PlannerData.h

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2012, Rice University
*  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 Rice University 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.
*********************************************************************/

/* Author: Ryan Luna, Luis G. Torres */

#ifndef OMPL_BASE_PLANNER_DATA_
#define OMPL_BASE_PLANNER_DATA_

#include <iostream>
#include <vector>
#include <map>
#include <set>
#include "ompl/base/State.h"
#include "ompl/base/Cost.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/util/ClassForward.h"
#include <functional>
#include <boost/serialization/access.hpp>

namespace ompl
{
    namespace base
    {
        class PlannerDataVertex
        {
        public:
            PlannerDataVertex(const State *st, int tag = 0) : state_(st), tag_(tag) {}
            PlannerDataVertex(const PlannerDataVertex &rhs) : state_(rhs.state_), tag_(rhs.tag_) {}
            virtual ~PlannerDataVertex() {}

            virtual int  getTag() const { return tag_; }
            virtual void setTag(int tag) { tag_ = tag; }
            virtual const State* getState() const { return state_; }

            virtual PlannerDataVertex* clone() const
            {
                return new PlannerDataVertex(*this);
            }

            virtual bool operator==(const PlannerDataVertex &rhs) const
            {
                // States should be unique
                return state_ == rhs.state_;
            }

            bool operator!=(const PlannerDataVertex &rhs) const
            {
                return !(*this == rhs);
            }

        protected:
            PlannerDataVertex() {}

            friend class boost::serialization::access;
            template <class Archive>
            void serialize(Archive & ar, const unsigned int /*version*/)
            {
                ar & tag_;
                // Serialization of the state pointer is handled by PlannerDataStorage
            }

            const State *state_;
            int tag_;

            friend class PlannerData;
            friend class PlannerDataStorage;
        };

        class PlannerDataEdge
        {
        public:
            PlannerDataEdge() {}
            virtual ~PlannerDataEdge() {}
            virtual PlannerDataEdge* clone() const { return new PlannerDataEdge(); }

            virtual bool operator==(const PlannerDataEdge &rhs) const
            {
                return this == &rhs;
            }

            bool operator!=(const PlannerDataEdge &rhs) const
            {
                return !(*this == rhs);
            }

        protected:

            friend class boost::serialization::access;
            template <class Archive>
            void serialize(Archive & /*ar*/, const unsigned int /*version*/)
            {
            }
        };

        OMPL_CLASS_FORWARD(StateStorage);
        OMPL_CLASS_FORWARD(PlannerData);

        // Forward declaration for PlannerData::computeEdgeWeights
        class OptimizationObjective;

        class PlannerData
        {
        public:
            class Graph;

            static const PlannerDataEdge   NO_EDGE;
            static const PlannerDataVertex NO_VERTEX;
            static const unsigned int      INVALID_INDEX;

            // non-copyable
            PlannerData(const PlannerData&) = delete;
            PlannerData& operator=(const PlannerData&) = delete;

            PlannerData(const SpaceInformationPtr &si);
            virtual ~PlannerData();


            unsigned int addVertex(const PlannerDataVertex &st);
            unsigned int addStartVertex(const PlannerDataVertex &v);
            unsigned int addGoalVertex(const PlannerDataVertex &v);
            bool markStartState(const State *st);
            bool markGoalState(const State *st);
            bool tagState(const State *st, int tag);
            virtual bool removeVertex(const PlannerDataVertex &st);
            virtual bool removeVertex(unsigned int vIndex);
            virtual bool addEdge(unsigned int v1, unsigned int v2,
                                 const PlannerDataEdge &edge = PlannerDataEdge(),
                                 Cost weight = Cost(1.0));
            virtual bool addEdge(const PlannerDataVertex &v1, const PlannerDataVertex &v2,
                                 const PlannerDataEdge &edge = PlannerDataEdge(),
                                 Cost weight = Cost(1.0));
            virtual bool removeEdge(unsigned int v1, unsigned int v2);
            virtual bool removeEdge(const PlannerDataVertex &v1, const PlannerDataVertex &v2);
            virtual void clear();
            virtual void decoupleFromPlanner();


            unsigned int numEdges() const;
            unsigned int numVertices() const;
            unsigned int numStartVertices() const;
            unsigned int numGoalVertices() const;


            bool vertexExists(const PlannerDataVertex &v) const;
            const PlannerDataVertex& getVertex(unsigned int index) const;
            PlannerDataVertex& getVertex(unsigned int index);
            const PlannerDataVertex& getStartVertex(unsigned int i) const;
            PlannerDataVertex& getStartVertex(unsigned int i);
            const PlannerDataVertex& getGoalVertex(unsigned int i) const;
            PlannerDataVertex& getGoalVertex(unsigned int i);
            unsigned int getStartIndex(unsigned int i) const;
            unsigned int getGoalIndex(unsigned int i) const;
            bool isStartVertex(unsigned int index) const;
            bool isGoalVertex(unsigned int index) const;
            unsigned int vertexIndex(const PlannerDataVertex &v) const;


            bool edgeExists(unsigned int v1, unsigned int v2) const;
            const PlannerDataEdge& getEdge(unsigned int v1, unsigned int v2) const;
            PlannerDataEdge& getEdge(unsigned int v1, unsigned int v2);
            unsigned int getEdges(unsigned int v, std::vector<unsigned int>& edgeList) const;
            unsigned int getEdges(unsigned int v, std::map<unsigned int, const PlannerDataEdge*> &edgeMap) const;
            unsigned int getIncomingEdges(unsigned int v, std::vector<unsigned int>& edgeList) const;
            unsigned int getIncomingEdges(unsigned int v, std::map<unsigned int, const PlannerDataEdge*> &edgeMap) const;
            bool getEdgeWeight(unsigned int v1, unsigned int v2, Cost* weight) const;
            bool setEdgeWeight(unsigned int v1, unsigned int v2, Cost weight);
            void computeEdgeWeights(const OptimizationObjective &opt);
            void computeEdgeWeights();


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

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


            void extractMinimumSpanningTree(unsigned int v,
                                            const OptimizationObjective &opt,
                                            PlannerData &mst) const;
            void extractReachable(unsigned int v, PlannerData &data) const;

            StateStoragePtr extractStateStorage() const;

            Graph& toBoostGraph();
            const Graph& toBoostGraph() const;


            const SpaceInformationPtr& getSpaceInformation() const;

            virtual bool hasControls() const;

            std::map<std::string, std::string>   properties;

        protected:
            std::map<const State*, unsigned int> stateIndexMap_;
            std::vector<unsigned int>            startVertexIndices_;
            std::vector<unsigned int>            goalVertexIndices_;

            SpaceInformationPtr                  si_;
            std::set<State*>                     decoupledStates_;

        private:
            void freeMemory();

            // Abstract pointer that points to the Boost.Graph structure.
            // Obscured to prevent unnecessary inclusion of BGL throughout the
            // rest of the code.
            void* graphRaw_;
        };
    }
}

#endif