OptimizationObjective.h

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/* Author: Luis G. Torres, Ioan Sucan, Jonathan Gammell */
 
#ifndef OMPL_BASE_OPTIMIZATION_OBJECTIVE_
#define OMPL_BASE_OPTIMIZATION_OBJECTIVE_
 
#include "ompl/base/Cost.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/util/ClassForward.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/samplers/InformedStateSampler.h"
 
#include <functional>
#include <iostream>
 
namespace ompl
{
    namespace base
    {
        class Goal;
 
        using CostToGoHeuristic = std::function<Cost(const State *, const Goal *)>;
 
 
        OMPL_CLASS_FORWARD(OptimizationObjective);
 
        class OptimizationObjective
        {
        public:
            // non-copyable
            OptimizationObjective(const OptimizationObjective &) = delete;
            OptimizationObjective &operator=(const OptimizationObjective &) = delete;
 
            OptimizationObjective(SpaceInformationPtr si);
 
            virtual ~OptimizationObjective() = default;
 
            const std::string &getDescription() const;
 
            virtual bool isSatisfied(Cost c) const;
 
            Cost getCostThreshold() const;
 
            void setCostThreshold(Cost c);
 
            virtual bool isCostBetterThan(Cost c1, Cost c2) const;
 
            virtual bool isCostEquivalentTo(Cost c1, Cost c2) const;
 
            virtual bool isFinite(Cost cost) const;
 
            virtual Cost betterCost(Cost c1, Cost c2) const;
 
            virtual Cost stateCost(const State *s) const = 0;
 
            virtual Cost motionCost(const State *s1, const State *s2) const = 0;
 
            virtual Cost combineCosts(Cost c1, Cost c2) const;
 
            virtual Cost identityCost() const;
 
            virtual Cost infiniteCost() const;
 
            virtual Cost initialCost(const State *s) const;
 
            virtual Cost terminalCost(const State *s) const;
 
            virtual bool isSymmetric() const;
 
            virtual Cost averageStateCost(unsigned int numStates) const;
 
            void setCostToGoHeuristic(const CostToGoHeuristic &costToGo);
 
            bool hasCostToGoHeuristic() const;
 
            Cost costToGo(const State *state, const Goal *goal) const;
 
            virtual Cost motionCostHeuristic(const State *s1, const State *s2) const;
 
            const SpaceInformationPtr &getSpaceInformation() const;
 
            virtual InformedSamplerPtr allocInformedStateSampler(const ProblemDefinitionPtr &probDefn,
                                                                 unsigned int maxNumberCalls) const;
 
            virtual void print(std::ostream &out) const;
 
        protected:
            SpaceInformationPtr si_;
 
            std::string description_;
 
            Cost threshold_;
 
            CostToGoHeuristic costToGoFn_;
        };
 
        Cost goalRegionCostToGo(const State *state, const Goal *goal);
 
        class MultiOptimizationObjective : public OptimizationObjective
        {
        public:
            MultiOptimizationObjective(const SpaceInformationPtr &si);
 
            void addObjective(const OptimizationObjectivePtr &objective, double weight);
 
            std::size_t getObjectiveCount() const;
 
            const OptimizationObjectivePtr &getObjective(unsigned int idx) const;
 
            double getObjectiveWeight(unsigned int idx) const;
 
            void setObjectiveWeight(unsigned int idx, double weight);
 
            void lock();
 
            bool isLocked() const;
 
            Cost stateCost(const State *s) const override;
 
            Cost motionCost(const State *s1, const State *s2) const override;
 
        protected:
            struct Component
            {
                Component(OptimizationObjectivePtr obj, double weight);
                OptimizationObjectivePtr objective;
                double weight;
            };
 
            std::vector<Component> components_;
 
            bool locked_;
 
 
            // Friend functions for operator overloads for easy multiobjective creation
            friend OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a,
                                                      const OptimizationObjectivePtr &b);
 
            friend OptimizationObjectivePtr operator*(double weight, const OptimizationObjectivePtr &a);
 
            friend OptimizationObjectivePtr operator*(const OptimizationObjectivePtr &a, double weight);
        };
 
        OptimizationObjectivePtr operator+(const OptimizationObjectivePtr &a,
                                                  const OptimizationObjectivePtr &b);
 
        OptimizationObjectivePtr operator*(double weight, const OptimizationObjectivePtr &a);
 
        OptimizationObjectivePtr operator*(const OptimizationObjectivePtr &a, double weight);
    }
}
 
#endif