visibility-prm-planner.hh

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//
// Copyright (c) 2014 CNRS
// Authors: Mylene Campana
//
 
// 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,
// 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.
 
#ifndef HPP_CORE_VISIBILITY_PRM_PLANNER_HH
#define HPP_CORE_VISIBILITY_PRM_PLANNER_HH
 
#include <hpp/core/path-planner.hh>
#include <tuple>
 
namespace hpp {
namespace core {

class HPP_CORE_DLLAPI VisibilityPrmPlanner : public PathPlanner {
 public:
  static VisibilityPrmPlannerPtr_t createWithRoadmap(
      const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
  static VisibilityPrmPlannerPtr_t create(const ProblemConstPtr_t& problem);
  virtual void oneStep();
 
 protected:
  VisibilityPrmPlanner(const ProblemConstPtr_t& problem,
                       const RoadmapPtr_t& roadmap);
  VisibilityPrmPlanner(const ProblemConstPtr_t& problem);
  void init(const VisibilityPrmPlannerWkPtr_t& weak);
 
 private:
  typedef std::tuple<NodePtr_t, Configuration_t, PathPtr_t> DelayedEdge_t;
  typedef std::vector<DelayedEdge_t> DelayedEdges_t;
  VisibilityPrmPlannerWkPtr_t weakPtr_;
  DelayedEdges_t delayedEdges_;
  std::map<NodePtr_t, bool> nodeStatus_;  // true for guard node

  bool visibleFromCC(const Configuration_t q, const ConnectedComponentPtr_t cc);

  void applyConstraints(const Configuration_t& qFrom,
                        const Configuration_t& qTo, Configuration_t& qOut);
 
  bool constrApply_;  // True if applyConstraints has successed
};

}  // namespace core
}  // namespace hpp
#endif  // HPP_CORE_VISIBILITY_PRM_PLANNER_HH