pRRT.h

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/* Author: Ioan Sucan */

#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_pRRT_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/base/StateSamplerArray.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include <thread>
#include <mutex>

namespace ompl
{

    namespace geometric
    {

        class pRRT : public base::Planner
        {
        public:

            pRRT(const base::SpaceInformationPtr &si);

            virtual ~pRRT();

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

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

            virtual void clear();

            void setGoalBias(double goalBias)
            {
                goalBias_ = goalBias;
            }

            double getGoalBias() const
            {
                return goalBias_;
            }

            void setRange(double distance)
            {
                maxDistance_ = distance;
            }

            double getRange() const
            {
                return maxDistance_;
            }

            void setThreadCount(unsigned int nthreads);

            unsigned int getThreadCount() const
            {
                return threadCount_;
            }

            template<template<typename T> class NN>
            void setNearestNeighbors()
            {
                nn_.reset(new NN<Motion*>());
            }

            virtual void setup();

        protected:

            class Motion
            {
            public:

                Motion() : state(nullptr), parent(nullptr)
                {
                }

                Motion(const base::SpaceInformationPtr &si) : state(si->allocState()), parent(nullptr)
                {
                }

                ~Motion()
                {
                }

                base::State       *state;
                Motion            *parent;

            };

            struct SolutionInfo
            {
                Motion      *solution;
                Motion      *approxsol;
                double       approxdif;
                std::mutex   lock;
            };

            void threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol);
            void freeMemory();

            double distanceFunction(const Motion *a, const Motion *b) const
            {
                return si_->distance(a->state, b->state);
            }

            base::StateSamplerArray<base::StateSampler>         samplerArray_;
            std::shared_ptr< NearestNeighbors<Motion*> >        nn_;
            std::mutex                                          nnLock_;

            unsigned int                                        threadCount_;

            double                                              goalBias_;
            double                                              maxDistance_;

            Motion                                              *lastGoalMotion_;
        };

    }
}

#endif