LightningRetrieveRepair.h

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/* Author: Dave Coleman */
 
#ifndef OMPL_GEOMETRIC_PLANNERS_EXPERIENCE_LIGHTNING_RETRIEVE_REPAIR_
#define OMPL_GEOMETRIC_PLANNERS_EXPERIENCE_LIGHTNING_RETRIEVE_REPAIR_
 
#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/geometric/PathSimplifier.h"
#include "ompl/datastructures/NearestNeighbors.h"
 
namespace ompl
{
    namespace tools
    {
        OMPL_CLASS_FORWARD(LightningDB);
    }
 
    namespace geometric
    {
 
        OMPL_CLASS_FORWARD(LightningRetrieveRepair);
 
        class LightningRetrieveRepair : public base::Planner
        {
        public:
            LightningRetrieveRepair(const base::SpaceInformationPtr &si, tools::LightningDBPtr experienceDB);
 
            ~LightningRetrieveRepair() override;
 
            void getPlannerData(base::PlannerData &data) const override;
 
            const std::vector<base::PlannerDataPtr> &getLastRecalledNearestPaths() const;
 
            std::size_t getLastRecalledNearestPathChosen() const;
 
            base::PlannerDataPtr getChosenRecallPath() const;
 
            void getRepairPlannerDatas(std::vector<base::PlannerDataPtr> &data) const;
 
            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;
 
            void clear() override;
 
            void setLightningDB(const tools::LightningDBPtr &experienceDB);
 
            void setRepairPlanner(const base::PlannerPtr &planner);
 
            void setup() override;
 
            bool repairPath(const base::PlannerTerminationCondition &ptc, geometric::PathGeometric &primaryPath);
 
            bool replan(const base::State *start, const base::State *goal, geometric::PathGeometric &newPathSegment,
                        const base::PlannerTerminationCondition &ptc);
 
            int getNumNearestSolutions() const
            {
                return nearestK_;
            }
 
            void setNumNearestSolutions(int nearestK)
            {
                nearestK_ = nearestK;
            }
 
        protected:
            std::size_t checkMotionScore(const base::State *s1, const base::State *s2) const;
 
            bool findBestPath(const base::State *startState, const base::State *goalState,
                              base::PlannerDataPtr &chosenPath);
 
            tools::LightningDBPtr experienceDB_;
 
            std::vector<base::PlannerDataPtr> nearestPaths_;
 
            std::size_t nearestPathsChosenID_;
 
            base::PlannerPtr repairPlanner_;
 
            base::ProblemDefinitionPtr repairProblemDef_;
 
            std::vector<base::PlannerDataPtr> repairPlannerDatas_;
 
            geometric::PathSimplifierPtr psk_;
 
            int nearestK_;
        };
    }
}
 
#endif