RoadmapFromFile.hpp

/***********************************************************************
Copyright (c) 2017, Carnegie Mellon University
All rights reserved.
Authors:  Chris Dellin <cdellin@gmail.com>
          Shushman Choudhury <shushmanchoudhury@gmail.com>

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#ifndef BATCHING_POMP_UTIL_ROADMAPFROMFILE_HPP_
#define BATCHING_POMP_UTIL_ROADMAPFROMFILE_HPP_

#include <sstream>
#include <iostream>
#include <fstream>
#include <type_traits>
#include <boost/property_map/dynamic_property_map.hpp>
#include <boost/graph/graphml.hpp>
#include <boost/graph/adjacency_list.hpp>
#include <ompl/base/State.h>
#include <ompl/base/ScopedState.h>
#include <ompl/base/StateSpace.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
#include "rv_state_map_string_adaptor.hpp"

namespace batching_pomp {
namespace util {


template <class PropMap, class StateCon>
class RoadmapFromFilePutStateMap
{
public:
  typedef boost::writable_property_map_tag category;
  typedef typename boost::property_traits<PropMap>::key_type key_type;
  typedef std::string value_type;
  typedef std::string reference;

  const PropMap mPropMap;
  ompl::base::StateSpacePtr mSpace;
  const unsigned int mDim;

  RoadmapFromFilePutStateMap(PropMap _propMap, ompl::base::StateSpacePtr _space, unsigned int _dim)
  : mPropMap{_propMap}
  , mSpace{_space}
  , mDim{_dim}
  {
  }
};

template <class PropMap, class StateCon>
inline std::string
get(const RoadmapFromFilePutStateMap<PropMap,StateCon> & map,
   const typename RoadmapFromFilePutStateMap<PropMap,StateCon>::key_type & k)
{
   abort();
}

template <class PropMap, class StateCon>
inline void
put(const RoadmapFromFilePutStateMap<PropMap,StateCon> & map,
    const typename RoadmapFromFilePutStateMap<PropMap,StateCon>::key_type & k,
    const std::string representation)
{
  get(map.mPropMap, k).reset(new StateCon(map.mSpace));
  ompl::base::State* ver_state{get(map.mPropMap, k)->state};
  double * values{ver_state->as<ompl::base::RealVectorStateSpace::StateType>()->values};
  std::stringstream ss(representation);
  for (unsigned int ui=0; ui<map.mDim; ui++){
    ss >> values[ui];
  }
}


template <class Graph, class VStateMap, class StateCon, class EDistance>
class RoadmapFromFile
{
typedef boost::graph_traits<Graph> GraphTypes;
typedef typename GraphTypes::vertex_descriptor Vertex;
typedef typename GraphTypes::vertex_iterator VertexIter;
typedef typename GraphTypes::edge_descriptor Edge;
typedef typename GraphTypes::edge_iterator EdgeIter;

public:

  const std::string mFilename;

  RoadmapFromFile(
    const ompl::base::StateSpacePtr _space,
    std::string _filename)
  : mSpace(_space)
  , mFilename(_filename)
  , mBounds(0)
  {
    if (mSpace->getType() != ompl::base::STATE_SPACE_REAL_VECTOR) {
      throw std::runtime_error("This only supports real vector state spaces!");
    }

    mDim = mSpace->getDimension();
    mBounds = mSpace->as<ompl::base::RealVectorStateSpace>()->getBounds();
  }

  ~RoadmapFromFile() {}

  void generateVertices(Graph& _roadmap,
                        VStateMap _stateMap)
  {
    std::ifstream fp;
    fp.open(mFilename.c_str());

    boost::dynamic_properties props;
    props.property("state",
      RoadmapFromFilePutStateMap<VStateMap,StateCon>(_stateMap, mSpace, mDim));

    boost::read_graphml(fp, _roadmap, props);
  }

  void generateEdges(Graph& _roadmap,
                     VStateMap _stateMap,
                     EDistance _distanceMap)
  {
    EdgeIter ei, ei_end;
    for (boost::tie(ei,ei_end)=edges(_roadmap); ei!=ei_end; ++ei)
    {
      ompl::base::State * state1 = get(_stateMap, source(*ei,_roadmap))->state;
      ompl::base::State * state2 = get(_stateMap, target(*ei,_roadmap))->state;
      put(_distanceMap, *ei, mSpace->distance(state1,state2));
    }
  }

private:

  unsigned int mDim;
  ompl::base::RealVectorBounds mBounds;
  const ompl::base::StateSpacePtr mSpace;

};



} // namespace util
} // namespace batching_pomp

#endif //BATCHING_POMP_UTIL_ROADMAPFROMFILE_HPP_