VFRRT.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2015, Caleb Voss and Wilson Beebe
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Authors: Caleb Voss, Wilson Beebe */

#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_VFRRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_VFRRT_

#include <limits>

#include <eigen3/Eigen/Core>

#include <ompl/geometric/planners/rrt/RRT.h>

namespace ompl
{
    namespace geometric
    {
        class VFRRT : public RRT
        {
        public:
            typedef std::function<Eigen::VectorXd(const base::State *state)> VectorField;

            VFRRT(const base::SpaceInformationPtr &si, const VectorField &vf, double exploration,
                  double initial_lambda, unsigned int update_freq);

            virtual ~VFRRT();

            virtual void clear();

            double determineMeanNorm();

            Eigen::VectorXd getNewDirection(const base::State *qnear, const base::State *qrand);

            double biasedSampling (const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield,
                                   double lambdaScale);

            void updateGain ();

            Eigen::VectorXd computeAlphaBeta (double omega, const Eigen::VectorXd &vrand,
                                              const Eigen::VectorXd &vfield);

            Motion *extendTree (Motion *m, base::State* rstate, const Eigen::VectorXd &v);
            void updateExplorationEfficiency(Motion *m);

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

            virtual void setup();

        private:

            const VectorField vf_;

            unsigned int efficientCount_;

            unsigned int inefficientCount_;

            double explorationInefficiency_;

            double explorationSetting_;

            double lambda_;

            unsigned int nth_step_;

            unsigned int step_;

            double meanNorm_;

            unsigned int vfdim_;
        };
    }
}
#endif