Vertex.h

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/* Authors: Jonathan Gammell */

#ifndef OMPL_GEOMETRIC_PLANNERS_BITSTAR_DATASTRUCTURES_VERTEX_
#define OMPL_GEOMETRIC_PLANNERS_BITSTAR_DATASTRUCTURES_VERTEX_

//vector
#include <vector>

//shared and weak pointers
#include <memory>
//For unordered sets of failed children:
#include <unordered_set>

//OMPL:
//The space information
#include "ompl/base/SpaceInformation.h"
//The optimization objective
#include "ompl/base/OptimizationObjective.h"

//I am member class of the BITstar class, so I need to include it's definition to be aware of the class BITstar. It has a forward declaration to me.
#include "ompl/geometric/planners/bitstar/BITstar.h"

namespace ompl
{
    namespace geometric
    {

        class BITstar::Vertex
        {
        public:
            Vertex(const ompl::base::SpaceInformationPtr& si, const ompl::base::OptimizationObjectivePtr& opt, bool root = false);

            ~Vertex();

            BITstar::VertexId getId() const;

            ompl::base::OptimizationObjectivePtr getOpt() const;

            ompl::base::State const* stateConst() const;

            ompl::base::State* state();

            bool isRoot() const;

            bool hasParent() const;

            bool isInTree() const;

            unsigned int getDepth() const;

            VertexConstPtr getParentConst() const;

            VertexPtr getParent();

            void addParent(const VertexPtr& newParent, const ompl::base::Cost& edgeInCost, bool updateChildCosts = true);

            void removeParent(bool updateChildCosts = true);

            bool hasChildren() const;

            void getChildrenConst(std::vector<VertexConstPtr>* children) const;

            void getChildren(std::vector<VertexPtr>* children);

            void addChild(const VertexPtr& newChild, bool updateChildCosts = true);

            void removeChild(VertexPtr oldChild, bool updateChildCosts = true);

            ompl::base::Cost getCost() const;

            ompl::base::Cost getEdgeInCost() const;

            bool isNew() const;

            void markNew();

            void markOld();

            bool hasBeenExpandedToSamples() const;

            void markExpandedToSamples();

            void markUnexpandedToSamples();

            bool hasBeenExpandedToVertices() const;

            void markExpandedToVertices();

            void markUnexpandedToVertices();

            bool isPruned() const;

            void markPruned();

            void markUnpruned();

            void markAsFailedChild(const VertexConstPtr& failedChild);

            bool hasAlreadyFailed(const VertexConstPtr& potentialChild) const;

        protected:
            void updateCostAndDepth(bool cascadeUpdates = true);

        private:
            BITstar::VertexId                                           vId_;

            ompl::base::SpaceInformationPtr                          si_;

            ompl::base::OptimizationObjectivePtr                     opt_;

            ompl::base::State*                                       state_;

            bool                                                     isRoot_;

            bool                                                     isNew_;

            bool                                                     hasBeenExpandedToSamples_;

            bool                                                     hasBeenExpandedToVertices_;

            bool                                                     isPruned_;

            unsigned int                                             depth_;

            VertexPtr                                                parentSPtr_;

            ompl::base::Cost                                         edgeCost_;

            ompl::base::Cost                                         cost_;

            std::vector<VertexWeakPtr>                               childWPtrs_;


            void assertNotPruned() const;
        }; //class: Vertex
    } //geometric
} //ompl
#endif //OMPL_GEOMETRIC_PLANNERS_BITSTAR_DATASTRUCTURES_VERTEX_