ProblemDefinition.h

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/* Author: Ioan Sucan */

#ifndef OMPL_BASE_PROBLEM_DEFINITION_
#define OMPL_BASE_PROBLEM_DEFINITION_

#include "ompl/base/State.h"
#include "ompl/base/Goal.h"
#include "ompl/base/Path.h"
#include "ompl/base/Cost.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/SolutionNonExistenceProof.h"
#include "ompl/util/Console.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/ScopedState.h"

#include <vector>
#include <cstdlib>
#include <iostream>
#include <limits>

namespace ompl
{
    namespace base
    {


        OMPL_CLASS_FORWARD(ProblemDefinition);
        OMPL_CLASS_FORWARD(OptimizationObjective);

        struct PlannerSolution
        {
            PlannerSolution(const PathPtr &path) :
                index_(-1), path_(path),
                length_(path ? path->length() : std::numeric_limits<double>::infinity()),
                approximate_(false), difference_(-1), optimized_(false)
            {
            }

            bool operator==(const PlannerSolution &p) const
            {
                return path_ == p.path_;
            }

            bool operator<(const PlannerSolution &b) const;

            void setApproximate(double difference)
            {
                approximate_ = true;
                difference_ = difference;
            }

            void setOptimized(const OptimizationObjectivePtr &opt, Cost cost, bool meetsObjective)
            {
                opt_ = opt;
                cost_ = cost;
                optimized_ = meetsObjective;
            }

            void setPlannerName(const std::string &name)
            {
                plannerName_ = name;
            }

            int     index_;

            PathPtr path_;

            double  length_;

            bool    approximate_;

            double  difference_;

            bool    optimized_;

            OptimizationObjectivePtr opt_;

            Cost cost_;

            std::string plannerName_;
        };

        class Planner;

        typedef std::function<void(const Planner*, const std::vector<const base::State*> &, const Cost)> ReportIntermediateSolutionFn;

        OMPL_CLASS_FORWARD(OptimizationObjective);

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

            ProblemDefinition(const SpaceInformationPtr &si);

            virtual ~ProblemDefinition()
            {
                clearStartStates();
            }

            const SpaceInformationPtr& getSpaceInformation() const
            {
                return si_;
            }

            void addStartState(const State *state)
            {
                startStates_.push_back(si_->cloneState(state));
            }

            void addStartState(const ScopedState<> &state)
            {
                startStates_.push_back(si_->cloneState(state.get()));
            }

            bool hasStartState(const State *state, unsigned int *startIndex = nullptr) const;

            void clearStartStates()
            {
                for (unsigned int i = 0 ; i < startStates_.size() ; ++i)
                    si_->freeState(startStates_[i]);
                startStates_.clear();
            }

            unsigned int getStartStateCount() const
            {
                return startStates_.size();
            }

            const State* getStartState(unsigned int index) const
            {
                return startStates_[index];
            }

            State* getStartState(unsigned int index)
            {
                return startStates_[index];
            }

            void setGoal(const GoalPtr &goal)
            {
                goal_ = goal;
            }

            void clearGoal()
            {
                goal_.reset();
            }

            const GoalPtr& getGoal() const
            {
                return goal_;
            }

            void getInputStates(std::vector<const State*> &states) const;

            void setStartAndGoalStates(const State *start, const State *goal, const double threshold = std::numeric_limits<double>::epsilon());

            void setGoalState(const State *goal, const double threshold = std::numeric_limits<double>::epsilon());

            void setStartAndGoalStates(const ScopedState<> &start, const ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())
            {
                setStartAndGoalStates(start.get(), goal.get(), threshold);
            }

            void setGoalState(const ScopedState<> &goal, const double threshold = std::numeric_limits<double>::epsilon())
            {
                setGoalState(goal.get(), threshold);
            }

            bool hasOptimizationObjective() const
            {
                return optimizationObjective_.get();
            }

            const OptimizationObjectivePtr& getOptimizationObjective() const
            {
                return optimizationObjective_;
            }

            void setOptimizationObjective(const OptimizationObjectivePtr &optimizationObjective)
            {
                optimizationObjective_ = optimizationObjective;
            }

            const ReportIntermediateSolutionFn& getIntermediateSolutionCallback() const
            {
                return intermediateSolutionCallback_;
            }

            void setIntermediateSolutionCallback(const ReportIntermediateSolutionFn &callback) {
                intermediateSolutionCallback_ = callback;
             }

            bool isTrivial(unsigned int *startIndex = nullptr, double *distance = nullptr) const;

            PathPtr isStraightLinePathValid() const;

            bool fixInvalidInputStates(double distStart, double distGoal, unsigned int attempts);

            bool hasSolution() const;

            bool hasExactSolution() const
            {
                return this->hasSolution() && !this->hasApproximateSolution();
            }

            bool hasApproximateSolution() const;

            double getSolutionDifference() const;

            bool hasOptimizedSolution() const;

            PathPtr getSolutionPath() const;

            bool getSolution(PlannerSolution& solution) const;

            void addSolutionPath(const PathPtr &path, bool approximate = false, double difference = -1.0, const std::string& plannerName = "Unknown") const;

            void addSolutionPath(const PlannerSolution &sol) const;

            std::size_t getSolutionCount() const;

            std::vector<PlannerSolution> getSolutions() const;

            void clearSolutionPaths() const;

            bool hasSolutionNonExistenceProof() const;

            void clearSolutionNonExistenceProof();

            const SolutionNonExistenceProofPtr& getSolutionNonExistenceProof() const;

            void setSolutionNonExistenceProof(const SolutionNonExistenceProofPtr& nonExistenceProof);

            void print(std::ostream &out = std::cout) const;

        protected:

            bool fixInvalidInputState(State *state, double dist, bool start, unsigned int attempts);

            SpaceInformationPtr          si_;

            std::vector<State*>          startStates_;

            GoalPtr                      goal_;

            SolutionNonExistenceProofPtr nonExistenceProof_;

            OptimizationObjectivePtr     optimizationObjective_;

            ReportIntermediateSolutionFn     intermediateSolutionCallback_;

        private:

            OMPL_CLASS_FORWARD(PlannerSolutionSet);

            PlannerSolutionSetPtr        solutions_;
        };
    }
}

#endif