            Thunder(const base::StateSpacePtr &space);

        private:

            void initialize();

        public:

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

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

            ompl::base::PlannerPtr& getPlanner()
            {
                return planner_;
            }

            ompl::geometric::ThunderRetrieveRepair& getRetrieveRepairPlanner() const
            {
                return static_cast<ompl::geometric::ThunderRetrieveRepair&>(*rrPlanner_);
            }

            void setRepairPlanner(const base::PlannerPtr &planner)
            {
                static_cast<ompl::geometric::ThunderRetrieveRepair&>(*rrPlanner_).setRepairPlanner(planner);
            }

            void setPlannerAllocator(const base::PlannerAllocator &pa);

            virtual base::PlannerStatus solve(double time = 1.0);

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

            bool save();

            bool saveIfChanged();

            virtual void clear(void);

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

            virtual void setup(void);

            void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const;

            std::size_t getExperiencesCount() const;

            void convertPlannerData(const ompl::base::PlannerDataPtr plannerData, ompl::geometric::PathGeometric &path);

            bool reversePathIfNecessary(ompl::geometric::PathGeometric &path1, ompl::geometric::PathGeometric &path2);

            ompl::tools::ThunderDBPtr getExperienceDB();

            bool doPostProcessing();

        protected:

            base::PlannerPtr                             rrPlanner_;

            base::PlannerPtr                             planner2_;

            bool                                         dualThreadScratchEnabled_;

            ompl::tools::ParallelPlanPtr                 pp_;

            ompl::tools::ThunderDBPtr                    experienceDB_;

            std::vector<ompl::geometric::PathGeometric>  queuedSolutionPaths_;

        }; // end of class Thunder

    } // end of namespace

} // end of namespace
#endif