Eet.h

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//
// 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)
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// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_PLAN_EET_H
#define RL_PLAN_EET_H
 
#include <random>
#include <rl/math/GnatNearestNeighbors.h>
 
#include "RrtCon.h"
#include "WorkspaceMetric.h"
 
namespace rl
{
    namespace plan
    {
        class WorkspaceSphereExplorer;
        
        class Eet : public RrtCon
        {
        public:
            struct ExplorerSetup
            {
                ::rl::math::Vector* goalConfiguration;
                
                int goalFrame;
                
                ::rl::math::Vector* startConfiguration;
                
                int startFrame;
            };
            
            Eet();
            
            virtual ~Eet();
            
            ::std::chrono::steady_clock::duration getExplorationDuration() const;
            
            virtual ::std::string getName() const;
            
            virtual ::std::size_t getNumEdges() const;
            
            virtual ::std::size_t getNumVertices() const;
            
            VectorList getPath();
            
            void seed(const ::std::mt19937::result_type& value);
            
            void reset();
            
            bool solve();
            
            ::rl::math::Real alpha;
            
            bool alternativeDistanceComputation;
            
            ::rl::math::Real beta;
            
            ::rl::math::Real distanceWeight;
            
            ::std::vector<WorkspaceSphereExplorer*> explorers;
            
            ::std::vector<ExplorerSetup> explorersSetup;
            
            ::rl::math::Real gamma;
            
            ::rl::math::Real goalEpsilon;
            
            bool goalEpsilonUseOrientation;
            
            ::rl::math::Vector3 max;
            
            ::rl::math::Vector3 min;
            
        protected:
            struct VertexBundle : Rrt::VertexBundle
            {
                TransformPtr t;
            };
            
            Edge addEdge(const Vertex& u, const Vertex& v, Tree& tree);
            
            Vertex addVertex(Tree& tree, const VectorPtr& q);
            
            using RrtCon::connect;
            
            Vertex connect(Tree& tree, const Neighbor& nearest, const ::rl::math::Transform& chosen);
            
            ::rl::math::Real distance(const ::rl::math::Transform& t1, const ::rl::math::Transform& t2) const;
            
            int expand(const VertexBundle* nearest, const ::rl::math::Transform& nearest2, const ::rl::math::Transform& chosen, const ::rl::math::Real& distance, VertexBundle& expanded);
            
            using RrtCon::extend;
            
            Vertex extend(Tree& tree, const Neighbor& nearest, const ::rl::math::Transform& chosen);
            
            ::std::normal_distribution< ::rl::math::Real>::result_type gauss();
            
            static VertexBundle* get(const Tree& tree, const Vertex& v);
            
            using RrtCon::nearest;
            
            Neighbor nearest(const Tree& tree, const ::rl::math::Transform& chosen);
            
            ::std::uniform_real_distribution< ::rl::math::Real>::result_type rand();
            
            ::std::normal_distribution< ::rl::math::Real> gaussDistribution;
            
            ::std::mt19937 gaussEngine;
            
            ::std::uniform_real_distribution< ::rl::math::Real> randDistribution;
            
            ::std::mt19937 randEngine;
            
        private:
            ::std::chrono::steady_clock::time_point explorationTimeStart;
            
            ::std::chrono::steady_clock::time_point explorationTimeStop;
            
            ::rl::math::GnatNearestNeighbors<WorkspaceMetric> nn;
        };
    }
}
 
#endif // RL_PLAN_EET_H