SPARS.h

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/* Author: Andrew Dobson */

#ifndef OMPL_GEOMETRIC_PLANNERS_SPARSE_ROADMAP_SPANNER_
#define OMPL_GEOMETRIC_PLANNERS_SPARSE_ROADMAP_SPANNER_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/geometric/PathSimplifier.h"
#include "ompl/util/Time.h"

#include <boost/range/adaptor/map.hpp>
#include <unordered_map>
#include <boost/graph/graph_traits.hpp>
#include <boost/graph/adjacency_list.hpp>
#include <boost/pending/disjoint_sets.hpp>
#include <functional>
#include <mutex>
#include <iostream>
#include <fstream>
#include <utility>
#include <vector>
#include <deque>
#include <map>
#include <set>

namespace ompl
{

    namespace geometric
    {

        class SPARS : public base::Planner
        {
        public:
            enum GuardType
            {
                START,
                GOAL,
                COVERAGE,
                CONNECTIVITY,
                INTERFACE,
                QUALITY,
            };

            struct vertex_state_t {
                typedef boost::vertex_property_tag kind;
            };

            struct vertex_representative_t {
                typedef boost::vertex_property_tag kind;
            };

            struct vertex_color_t {
                typedef boost::vertex_property_tag kind;
            };

            struct vertex_list_t {
                typedef boost::vertex_property_tag kind;
            };

            struct vertex_interface_list_t {
                typedef boost::vertex_property_tag kind;
            };

            typedef unsigned long int VertexIndexType;

            typedef std::unordered_map<VertexIndexType, std::set<VertexIndexType> > InterfaceHash;

            typedef std::deque<base::State*> DensePath;

            typedef boost::adjacency_list <
                boost::vecS, boost::vecS, boost::undirectedS,
                boost::property < vertex_state_t, base::State*,
                boost::property < boost::vertex_predecessor_t, VertexIndexType,
                boost::property < boost::vertex_rank_t, VertexIndexType,
                boost::property < vertex_color_t, GuardType,
                boost::property < vertex_list_t, std::set<VertexIndexType>,
                boost::property < vertex_interface_list_t, InterfaceHash > > > > > >,
                boost::property < boost::edge_weight_t, base::Cost >
            > SpannerGraph;

            typedef boost::graph_traits<SpannerGraph>::vertex_descriptor SparseVertex;

            typedef boost::graph_traits<SpannerGraph>::edge_descriptor   SparseEdge;

            typedef std::shared_ptr< NearestNeighbors<SparseVertex> > SparseNeighbors;

            typedef boost::adjacency_list <
                boost::vecS, boost::vecS, boost::undirectedS,
                boost::property < vertex_state_t, base::State*,
                boost::property < boost::vertex_predecessor_t, VertexIndexType,
                boost::property < boost::vertex_rank_t, VertexIndexType,
                boost::property < vertex_representative_t, SparseVertex > > > >,
                boost::property < boost::edge_weight_t, double >
            > DenseGraph;

            typedef boost::graph_traits<DenseGraph>::vertex_descriptor DenseVertex;

            typedef boost::graph_traits<DenseGraph>::edge_descriptor   DenseEdge;

            typedef std::shared_ptr< NearestNeighbors<DenseVertex> > DenseNeighbors;

            SPARS(const base::SpaceInformationPtr &si);
            virtual ~SPARS();

            virtual void setProblemDefinition(const base::ProblemDefinitionPtr &pdef);

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

            void constructRoadmap(const base::PlannerTerminationCondition &ptc);

            void constructRoadmap(const base::PlannerTerminationCondition &ptc, bool stopOnMaxFail);

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

            void clearQuery();

            virtual void clear();

            template<template<typename T> class NN>
            void setDenseNeighbors()
            {
                nn_.reset(new NN<DenseVertex>());
                connectionStrategy_ = std::function<const std::vector<DenseVertex>&(const DenseVertex)>();
                if (isSetup())
                    setup();
            }

            template<template<typename T> class NN>
            void setSparseNeighbors()
            {
                snn_.reset(new NN<SparseVertex>());
                if (isSetup())
                    setup();
            }

            void setMaxFailures(unsigned int m)
            {
                maxFailures_ = m;
            }

            void setDenseDeltaFraction(double d)
            {
                denseDeltaFraction_ = d;
                if (denseDelta_ > 0.0) // setup was previously called
                    denseDelta_ = d * si_->getMaximumExtent();
            }

            void setSparseDeltaFraction(double d)
            {
                sparseDeltaFraction_ = d;
                if (sparseDelta_ > 0.0) // setup was previously called
                    sparseDelta_ = d * si_->getMaximumExtent();
            }

            void setStretchFactor(double t)
            {
                stretchFactor_ = t;
            }

            unsigned getMaxFailures() const
            {
                return maxFailures_;
            }

            double getDenseDeltaFraction() const
            {
                return denseDeltaFraction_;
            }

            double getSparseDeltaFraction() const
            {
                return sparseDeltaFraction_;
            }

            double getStretchFactor() const
            {
                return stretchFactor_;
            }

            virtual void setup();

            const DenseGraph& getDenseGraph() const
            {
                return g_;
            }

            const SpannerGraph& getRoadmap() const
            {
                return s_;
            }

            unsigned int milestoneCount() const
            {
                return boost::num_vertices(g_);
            }

            unsigned int guardCount() const
            {
                return boost::num_vertices(s_);
            }

            double averageValence() const;

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

            bool reachedFailureLimit() const;

