Program Listing for File ThunderRetrieveRepair.h

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/* Author: Dave Coleman */

#ifndef OMPL_TOOLS_THUNDER_THUNDER_RETRIEVE_REPAIR_
#define OMPL_TOOLS_THUNDER_THUNDER_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(ThunderDB);
    }

    namespace geometric
    {

        OMPL_CLASS_FORWARD(ThunderRetrieveRepair);

        class ThunderRetrieveRepair : public base::Planner
        {
        public:
            ThunderRetrieveRepair(const base::SpaceInformationPtr &si, tools::ThunderDBPtr experienceDB);

            ~ThunderRetrieveRepair() override;

            void getPlannerData(base::PlannerData &data) const override;

            const std::vector<PathGeometric> &getLastRecalledNearestPaths() const;

            std::size_t getLastRecalledNearestPathChosen() const;

            const PathGeometric &getChosenRecallPath() const;

            void getRepairPlannerDatas(std::vector<base::PlannerDataPtr> &data) const;

            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;

            void clear() override;

            void setExperienceDB(const tools::ThunderDBPtr &experienceDB);

            void setRepairPlanner(const base::PlannerPtr &planner);

            void setup() override;

            bool repairPath(const base::PlannerTerminationCondition &ptc, PathGeometric &primaryPath);

            bool replan(const base::State *start, const base::State *goal, PathGeometric &newPathSegment,
                        const base::PlannerTerminationCondition &ptc);

            int getNearestK() const
            {
                return nearestK_;
            }

            void setNearestK(int nearestK)
            {
                nearestK_ = nearestK;
            }

            void enableSmoothing(bool enable)
            {
                smoothingEnabled_ = enable;
            }

        protected:
            std::size_t checkMotionScore(const base::State *s1, const base::State *s2) const;

            void freeMemory();

            tools::ThunderDBPtr experienceDB_;

            std::vector<PathGeometric> nearestPaths_;

            std::size_t nearestPathsChosenID_;

            base::PlannerPtr repairPlanner_;

            base::ProblemDefinitionPtr repairProblemDef_;

            std::vector<base::PlannerDataPtr> repairPlannerDatas_;

            PathSimplifierPtr path_simplifier_;

            int nearestK_;

            bool smoothingEnabled_;
        };

    }  // namespace geometric
}  // namespace ompl

#endif