Program Listing for File LightningDB.h

↰ Return to documentation for file (src/ompl/tools/lightning/LightningDB.h)

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2014, JSK, The University of Tokyo.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * 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.
 *   * Neither the name of the JSK, The University of Tokyo nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  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 OWNER 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.
 *********************************************************************/

/* Author: Dave Coleman
   Desc:   Implementation of the Lightning Framework for experienced-based planning

   Paper:  Berenson, Dmitry, Pieter Abbeel, and Ken Goldberg.
           "A robot path planning framework that learns from experience."
           Robotics and Automation (ICRA), 2012 IEEE International Conference on. IEEE, 2012.
*/

#ifndef OMPL_TOOLS_LIGHTNING_LIGHTNINGDB_
#define OMPL_TOOLS_LIGHTNING_LIGHTNINGDB_

#include "ompl/base/StateSpace.h"
#include "ompl/geometric/PathGeometric.h"
#include "ompl/base/PlannerData.h"
#include "ompl/base/PlannerDataStorage.h"
#include "ompl/base/State.h"
#include "ompl/base/SpaceInformation.h"
#include "ompl/datastructures/NearestNeighbors.h"

namespace ompl
{
    namespace tools
    {
        OMPL_CLASS_FORWARD(LightningDB);

        class LightningDB
        {
        public:
            LightningDB(const base::StateSpacePtr &space);

            virtual ~LightningDB();

            bool load(const std::string &fileName);

            void addPath(geometric::PathGeometric &solutionPath, double &insertionTime);
            void addPathHelper(geometric::PathGeometric &solutionPath);

            bool saveIfChanged(const std::string &fileName);

            bool save(const std::string &fileName);

            void getAllPlannerDatas(std::vector<ompl::base::PlannerDataPtr> &plannerDatas) const;

            std::vector<ompl::base::PlannerDataPtr> findNearestStartGoal(int nearestK, const base::State *start,
                                                                         const base::State *goal);

            std::size_t getExperiencesCount() const;

            std::size_t getStatesCount() const;

            int getNumUnsavedPaths() const
            {
                return numUnsavedPaths_;
            }

            bool isEmpty()
            {
                return getExperiencesCount() == 0;
            }

        private:
            double distanceFunction(const ompl::base::PlannerDataPtr &a, const ompl::base::PlannerDataPtr &b) const;

        protected:
            base::SpaceInformationPtr si_;

            ompl::base::PlannerDataStorage plannerDataStorage_;

            // A nearest-neighbors datastructure containing the tree of start/goal states combined
            std::shared_ptr<NearestNeighbors<ompl::base::PlannerDataPtr>> nn_;

            // Reusable plannerData instance for filling in start and goal and performing searches on the tree
            ompl::base::PlannerDataPtr nnSearchKey_;

            // Track unsaved paths to determine if a save is required
            int numUnsavedPaths_{0};

        };  // end of class LightningDB

    }  // end of namespace

}  // end of namespace
#endif