SingleBatching.hpp

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

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#ifndef BATCHING_POMP_SINGLE_BATCHING_HPP_
#define BATCHING_POMP_SINGLE_BATCHING_HPP_

#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 SingleBatching : 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:

  SingleBatching(const ompl::base::StateSpacePtr _space,
                 VStateMap _stateMap,
                 EDistance _distanceMap,
                 std::string _roadmapFileName,
                 Graph& _fullRoadmap,
                 Graph& _currentRoadmap
                )
  : BatchingManager<Graph, VStateMap, StateCon, EDistance>
                  (_space,_stateMap,_distanceMap,_roadmapFileName,_fullRoadmap,_currentRoadmap)
  {
    BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrentRoadmap = BatchingManager<Graph, VStateMap, StateCon, EDistance>::mFullRoadmap;
  }

  void updateWithNewSolutionCost(double _newSolnCost) override
  {
  }

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

    // You know there is only one batch
    // Now remove all invalid vertices
    BatchingManager<Graph, VStateMap, StateCon, EDistance>::pruneVertices(_pruneFunction,_vertexNN);

    BatchingManager<Graph, VStateMap, StateCon, EDistance>::mExhausted = true;

  }

};



} // namespace batching
} // namespace batching_pomp
#endif // BATCHING_POMP_SINGLE_BATCHING_HPP_