Program Listing for File BundleSpaceSequence.h

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/* Author: Andreas Orthey */

#ifndef OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLESPACESEQUENCE_
#define OMPL_MULTILEVEL_PLANNERS_BUNDLESPACE_BUNDLESPACESEQUENCE_
#include <ompl/multilevel/datastructures/BundleSpace.h>
#include <ompl/multilevel/datastructures/PlannerMultiLevel.h>
#include <ompl/multilevel/datastructures/pathrestriction/FindSectionTypes.h>
#include <type_traits>
#include <queue>

namespace ompl
{
    namespace base
    {

        OMPL_CLASS_FORWARD(GoalState);
        OMPL_CLASS_FORWARD(GoalStates);
    }
    namespace multilevel
    {
        template <class T>
        class BundleSpaceSequence : public PlannerMultiLevel
        {
            using BaseT = ompl::multilevel::PlannerMultiLevel;
            static_assert(std::is_base_of<BundleSpace, T>::value, "Template must inherit from BundleSpace");

        public:
            BundleSpaceSequence(ompl::base::SpaceInformationPtr si,
                                std::string type = "BundleSpacePlannerNonMultilevel");

            BundleSpaceSequence(std::vector<ompl::base::SpaceInformationPtr> &siVec,
                                std::string type = "BundleSpacePlanner");

            BundleSpaceSequence(std::vector<ompl::base::SpaceInformationPtr> &siVec,
                                std::vector<ompl::multilevel::ProjectionPtr> &projVec,
                                std::string type = "BundleSpacePlannerCustomProjection");

            virtual ~BundleSpaceSequence();

            void declareBundleSpaces(bool guessProjection = true);

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

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

            virtual void setup() override;
            virtual void clear() override;
            virtual void setProblemDefinition(const ompl::base::ProblemDefinitionPtr &pdef) override;

            void setStopLevel(unsigned int level_);

            void setFindSectionStrategy(FindSectionType type);

        protected:
            ompl::base::State *getTotalState(int baseLevel, const base::State *baseState) const;

            std::vector<T *> bundleSpaces_;

            bool foundKLevelSolution_{false};

            unsigned int currentBundleSpaceLevel_{0};

            unsigned int stopAtLevel_;

            struct CmpBundleSpacePtrs
            {
                // ">" operator: smallest value is top in queue
                // "<" operator: largest value is top in queue (default)
                bool operator()(const BundleSpace *lhs, const BundleSpace *rhs) const
                {
                    return lhs->getImportance() < rhs->getImportance();
                }
            };
            typedef std::priority_queue<BundleSpace *, std::vector<BundleSpace *>, CmpBundleSpacePtrs>
                BundleSpacePriorityQueue;
            BundleSpacePriorityQueue priorityQueue_;
        };
    }  // namespace multilevel
}  // namespace ompl
#include "BundleSpaceSequenceImpl.h"
#endif