k-prm-star.hh

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//
// Copyright (c) 2018 CNRS
// Authors: Florent Lamiraux
//
 
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are
// met:
//
// 1. Redistributions of source code must retain the above copyright
//    notice, this list of conditions and the following disclaimer.
//
// 2. 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.
//
// 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
// HOLDER 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
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
// DAMAGE.
 
#ifndef HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
#define HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH
 
#include <hpp/core/path-planner.hh>
 
namespace hpp {
namespace core {
namespace pathPlanner {
 
 
class HPP_CORE_DLLAPI kPrmStar : public PathPlanner {
 public:
  enum STATE {
    BUILD_ROADMAP,
    LINK_NODES,
    CONNECT_INIT_GOAL,
    FAILURE
  };  // enum STATE
  static const double kPRM;
  typedef PathPlanner Parent_t;
  static kPrmStarPtr_t create(const ProblemConstPtr_t& problem);
  static kPrmStarPtr_t createWithRoadmap(const ProblemConstPtr_t& problem,
                                         const RoadmapPtr_t& roadmap);
  virtual void startSolve();
  virtual void tryConnectInitAndGoals();
  virtual void oneStep();
  STATE getComputationState() const;
 
 protected:
  kPrmStar(const ProblemConstPtr_t& problem);
  kPrmStar(const ProblemConstPtr_t& problem, const RoadmapPtr_t& roadmap);
  void init(const kPrmStarWkPtr_t& weak);
 
 private:
  STATE state_;
  void generateRandomConfig();
  void linkNodes();
  void connectInitAndGoal();
  bool connectNodeToClosestNeighbors(const NodePtr_t& node);
  std::size_t numberNodes_;
  Nodes_t::const_iterator linkingNodeIt_;
  Nodes_t::iterator itNeighbor_;
  size_type numberNeighbors_;
  Nodes_t neighbors_;
  bool reachedLastNeighbor_;
  kPrmStarWkPtr_t weak_;
};  // class kPrmStar
 
 
}  // namespace pathPlanner
}  // namespace core
}  // namespace hpp
 
#endif  // HPP_CORE_PATH_PLANNER_K_PRM_STAR_HH