bi-rrt-star.hh

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//
// Copyright (c) 2020 CNRS
// Authors: Joseph Mirabel
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. 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.
//
// 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
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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// DAMAGE.
 
#ifndef HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH
#define HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH
 
#include <hpp/core/path-planner.hh>
 
namespace hpp {
namespace core {
namespace pathPlanner {
HPP_PREDEF_CLASS(BiRrtStar);
typedef shared_ptr<BiRrtStar> BiRrtStarPtr_t;


class HPP_CORE_DLLAPI BiRrtStar : public PathPlanner {
 public:
  typedef PathPlanner Parent_t;

  static BiRrtStarPtr_t create(const ProblemConstPtr_t& problem);
  static BiRrtStarPtr_t createWithRoadmap(const ProblemConstPtr_t& problem,
                                          const RoadmapPtr_t& roadmap);

  void startSolve();
  void oneStep();
 
 protected:
  BiRrtStar(const ProblemConstPtr_t& problem);
  BiRrtStar(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
  void init(const BiRrtStarWkPtr_t& weak);
 
 private:
  typedef std::map<NodePtr_t, EdgePtr_t> ParentMap_t;
 
  Configuration_t sample();

  value_type cost(NodePtr_t n);

  void cost(NodePtr_t n, value_type c);

  bool buildPath(const Configuration_t& q0, const Configuration_t& q1,
                 value_type maxLength, bool validatePath, PathPtr_t& result);
 
  bool extend(NodePtr_t target, ParentMap_t& parentMap, Configuration_t& q);
 
  bool connect(NodePtr_t cc, ParentMap_t& parentMap, const Configuration_t& q);
 
  bool improve(const Configuration_t& q);
 
  value_type gamma_;
  value_type extendMaxLength_;
  value_type minimalPathLength_;
 
  NodePtr_t roots_[2];

  std::vector<ParentMap_t> toRoot_;

  BiRrtStarWkPtr_t weak_;
};  // class BiRrtStar

 
}  // namespace pathPlanner
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_PATH_PLANNER_BI_RRT_STAR_HH