OptimizationObjective.h

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/* Author: Luis G. Torres, Ioan Sucan, Jonathan Gammell */

#ifndef OMPL_BASE_OPTIMIZATION_OBJECTIVE_
#define OMPL_BASE_OPTIMIZATION_OBJECTIVE_

#include "ompl/base/Cost.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/samplers/InformedStateSampler.h"

#include <iostream>

namespace ompl
{
    namespace base
    {
        class Goal;

        typedef std::function<Cost (const State*, const Goal*)> CostToGoHeuristic;


        OMPL_CLASS_FORWARD(OptimizationObjective);

        class OptimizationObjective
        {
        public:
            // non-copyable
            OptimizationObjective(const OptimizationObjective&) = delete;
            OptimizationObjective& operator=(const OptimizationObjective&) = delete;

            OptimizationObjective(const SpaceInformationPtr &si);

            virtual ~OptimizationObjective()
            {
            }

            const std::string& getDescription() const;

            virtual bool isSatisfied(Cost c) const;

            Cost getCostThreshold() const;

            void setCostThreshold(Cost c);

            virtual bool isCostBetterThan(Cost c1, Cost c2) const;

            virtual bool isCostEquivalentTo(Cost c1, Cost c2) const;

            virtual bool isFinite(Cost cost) const;

            virtual Cost betterCost(Cost c1, Cost c2) const;

            virtual Cost stateCost(const State *s) const = 0;

            virtual Cost motionCost(const State *s1, const State *s2) const = 0;

            virtual Cost combineCosts(Cost c1, Cost c2) const;

            virtual Cost identityCost() const;

            virtual Cost infiniteCost() const;

            virtual Cost initialCost(const State *s) const;

            virtual Cost terminalCost(const State *s) const;

            virtual bool isSymmetric() const;

            virtual Cost averageStateCost(unsigned int numStates) const;

            void setCostToGoHeuristic(const CostToGoHeuristic& costToGo);

            bool hasCostToGoHeuristic() const;

            Cost costToGo(const State *state, const Goal *goal) const;

            virtual Cost motionCostHeuristic(const State *s1, const State *s2) const;

            const SpaceInformationPtr& getSpaceInformation() const;

            virtual InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr probDefn, unsigned int maxNumberCalls) const;

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

        protected:
            SpaceInformationPtr si_;

            std::string         description_;

            Cost                threshold_;

            CostToGoHeuristic   costToGoFn_;
        };

        Cost goalRegionCostToGo(const State *state, const Goal *goal);

        class MultiOptimizationObjective : public OptimizationObjective
        {
        public:
            MultiOptimizationObjective(const SpaceInformationPtr &si);

            void addObjective(const OptimizationObjectivePtr& objective,
                              double weight);

            std::size_t getObjectiveCount() const;

            const OptimizationObjectivePtr& getObjective(unsigned int idx) const;

            double getObjectiveWeight(unsigned int idx) const;

            void setObjectiveWeight(unsigned int idx, double weight);

            void lock();

            bool isLocked() const;

            virtual Cost stateCost(const State *s) const;

            virtual Cost motionCost(const State *s1, const State *s2) const;

        protected:

            struct Component
            {
                Component(const OptimizationObjectivePtr& obj, double weight);
                OptimizationObjectivePtr objective;
                double weight;
            };

            std::vector<Component> components_;

            bool                   locked_;

            // Friend functions for operator overloads for easy multiobjective creation
            friend OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a,
                                                      const OptimizationObjectivePtr &b);

            friend OptimizationObjectivePtr operator*(double w, const OptimizationObjectivePtr &a);

            friend OptimizationObjectivePtr operator*(const OptimizationObjectivePtr &a, double w);
        };

        OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a,
                                           const OptimizationObjectivePtr &b);

        OptimizationObjectivePtr operator*(double w, const OptimizationObjectivePtr &a);

        OptimizationObjectivePtr operator*(const OptimizationObjectivePtr &a, double w);
    }
}

#endif