BatchingManager.hpp

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Copyright (c) 2017, Shushman Choudhury
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Authors: Shushman Choudhury <shushmanchoudhury@gmail.com>

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#ifndef BATCHING_POMP_BATCHING_MANAGER_HPP_
#define BATCHING_POMP_BATCHING_MANAGER_HPP_

#include <functional>
#include <ompl/base/StateSpace.h>
#include <ompl/datastructures/NearestNeighbors.h>
#include <boost/graph/adjacency_list.hpp>
#include "batching_pomp/util/RoadmapFromFile.hpp"

namespace batching_pomp {
namespace batching {



template<class Graph, class VStateMap, class StateCon, class EDistance>
class BatchingManager
{

typedef boost::graph_traits<Graph> GraphTypes;
typedef typename GraphTypes::vertex_iterator VertexIter;
typedef typename GraphTypes::vertex_descriptor Vertex;

public:

  BatchingManager(const ompl::base::StateSpacePtr _space,
                  VStateMap _stateMap,
                  std::string _roadmapFileName,
                  Graph& _fullRoadmap,
                  Graph& _currentRoadmap)
  : mFullRoadmap(_fullRoadmap)
  , mCurrentRoadmap(_currentRoadmap)
  , mNumBatches{0u}
  , mExhausted{false}
  , mCurrRadius{0.0}
  {
    auto file_roadmap_ptr = std::make_shared<
      batching_pomp::util::RoadmapFromFile<Graph,VStateMap,StateCon,EDistance>>
      (_space,_roadmapFileName);
    file_roadmap_ptr->generateVertices(mFullRoadmap,_stateMap);
    mNumVertices = num_vertices(mFullRoadmap);
  }

  BatchingManager(const ompl::base::StateSpacePtr _space,
                  VStateMap _stateMap,
                  EDistance _distanceMap,
                  std::string _roadmapFileName,
                  Graph& _fullRoadmap,
                  Graph& _currentRoadmap)
  : mFullRoadmap(_fullRoadmap)
  , mCurrentRoadmap(_currentRoadmap)
  , mNumBatches{0u}
  , mExhausted{false}
  , mCurrRadius{0.0}
  {
    auto file_roadmap_ptr = std::make_shared<
      batching_pomp::util::RoadmapFromFile<Graph,VStateMap,StateCon,EDistance>>
      (_space,_roadmapFileName);
    file_roadmap_ptr->generateVertices(mFullRoadmap,_stateMap);
    file_roadmap_ptr->generateEdges(mFullRoadmap,_stateMap,_distanceMap);
    mNumVertices = num_vertices(mFullRoadmap);
  }

  virtual ~BatchingManager() = default;

  // Getters
  unsigned int getNumBatches() const
  {
    return mNumBatches;
  }

  unsigned int getNumVertices() const
  {
    return mNumVertices;
  }

  bool isExhausted() const
  {
    return mExhausted;
  }

  double getCurrentRadius() const
  {
    return mCurrRadius;
  }

  const ompl::base::State* getVertexState(const Vertex& v) const
  {
    return mFullRoadmap[v].v_state->state;
  }
  
  void pruneVertices(const std::function<bool(const ompl::base::State*)>& _pruneFunction,
                     ompl::NearestNeighbors<Vertex>& _vertexNN)
  {
    VertexIter vi,vi_end;
    std::vector<Vertex> verticesToRemove;
    verticesToRemove.reserve(num_vertices(mCurrentRoadmap));
    size_t vRemoved{0};

    for(boost::tie(vi,vi_end) = vertices(mCurrentRoadmap); vi!=vi_end; ++vi)
    { 
      if(_pruneFunction(mCurrentRoadmap[*vi].v_state->state)) {
        verticesToRemove[vRemoved++] = *vi;
      }
    }

    // Now remove vertices lined up
    for(size_t i=0; i<vRemoved; i++)
    {
      _vertexNN.remove(verticesToRemove[i]);
      clear_vertex(verticesToRemove[i],mCurrentRoadmap);
    }
  }

  virtual void updateWithNewSolutionCost(double _newSolnCost) = 0;

  virtual void nextBatch(const std::function<bool(const ompl::base::State*)>& _pruneFunction,
                         ompl::NearestNeighbors<Vertex>& _vertexNN) = 0;


protected:

  Graph & mFullRoadmap;

  Graph & mCurrentRoadmap;

  unsigned int mNumBatches;

  unsigned int mNumVertices;

  bool mExhausted;

  double mCurrRadius;

};

} // namespace batching
} // namespace batching_pomp

# endif //BATCHING_POMP_BATCHING_MANAGER_HPP_