Planner.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_PLANNER_
#define OMPL_BASE_PLANNER_

#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/PlannerData.h"
#include "ompl/base/PlannerStatus.h"
#include "ompl/base/PlannerTerminationCondition.h"
#include "ompl/base/GenericParam.h"
#include "ompl/util/Console.h"
#include "ompl/util/Time.h"
#include "ompl/util/ClassForward.h"
#include "ompl/util/Deprecation.h"
#include <functional>
#include <boost/concept_check.hpp>
#include <string>
#include <map>

namespace ompl
{

    namespace base
    {


        OMPL_CLASS_FORWARD(Planner);

        class PlannerInputStates
        {
        public:

            PlannerInputStates(const PlannerPtr &planner) : planner_(planner.get())
            {
                tempState_ = nullptr;
                update();
            }

            PlannerInputStates(const Planner *planner) : planner_(planner)
            {
                tempState_ = nullptr;
                update();
            }

            PlannerInputStates() : planner_(nullptr)
            {
                tempState_ = nullptr;
                clear();
            }

            ~PlannerInputStates()
            {
                clear();
            }

            void clear();

            void restart();

            bool update();

            bool use(const ProblemDefinitionPtr &pdef);

            bool use(const ProblemDefinition *pdef);

            void checkValidity() const;

            const State* nextStart();

            const State* nextGoal(const PlannerTerminationCondition &ptc);

            const State* nextGoal();

            bool haveMoreStartStates() const;

            bool haveMoreGoalStates() const;

            unsigned int getSeenStartStatesCount() const
            {
                return addedStartStates_;
            }

            unsigned int getSampledGoalsCount() const
            {
                return sampledGoalsCount_;
            }

        private:

            const Planner              *planner_;

            unsigned int                addedStartStates_;
            unsigned int                sampledGoalsCount_;
            State                      *tempState_;

            const ProblemDefinition    *pdef_;
            const SpaceInformation     *si_;
        };

        struct PlannerSpecs
        {
            PlannerSpecs() : recognizedGoal(GOAL_ANY), multithreaded(false), approximateSolutions(false),
                             optimizingPaths(false), directed(false), provingSolutionNonExistence(false),
                             canReportIntermediateSolutions(false)
            {
            }

            GoalType recognizedGoal;

            bool     multithreaded;

            bool     approximateSolutions;

            bool     optimizingPaths;

            bool     directed;

            bool     provingSolutionNonExistence;

            bool     canReportIntermediateSolutions;
        };

        class Planner
        {

        public:
            // non-copyable
            Planner(const Planner&) = delete;
            Planner& operator=(const Planner&) = delete;

            Planner(const SpaceInformationPtr &si, const std::string &name);

            virtual ~Planner()
            {
            }

            template<class T>
            T* as()
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Planner*>));

                return static_cast<T*>(this);
            }

            template<class T>
            const T* as() const
            {
                BOOST_CONCEPT_ASSERT((boost::Convertible<T*, Planner*>));

                return static_cast<const T*>(this);
            }

            const SpaceInformationPtr& getSpaceInformation() const;

            const ProblemDefinitionPtr& getProblemDefinition() const;

            const PlannerInputStates& getPlannerInputStates() const;

            virtual void setProblemDefinition(const ProblemDefinitionPtr &pdef);

            virtual PlannerStatus solve(const PlannerTerminationCondition &ptc) = 0;

            PlannerStatus solve(const PlannerTerminationConditionFn &ptc, double checkInterval);

            PlannerStatus solve(double solveTime);

            virtual void clear();

            virtual void getPlannerData(PlannerData &data) const;

            const std::string& getName() const;

            void setName(const std::string &name);

            const PlannerSpecs& getSpecs() const;

            virtual void setup();

            virtual void checkValidity();

            bool isSetup() const;

            ParamSet& params()
            {
                return params_;
            }

            const ParamSet& params() const
            {
                return params_;
            }

            typedef std::function<std::string ()> PlannerProgressProperty;

            typedef std::map<std::string, PlannerProgressProperty> PlannerProgressProperties;

            const PlannerProgressProperties& getPlannerProgressProperties() const
            {
                return plannerProgressProperties_;
            }

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

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

        protected:

            template<typename T, typename PlannerType, typename SetterType, typename GetterType>
            void declareParam(const std::string &name, const PlannerType &planner, const SetterType& setter, const GetterType& getter, const std::string &rangeSuggestion = "")
            {
                params_.declareParam<T>(name, std::bind(setter, planner, std::placeholders::_1), std::bind(getter, planner));
                if (!rangeSuggestion.empty())
                    params_[name].setRangeSuggestion(rangeSuggestion);
            }

            template<typename T, typename PlannerType, typename SetterType>
            void declareParam(const std::string &name, const PlannerType &planner, const SetterType& setter, const std::string &rangeSuggestion = "")
            {
                params_.declareParam<T>(name, std::bind(setter, planner, std::placeholders::_1));
                if (!rangeSuggestion.empty())
                    params_[name].setRangeSuggestion(rangeSuggestion);
            }

            void addPlannerProgressProperty(const std::string& progressPropertyName, const PlannerProgressProperty& prop)
            {
                plannerProgressProperties_[progressPropertyName] = prop;
            }

            SpaceInformationPtr       si_;

            ProblemDefinitionPtr      pdef_;

            PlannerInputStates        pis_;

            std::string               name_;

            PlannerSpecs              specs_;

            ParamSet                  params_;

            PlannerProgressProperties plannerProgressProperties_;

            bool                      setup_;
        };

        typedef std::function<PlannerPtr(const SpaceInformationPtr&)> PlannerAllocator;
    }
}

#endif