Program Listing for File Thunder.h

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/* Author: Dave Coleman
*/

#ifndef OMPL_TOOLS_THUNDER_THUNDER_
#define OMPL_TOOLS_THUNDER_THUNDER_

#include <ompl/tools/experience/ExperienceSetup.h>  // the parent class

#include <ompl/tools/thunder/ThunderDB.h>
#include <ompl/geometric/planners/experience/ThunderRetrieveRepair.h>

#include <ompl/base/Planner.h>
#include <ompl/base/PlannerData.h>
#include <ompl/base/ProblemDefinition.h>
#include <ompl/base/SpaceInformation.h>
#include <ompl/base/ProblemDefinition.h>
#include <ompl/base/StateSpace.h>  // for storing to file

#include <ompl/geometric/PathGeometric.h>
#include <ompl/geometric/PathSimplifier.h>

#include <ompl/tools/multiplan/ParallelPlan.h>

#include <ompl/util/Console.h>
#include <ompl/util/Exception.h>

namespace ompl
{
    namespace tools
    {
        OMPL_CLASS_FORWARD(Thunder);

        class Thunder : public ompl::tools::ExperienceSetup
        {
        public:
            explicit Thunder(const base::SpaceInformationPtr &si);

            explicit Thunder(const base::StateSpacePtr &space);

        private:
            void initialize();

        public:
            void printResultsInfo(std::ostream &out = std::cout) const override;

            void printLogs(std::ostream &out = std::cout) const override;

            ompl::base::PlannerPtr &getPlanner()
            {
                return planner_;
            }

            ompl::geometric::ThunderRetrieveRepair &getRetrieveRepairPlanner() const
            {
                return static_cast<ompl::geometric::ThunderRetrieveRepair &>(*rrPlanner_);
            }

            void setRepairPlanner(const base::PlannerPtr &planner) override
            {
                static_cast<ompl::geometric::ThunderRetrieveRepair &>(*rrPlanner_).setRepairPlanner(planner);
            }

            void setPlannerAllocator(const base::PlannerAllocator &pa);

            base::PlannerStatus solve(double time = 1.0) override;

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

            bool save() override;

            bool saveIfChanged() override;

            void clear() override;

            void print(std::ostream &out = std::cout) const override;

            void setup() override;

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

            std::size_t getExperiencesCount() const override;

            void convertPlannerData(const ompl::base::PlannerDataPtr &plannerData,
                                    ompl::geometric::PathGeometric &path);

            bool reversePathIfNecessary(ompl::geometric::PathGeometric &path1, ompl::geometric::PathGeometric &path2);

            ompl::tools::ThunderDBPtr getExperienceDB();

            bool doPostProcessing() override;

        protected:
            base::PlannerPtr rrPlanner_;

            base::PlannerPtr planner2_;

            bool dualThreadScratchEnabled_{true};

            ompl::tools::ParallelPlanPtr pp_;

            ompl::tools::ThunderDBPtr experienceDB_;

            std::vector<ompl::geometric::PathGeometric> queuedSolutionPaths_;

        };  // end of class Thunder

    }  // end of namespace

}  // end of namespace
#endif