Rrt.h

Go to the documentation of this file.

//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * 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 (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef _RL_PLAN_RRT_H_
#define _RL_PLAN_RRT_H_
 
#include <boost/graph/adjacency_list.hpp>
#include <CGAL/Search_traits.h>
 
#include "MatrixPtr.h"
#include "Orthogonal_k_neighbor_search.h"
#include "Planner.h"
#include "TransformPtr.h"
#include "VectorPtr.h"
 
namespace rl
{
    namespace plan
    {
        class Model;
        class Sampler;
        class Verifier;
        
        class Rrt : public Planner
        {
        public:
            Rrt(const ::std::size_t& trees = 1);
            
            virtual ~Rrt();
            
            virtual ::std::string getName() const;
            
            virtual ::std::size_t getNumEdges() const;
            
            virtual ::std::size_t getNumVertices() const;
            
            virtual void getPath(VectorList& path);
            
            virtual void reset();
            
            virtual bool solve();
            
            ::rl::math::Real delta;
            
            ::rl::math::Real epsilon;
            
            bool kd;
            
            Sampler* sampler;
            
        protected:
            struct VertexBundle
            {
                ::std::size_t index;
                
                VectorPtr q;
                
                ::rl::math::Real radius;
                
                TransformPtr t;
            };
            
            struct TreeBundle;
            
            typedef ::boost::adjacency_list<
                ::boost::listS,
                ::boost::listS,
                ::boost::bidirectionalS,
                VertexBundle,
                ::boost::no_property,
                TreeBundle
            > Tree;
            
            typedef ::boost::adjacency_list_traits<
                ::boost::listS,
                ::boost::listS,
                ::boost::bidirectionalS,
                ::boost::listS
            >::vertex_descriptor Vertex; 
            
            typedef ::std::pair< const ::rl::math::Vector*, Vertex > QueryItem;
            
            struct CartesianIterator
            {
                typedef const ::rl::math::Real* result_type;
                
                const ::rl::math::Real* operator()(const QueryItem& p) const;
                
                const ::rl::math::Real* operator()(const QueryItem& p, const int&) const;
            };
            
            struct Distance
            {
                typedef QueryItem Query_item;
                
                Distance();
                
                Distance(Model* model);
                
                template< typename SearchTraits > ::rl::math::Real max_distance_to_rectangle(const Query_item& q, const ::CGAL::Kd_tree_rectangle< SearchTraits >& r) const;
                
                template< typename SearchTraits > ::rl::math::Real min_distance_to_rectangle(const Query_item& q, const ::CGAL::Kd_tree_rectangle< SearchTraits >& r) const;
                
                ::rl::math::Real min_distance_to_rectangle(const ::rl::math::Real& q, const ::rl::math::Real& min, const ::rl::math::Real& max, const ::std::size_t& cutting_dimension) const;
                
                ::rl::math::Real new_distance(const ::rl::math::Real& dist, const ::rl::math::Real& old_off, const ::rl::math::Real& new_off, const int& cutting_dimension) const;
                
                ::rl::math::Real transformed_distance(const ::rl::math::Real& d) const;
                
                ::rl::math::Real transformed_distance(const Query_item& q1, const Query_item& q2) const;
                
                Model* model;
            };
            
            typedef ::CGAL::Search_traits< ::rl::math::Real, QueryItem, const ::rl::math::Real*, CartesianIterator > SearchTraits;
            
            typedef Orthogonal_k_neighbor_search< SearchTraits, Distance > NeighborSearch;
            
            typedef NeighborSearch::Tree NeighborSearchTree;
            
            typedef ::boost::shared_ptr< NeighborSearchTree > NeighborSearchTreePtr;
            
            typedef ::std::vector< NeighborSearchTreePtr > NearestNeighbors;
            
            struct TreeBundle
            {
                NearestNeighbors nn;
            };
            
            typedef ::boost::graph_traits< Tree >::edge_descriptor Edge;
            
            typedef ::boost::graph_traits< Tree >::edge_iterator EdgeIterator;
            
            typedef ::std::pair< EdgeIterator, EdgeIterator > EdgeIteratorPair;
            
            typedef ::boost::graph_traits< Tree >::vertex_iterator VertexIterator;
            
            typedef ::std::pair< VertexIterator, VertexIterator > VertexIteratorPair;
            
            typedef ::std::pair< Vertex, ::rl::math::Real > Neighbor;
            
            virtual Edge addEdge(const Vertex& u, const Vertex& v, Tree& tree);
            
            void addPoint(NearestNeighbors& nn, const QueryItem& p);
            
            Vertex addVertex(Tree& tree, const VectorPtr& q);
            
            bool areEqual(const ::rl::math::Vector& lhs, const ::rl::math::Vector& rhs) const;
            
            virtual void choose(::rl::math::Vector& chosen);
            
            virtual Vertex connect(Tree& tree, const Neighbor& nearest, const ::rl::math::Vector& chosen);
            
            virtual Vertex extend(Tree& tree, const Neighbor& nearest, const ::rl::math::Vector& chosen);
            
            virtual Neighbor nearest(const Tree& tree, const ::rl::math::Vector& chosen);
            
            ::std::vector< Vertex > begin;
            
            ::std::vector< Vertex > end;
            
            ::std::vector< Tree > tree;
            
        private:
            
        };
    }
}
 
#endif // _RL_PLAN_RRT_H_