Program Listing for File SPARS.h

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/* Author: Andrew Dobson */

#ifndef OMPL_GEOMETRIC_PLANNERS_SPARSE_ROADMAP_SPANNER_
#define OMPL_GEOMETRIC_PLANNERS_SPARSE_ROADMAP_SPANNER_

#include "ompl/geometric/planners/PlannerIncludes.h"
#include "ompl/datastructures/NearestNeighbors.h"
#include "ompl/geometric/PathSimplifier.h"
#include "ompl/util/Time.h"

#include <boost/range/adaptor/map.hpp>
#include <unordered_map>
#include <boost/graph/graph_traits.hpp>
#include <boost/graph/adjacency_list.hpp>
#include <boost/pending/disjoint_sets.hpp>
#include <mutex>
#include <iostream>
#include <fstream>
#include <utility>
#include <vector>
#include <deque>
#include <map>
#include <set>

namespace ompl
{
    namespace geometric
    {
        class SPARS : public base::Planner
        {
        public:
            enum GuardType
            {
                START,
                GOAL,
                COVERAGE,
                CONNECTIVITY,
                INTERFACE,
                QUALITY,
            };

            struct vertex_state_t
            {
                using kind = boost::vertex_property_tag;
            };

            struct vertex_representative_t
            {
                using kind = boost::vertex_property_tag;
            };

            struct vertex_color_t
            {
                using kind = boost::vertex_property_tag;
            };

            struct vertex_list_t
            {
                using kind = boost::vertex_property_tag;
            };

            struct vertex_interface_list_t
            {
                using kind = boost::vertex_property_tag;
            };

            using VertexIndexType = unsigned long;

            using InterfaceHash = std::unordered_map<VertexIndexType, std::set<VertexIndexType>>;

            using DensePath = std::deque<base::State *>;

            using SpannerGraph = boost::adjacency_list<
                boost::vecS, boost::vecS, boost::undirectedS,
                boost::property<
                    vertex_state_t, base::State *,
                    boost::property<
                        boost::vertex_predecessor_t, VertexIndexType,
                        boost::property<boost::vertex_rank_t, VertexIndexType,
                                        boost::property<vertex_color_t, GuardType,
                                                        boost::property<vertex_list_t, std::set<VertexIndexType>,
                                                                        boost::property<vertex_interface_list_t,
                                                                                        InterfaceHash>>>>>>,
                boost::property<boost::edge_weight_t, base::Cost>>;

            using SparseVertex = boost::graph_traits<SpannerGraph>::vertex_descriptor;

            using SparseEdge = boost::graph_traits<SpannerGraph>::edge_descriptor;

            using SparseNeighbors = std::shared_ptr<NearestNeighbors<SparseVertex> >;

            using DenseGraph = boost::adjacency_list<
                boost::vecS, boost::vecS, boost::undirectedS,
                boost::property<
                    vertex_state_t, base::State *,
                    boost::property<boost::vertex_predecessor_t, VertexIndexType,
                                    boost::property<boost::vertex_rank_t, VertexIndexType,
                                                    boost::property<vertex_representative_t, SparseVertex>>>>,
                boost::property<boost::edge_weight_t, double>>;

            using DenseVertex = boost::graph_traits<DenseGraph>::vertex_descriptor;

            using DenseEdge = boost::graph_traits<DenseGraph>::edge_descriptor;

            using DenseNeighbors = std::shared_ptr<NearestNeighbors<DenseVertex> >;

            SPARS(const base::SpaceInformationPtr &si);
            ~SPARS() override;

            void setProblemDefinition(const base::ProblemDefinitionPtr &pdef) override;

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

            void constructRoadmap(const base::PlannerTerminationCondition &ptc);

            void constructRoadmap(const base::PlannerTerminationCondition &ptc, bool stopOnMaxFail);

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

            void clearQuery() override;

            void clear() override;

            template <template <typename T> class NN>
            void setDenseNeighbors()
            {
                nn_ = std::make_shared<NN<DenseVertex>>();
                connectionStrategy_ = std::function<const std::vector<DenseVertex> &(const DenseVertex)>();
                if (isSetup())
                    setup();
            }

            template <template <typename T> class NN>
            void setSparseNeighbors()
            {
                snn_ = std::make_shared<NN<SparseVertex>>();
                if (isSetup())
                    setup();
            }

            void setMaxFailures(unsigned int m)
            {
                maxFailures_ = m;
            }

            void setDenseDeltaFraction(double d)
            {
                denseDeltaFraction_ = d;
                if (denseDelta_ > 0.0)  // setup was previously called
                    denseDelta_ = d * si_->getMaximumExtent();
            }

            void setSparseDeltaFraction(double d)
            {
                sparseDeltaFraction_ = d;
                if (sparseDelta_ > 0.0)  // setup was previously called
                    sparseDelta_ = d * si_->getMaximumExtent();
            }

            void setStretchFactor(double t)
            {
                stretchFactor_ = t;
            }

            unsigned getMaxFailures() const
            {
                return maxFailures_;
            }

            double getDenseDeltaFraction() const
            {
                return denseDeltaFraction_;
            }

            double getSparseDeltaFraction() const
            {
                return sparseDeltaFraction_;
            }

            double getStretchFactor() const
            {
                return stretchFactor_;
            }

            void setup() override;

            const DenseGraph &getDenseGraph() const
            {
                return g_;
            }

            const SpannerGraph &getRoadmap() const
            {
                return s_;
            }

            unsigned int milestoneCount() const
            {
                return boost::num_vertices(g_);
            }

            unsigned int guardCount() const
            {
                return boost::num_vertices(s_);
            }

            double averageValence() const;

