Program Listing for File AnytimePathShortening.h

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/* Author: Ryan Luna */

#ifndef OMPL_GEOMETRIC_PLANNERS_ANYTIMEOPTIMIZATION_ANYTIMEPATHSHORTENING_
#define OMPL_GEOMETRIC_PLANNERS_ANYTIMEOPTIMIZATION_ANYTIMEPATHSHORTENING_

#include "ompl/base/Planner.h"
#include <vector>
#include <thread>
#include <mutex>

namespace ompl
{
    namespace geometric
    {
        OMPL_CLASS_FORWARD(PathGeometric);


        class AnytimePathShortening : public base::Planner
        {
        public:
            template<typename PlannerType>
            static std::shared_ptr<AnytimePathShortening> createPlanner(
                const base::SpaceInformationPtr &si,
                unsigned int numPlanners = std::max(1u, std::thread::hardware_concurrency()))
            {
                auto result = std::make_shared<AnytimePathShortening>(si);
                result->planners_.reserve(numPlanners);
                for (unsigned int i = 0; i < numPlanners; ++i)
                    result->planners_.emplace_back(std::make_shared<PlannerType>(si));
                return result;
            }
            template<typename ... PlannerTypes>
            static std::shared_ptr<AnytimePathShortening> createPlanner(const base::SpaceInformationPtr &si)
            {
                auto result = std::make_shared<AnytimePathShortening>(si);
                result->planners_ = std::vector<base::PlannerPtr>{std::make_shared<PlannerTypes>(si)...};
                return result;
            }

            AnytimePathShortening(const base::SpaceInformationPtr &si);

            ~AnytimePathShortening() override;

            void addPlanner(base::PlannerPtr &planner);

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

            void clear() override;

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

            virtual void getPlannerData(ompl::base::PlannerData &data, unsigned int idx) const;

            void setup() override;

            void checkValidity() override;

            unsigned int getNumPlanners() const;

            base::PlannerPtr getPlanner(unsigned int idx) const;

            bool isShortcutting() const;

            void setShortcut(bool shortcut);

            bool isHybridizing() const;

            void setHybridize(bool hybridize);

            unsigned int maxHybridizationPaths() const;

            void setMaxHybridizationPath(unsigned int maxPathCount);

            void setPlanners(const std::string &plannerList);

            std::string getPlanners() const;

            void setDefaultNumPlanners(unsigned int numPlanners);

            unsigned int getDefaultNumPlanners() const;

            std::string getBestCost() const;

            void printSettings(std::ostream &out) const override;

        protected:
            void addPath(const geometric::PathGeometricPtr &path, base::Planner *planner);

            virtual void threadSolve(base::Planner *planner, const base::PlannerTerminationCondition &ptc);

            std::vector<base::PlannerPtr> planners_;

            unsigned int invalidStartStateCount_{0};

            unsigned int invalidGoalCount_{0};

            std::mutex invalidStartOrGoalLock_;

            bool shortcut_{true};

            bool hybridize_{true};

            unsigned int maxHybridPaths_{24};

            unsigned int defaultNumPlanners_;

            base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};

            std::mutex lock_;
        };
    }
}
#endif