EdgeBatching.hpp

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

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#ifndef BATCHING_POMP_EDGE_BATCHING_HPP_
#define BATCHING_POMP_EDGE_BATCHING_HPP_

#include <exception>
#include <ompl/base/StateSpace.h>
#include <ompl/util/Console.h>
#include <boost/graph/adjacency_list.hpp>
#include <boost/graph/properties.hpp>
#include "batching_pomp/batching/BatchingManager.hpp"

namespace batching_pomp {
namespace batching {


template<class Graph, class VStateMap, class StateCon, class EDistance>
class EdgeBatching : public BatchingManager<Graph, VStateMap, StateCon, EDistance>
{

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


public:

  EdgeBatching(const ompl::base::StateSpacePtr _space,
               VStateMap _stateMap,
               std::string _roadmapFileName,
               Graph& _fullRoadmap,
               Graph& _currentRoadmap,
               double _radiusInflFactor,
               std::function<double(unsigned int)> _initRadiusFn,
               double _maxRadius
               )
  : BatchingManager<Graph, VStateMap, StateCon, EDistance>(_space,_stateMap,_roadmapFileName,_fullRoadmap,_currentRoadmap)
  , mRadiusInflFactor{_radiusInflFactor}
  , mInitRadius{_initRadiusFn(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mNumVertices)}
  , mMaxRadius{_maxRadius}
  {
  }

  void setRadiusInflationFactor(unsigned int _radiusInflFactor)
  {
    mRadiusInflFactor = _radiusInflFactor;
  }

  double getRadiusInflationFactor() const
  {
    return mRadiusInflFactor;
  }

  void setInitRadius(double _initRadius)
  {
    mInitRadius = _initRadius;
  }

  double getInitRadius() const
  {
    return mInitRadius;
  }

  void setMaxRadius(double _maxRadius)
  {
    mMaxRadius = _maxRadius;
  }

  double getMaxRadius() const
  {
    return mMaxRadius;
  }

  void updateWithNewSolutionCost(double _newSolnCost) override
  {
    mMaxRadius = std::min(mMaxRadius,_newSolnCost);
  }

  void nextBatch(const std::function<bool(const ompl::base::State*)>& _pruneFunction,
                 ompl::NearestNeighbors<Vertex>& _vertexNN) override
  {

    if(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mExhausted){
      OMPL_INFORM("Batching exhausted! No updates with nextBatch!");
      return;
    }

    OMPL_INFORM("New Edge Batch called!");
    ++BatchingManager<Graph, VStateMap, StateCon, EDistance>::mNumBatches;

    if(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mNumBatches == 1u)
    {
      VertexIter vi, vi_end;
      std::vector<Vertex> vertex_vector(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mNumVertices);
      size_t idx{0};

      for(boost::tie(vi,vi_end)=vertices(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mFullRoadmap); vi!=vi_end; ++vi)
      {
        if(!_pruneFunction(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mFullRoadmap[*vi].v_state->state)) {
          Vertex newVertex = boost::add_vertex(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrentRoadmap);
          BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrentRoadmap[newVertex].v_state = 
              BatchingManager<Graph, VStateMap, StateCon, EDistance>::mFullRoadmap[*vi].v_state;
          vertex_vector[idx++] = newVertex;
        }
      }

      // Truncate to actual number of samples to add
      vertex_vector.resize(idx);
      _vertexNN.add(vertex_vector);

      BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrRadius = mInitRadius;  
    }
    else {
      BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrRadius = BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrRadius * mRadiusInflFactor;
    }

    if(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrRadius > mMaxRadius)
    {
      BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrRadius = mMaxRadius;
      BatchingManager<Graph, VStateMap, StateCon, EDistance>::mExhausted = true;
    }
  }

 
private:

  double mRadiusInflFactor;
  double mInitRadius;
  double mMaxRadius;


};
} //namespace batching
} //namespace batching_pomp

#endif //BATCHING_POMP_EDGE_BATCHING_HPP_