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

            bool reachedFailureLimit() const;

            // Planner progress property functions
            std::string getIterationCount() const
            {
                return std::to_string(iterations_);
            }
            std::string getBestCost() const
            {
                return std::to_string(bestCost_.value());
            }

        protected:
            DenseVertex addSample(base::State *workState, const base::PlannerTerminationCondition &ptc);

            void checkQueryStateInitialization();

            bool sameComponent(SparseVertex m1, SparseVertex m2);

            DenseVertex addMilestone(base::State *state);

            SparseVertex addGuard(base::State *state, GuardType type);

            void connectSparsePoints(SparseVertex v, SparseVertex vp);

            void connectDensePoints(DenseVertex v, DenseVertex vp);

            bool checkAddCoverage(const base::State *lastState, const std::vector<SparseVertex> &neigh);

            bool checkAddConnectivity(const base::State *lastState, const std::vector<SparseVertex> &neigh);

            bool checkAddInterface(const std::vector<DenseVertex> &graphNeighborhood,
                                   const std::vector<DenseVertex> &visibleNeighborhood, DenseVertex q);

            bool checkAddPath(DenseVertex q, const std::vector<DenseVertex> &neigh);

            DenseVertex getInterfaceNeighbor(DenseVertex q, SparseVertex rep);

            bool addPathToSpanner(const DensePath &dense_path, SparseVertex vp, SparseVertex vpp);

            void updateRepresentatives(SparseVertex v);

            void calculateRepresentative(DenseVertex q);

            void addToRepresentatives(DenseVertex q, SparseVertex rep, const std::set<SparseVertex> &oreps);

            void removeFromRepresentatives(DenseVertex q, SparseVertex rep);

            void computeVPP(DenseVertex v, DenseVertex vp, std::vector<SparseVertex> &VPPs);

            void computeX(DenseVertex v, DenseVertex vp, DenseVertex vpp, std::vector<SparseVertex> &Xs);

            void resetFailures();

            void checkForSolution(const base::PlannerTerminationCondition &ptc, base::PathPtr &solution);

            bool haveSolution(const std::vector<DenseVertex> &starts, const std::vector<DenseVertex> &goals,
                              base::PathPtr &solution);

            bool reachedTerminationCriterion() const;

            base::PathPtr constructSolution(SparseVertex start, SparseVertex goal) const;

            void computeDensePath(DenseVertex start, DenseVertex goal, DensePath &path) const;

            void freeMemory();

            void getSparseNeighbors(base::State *inState, std::vector<SparseVertex> &graphNeighborhood);

            void filterVisibleNeighbors(base::State *inState, const std::vector<SparseVertex> &graphNeighborhood,
                                        std::vector<SparseVertex> &visibleNeighborhood) const;

            void getInterfaceNeighborRepresentatives(DenseVertex q, std::set<SparseVertex> &interfaceRepresentatives);

            void getInterfaceNeighborhood(DenseVertex q, std::vector<DenseVertex> &interfaceNeighborhood);

            double distanceFunction(const DenseVertex a, const DenseVertex b) const
            {
                return si_->distance(stateProperty_[a], stateProperty_[b]);
            }

            double sparseDistanceFunction(const SparseVertex a, const SparseVertex b) const
            {
                return si_->distance(sparseStateProperty_[a], sparseStateProperty_[b]);
            }

            base::ValidStateSamplerPtr sampler_;

            DenseNeighbors nn_;

            SparseNeighbors snn_;

            DenseGraph g_;

            SpannerGraph s_;

            std::vector<SparseVertex> startM_;

            std::vector<SparseVertex> goalM_;

            DenseVertex sparseQueryVertex_;

            DenseVertex queryVertex_;

            PathGeometric geomPath_;

            boost::property_map<DenseGraph, vertex_state_t>::type stateProperty_;

            boost::property_map<SpannerGraph, vertex_state_t>::type sparseStateProperty_;

            boost::property_map<SpannerGraph, vertex_color_t>::type sparseColorProperty_;

            boost::property_map<DenseGraph, vertex_representative_t>::type representativesProperty_;

            boost::property_map<SpannerGraph, vertex_list_t>::type nonInterfaceListsProperty_;

            boost::property_map<SpannerGraph, vertex_interface_list_t>::type interfaceListsProperty_;

            PathSimplifierPtr psimp_;

            boost::property_map<DenseGraph, boost::edge_weight_t>::type weightProperty_;

            boost::disjoint_sets<boost::property_map<SpannerGraph, boost::vertex_rank_t>::type,
                                 boost::property_map<SpannerGraph, boost::vertex_predecessor_t>::type> sparseDJSets_;

            std::function<const std::vector<DenseVertex> &(const DenseVertex)> connectionStrategy_;

            unsigned int consecutiveFailures_{0u};

            double stretchFactor_{3.};

            unsigned int maxFailures_{1000u};

            bool addedSolution_{false};

            double denseDeltaFraction_{.001};

            double sparseDeltaFraction_{.25};

            double denseDelta_{0.};

            double sparseDelta_{0.};

            RNG rng_;

            mutable std::mutex graphMutex_;

            base::OptimizationObjectivePtr opt_;

            base::Cost costHeuristic(SparseVertex u, SparseVertex v) const;

            // Planner progress properties
            long unsigned int iterations_{0ul};
            base::Cost bestCost_{std::numeric_limits<double>::quiet_NaN()};
        };
    }
}

#endif