            // Planner progress property functions
            std::string getIterationCount() const
            {
                return boost::lexical_cast<std::string>(iterations_);
            }
            std::string getBestCost() const
            {
                return boost::lexical_cast<std::string>(bestCost_);
            }

        protected:

            DenseVertex addSample(base::State *workState, const base::PlannerTerminationCondition &ptc);

            void checkQueryStateInitialization();

            bool sameComponent(SparseVertex m1, SparseVertex m2);

            DenseVertex addMilestone(base::State *state);

            SparseVertex addGuard(base::State *state, GuardType type);

            void connectSparsePoints(SparseVertex v, SparseVertex vp);

            void connectDensePoints(DenseVertex v, DenseVertex vp);

            bool checkAddCoverage(const base::State *lastState, const std::vector<SparseVertex> &neigh);

            bool checkAddConnectivity(const base::State *lastState, const std::vector<SparseVertex> &neigh);

            bool checkAddInterface(const std::vector<DenseVertex>& graphNeighborhood, const std::vector<DenseVertex>& visibleNeighborhood, DenseVertex q);

            bool checkAddPath( DenseVertex q, const std::vector<DenseVertex>& neigh );

            DenseVertex getInterfaceNeighbor(DenseVertex q, SparseVertex rep);

            bool addPathToSpanner(const DensePath &p, SparseVertex vp, SparseVertex vpp);

            void updateRepresentatives(SparseVertex v);

            void calculateRepresentative( DenseVertex q );

            void addToRepresentatives( DenseVertex q, SparseVertex rep, const std::set<SparseVertex>& oreps );

            void removeFromRepresentatives( DenseVertex q, SparseVertex rep );

            void computeVPP(DenseVertex v, DenseVertex vp, std::vector<SparseVertex> &VPPs);

            void computeX(DenseVertex v, DenseVertex vp, DenseVertex vpp, std::vector<SparseVertex> &Xs);

            void resetFailures();

            void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution);

            bool haveSolution(const std::vector<DenseVertex> &start, const std::vector<DenseVertex> &goal, base::PathPtr &solution);

            bool reachedTerminationCriterion() const;

            base::PathPtr constructSolution(const SparseVertex start, const SparseVertex goal) const;

            void computeDensePath(const DenseVertex start, const DenseVertex goal, DensePath &path) const;

            void freeMemory();

            void getSparseNeighbors(base::State *inState, std::vector< SparseVertex > &graphNeighborhood);

            void filterVisibleNeighbors(base::State *inState, const std::vector<SparseVertex> &graphNeighborhood, std::vector<SparseVertex> &visibleNeighborhood) const;

            void getInterfaceNeighborRepresentatives(DenseVertex q, std::set<SparseVertex> &interfaceRepresentatives);

            void getInterfaceNeighborhood(DenseVertex q, std::vector<DenseVertex> &interfaceNeighborhood);

            double distanceFunction(const DenseVertex a, const DenseVertex b) const
            {
                return si_->distance(stateProperty_[a], stateProperty_[b]);
            }

            double sparseDistanceFunction( const SparseVertex a, const SparseVertex b ) const
            {
                return si_->distance( sparseStateProperty_[a], sparseStateProperty_[b] );
            }

            base::ValidStateSamplerPtr                                          sampler_;

            base::StateSamplerPtr                                               simpleSampler_;

            DenseNeighbors                                                      nn_;

            SparseNeighbors                                                     snn_;

            DenseGraph                                                          g_;

            SpannerGraph                                                        s_;

            std::vector<SparseVertex>                                           startM_;

            std::vector<SparseVertex>                                           goalM_;

            DenseVertex                                                         sparseQueryVertex_;

            DenseVertex                                                         queryVertex_;

            PathGeometric                                                       geomPath_;

            boost::property_map<DenseGraph, vertex_state_t>::type               stateProperty_;

            boost::property_map<SpannerGraph, vertex_state_t>::type             sparseStateProperty_;

            boost::property_map<SpannerGraph, vertex_color_t>::type             sparseColorProperty_;

            boost::property_map<DenseGraph, vertex_representative_t>::type      representativesProperty_;

            boost::property_map<SpannerGraph, vertex_list_t>::type              nonInterfaceListsProperty_;

            boost::property_map<SpannerGraph, vertex_interface_list_t>::type    interfaceListsProperty_;

            PathSimplifierPtr                                                   psimp_;

            boost::property_map<DenseGraph, boost::edge_weight_t>::type         weightProperty_;

            boost::disjoint_sets<
                boost::property_map<SpannerGraph, boost::vertex_rank_t>::type,
                boost::property_map<SpannerGraph, boost::vertex_predecessor_t>::type >
                                                                                sparseDJSets_;

            std::function<const std::vector<DenseVertex>&(const DenseVertex)> connectionStrategy_;

            unsigned int                                                        consecutiveFailures_;

            double                                                              stretchFactor_;

            unsigned int                                                        maxFailures_;

            bool                                                                addedSolution_;

            double                                                              denseDeltaFraction_;

            double                                                              sparseDeltaFraction_;

            double                                                              denseDelta_;

            double                                                              sparseDelta_;

            RNG                                                                 rng_;

            mutable std::mutex                                                  graphMutex_;

            base::OptimizationObjectivePtr                                      opt_;

            base::Cost costHeuristic(SparseVertex u, SparseVertex v) const;

            // Planner progress properties
            long unsigned int                                                   iterations_;
            base::Cost                                                          bestCost_;
        };

    }
}

#endif