HybridBatching.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_HYBRID_BATCHING_HPP_
#define BATCHING_POMP_HYBRID_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 HybridBatching : 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:

  HybridBatching(const ompl::base::StateSpacePtr _space,
                 VStateMap _stateMap,
                 std::string _roadmapFileName,
                 Graph& _fullRoadmap,
                 Graph& _currentRoadmap,
                 unsigned int _initNumVertices,
                 double _vertInflFactor,
                 double _radiusInflFactor,
                 const std::function<double(unsigned int)>& _initRadiusFn,
                 double _maxRadius
                 )
  : BatchingManager<Graph, VStateMap, StateCon, EDistance>(_space,_stateMap,_roadmapFileName,_fullRoadmap,_currentRoadmap)
  , mNumVerticesAdded{0u}
  , mNextVertexTarget{_initNumVertices}
  , mVertInflFactor{_vertInflFactor}
  , mRadiusInflFactor{_radiusInflFactor}
  , mInitRadius{_initRadiusFn(_initNumVertices)}
  , mMaxRadius{_maxRadius}
  , mEdgeBatchingMode{false}
  , mRadiusFn{_initRadiusFn}
  {
    BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrRadius = mInitRadius;
    boost::tie(mCurrVertex,mLastVertex) = vertices(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mFullRoadmap);
  }

  void setVertexInflationFactor(double _vertInflFactor)
  {
    mVertInflFactor = _vertInflFactor;
  }

  double getVertexInflationFactor() const
  {
    return mVertInflFactor;
  }

  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;
  }

  bool isInEdgeBatchingMode() const
  {
    return mEdgeBatchingMode;
  }

  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 Hybrid Batch called!");
    ++BatchingManager<Graph, VStateMap, StateCon, EDistance>::mNumBatches;

    if(!mEdgeBatchingMode)
    {
      std::vector<Vertex> vertex_vector(mNextVertexTarget - mNumVerticesAdded);
      size_t idx{0};

      while(mNumVerticesAdded < mNextVertexTarget)
      {

        if(!_pruneFunction(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mFullRoadmap[*mCurrVertex].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[*mCurrVertex].v_state;
          vertex_vector[idx++] = newVertex;
        }

        ++mCurrVertex;
        ++mNumVerticesAdded;

        // If all samples added, next round will be edge batching mode
        if(mCurrVertex == mLastVertex) {
          mEdgeBatchingMode = true;
          break;
        }
      }

      if(idx > 0u) {
        vertex_vector.resize(idx);
        _vertexNN.add(vertex_vector);
      }
      
      BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrRadius = mRadiusFn(std::min(mNextVertexTarget,BatchingManager<Graph, VStateMap, StateCon, EDistance>::mNumVertices));

      mNextVertexTarget = static_cast<unsigned int>(mNextVertexTarget * mVertInflFactor);
    }
    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:

  unsigned int mNumVerticesAdded;
  unsigned int mNextVertexTarget;
  double mVertInflFactor;

  double mRadiusInflFactor;
  double mInitRadius;
  double mMaxRadius;

  VertexIter mCurrVertex;
  VertexIter mLastVertex;

  bool mEdgeBatchingMode;
  std::function<double(unsigned int)> mRadiusFn;

};

} // namespace batching_pomp
} // namespace batching
#endif //BATCHING_POMP_HYBRID_BATCHING_HPP_