VFUpstreamCriterionOptimizationObjective.h

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/* Authors: Caleb Voss, Wilson Beebe */

#ifndef OMPL_BASE_OBJECTIVES_VF_UPSTREAM_CRITERION_OPTIMIZATION_OBJECTIVE_
#define OMPL_BASE_OBJECTIVES_VF_UPSTREAM_CRITERION_OPTIMIZATION_OBJECTIVE_

#include "ompl/base/OptimizationObjective.h"
#include "ompl/geometric/planners/rrt/VFRRT.h"

namespace ompl
{
    namespace base
    {

        class VFUpstreamCriterionOptimizationObjective : public ompl::base::OptimizationObjective
        {

        public:

            VFUpstreamCriterionOptimizationObjective(const ompl::base::SpaceInformationPtr &si,
                const geometric::VFRRT::VectorField &vf)
                : ompl::base::OptimizationObjective(si), vf_(vf)
            {
                description_ = "Upstream Criterion";
            }

            bool isSatisfied(ompl::base::Cost c) const
            {
                return false;
            }

            virtual Cost stateCost(const State *s) const
            {
                return Cost(0.);
            }

            ompl::base::Cost motionCost(const State *s1, const State *s2) const
            {
                const base::StateSpacePtr &space = si_->getStateSpace();
                // Per equation 1 in the paper, Riemann approximation on the left
                unsigned int vfdim = space->getValueLocations().size();
                Eigen::VectorXd qprime(vfdim);
                unsigned int numSegments = space->validSegmentCount(s1, s2);
                std::vector<ompl::base::State*> interp;

                for (unsigned int i = 0; i < vfdim; i++)
                    qprime[i] = *space->getValueAddressAtIndex(s2, i)
                        - *space->getValueAddressAtIndex(s1, i);
                qprime.normalize();
                si_->getMotionStates(s1, s2, interp, numSegments - 1, true, true);
                double cost = 0;
                for (unsigned int i = 0; i < interp.size() - 1; i++)
                {
                    Eigen::VectorXd f = vf_(interp[i]);
                    cost += si_->distance(interp[i], interp[i + 1]) * (f.norm() - f.dot(qprime));
                    si_->freeState(interp[i]);
                }
                si_->freeState(interp[interp.size()-1]);
                return ompl::base::Cost(cost);
            }

            bool isSymmetric(void) const
            {
                return false;
            }

        protected:
            geometric::VFRRT::VectorField vf_;
        };

    }
}

#endif