VertexBatching.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_VERTEX_BATCHING_HPP_
#define BATCHING_POMP_VERTEX_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 VertexBatching : 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:

  VertexBatching(const ompl::base::StateSpacePtr _space,
                 VStateMap _stateMap,
                 std::string _roadmapFileName,
                 Graph& _fullRoadmap,
                 Graph& _currentRoadmap,
                 unsigned int _initNumVertices,
                 double _vertInflFactor
                 )
  : BatchingManager<Graph, VStateMap, StateCon, EDistance>(_space,_stateMap,_roadmapFileName,_fullRoadmap,_currentRoadmap)
  , mNumVerticesAdded{0u}
  , mNextVertexTarget{_initNumVertices}
  , mVertInflFactor{_vertInflFactor}
  {
    BatchingManager<Graph, VStateMap, StateCon, EDistance>::mCurrRadius = std::numeric_limits<double>::max();
    boost::tie(mCurrVertex,mLastVertex) = vertices(BatchingManager<Graph, VStateMap, StateCon, EDistance>::mFullRoadmap);
  }

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

  double getVertexInflationFactor() const
  {
    return mVertInflFactor;
  }

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

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

    while(mNumVerticesAdded < mNextVertexTarget)
    {

      // Only add if best cost through vertex better than current solution
      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;
      }

      // Increment stuff
      ++mCurrVertex;
      ++mNumVerticesAdded;

      if(mCurrVertex == mLastVertex) {
        BatchingManager<Graph, VStateMap, StateCon, EDistance>::mExhausted = true;
        break;
      }
    }

    // Update nearest neighbour structure with vertices
    // TODO : Is this the most efficient way?
    if(idx > 0u) {
      vertex_vector.resize(idx);
      _vertexNN.add(vertex_vector);
    }

    // Update size of next subgraph
    mNextVertexTarget = static_cast<unsigned int>(mNextVertexTarget * mVertInflFactor);
  }

private:

  unsigned int mNumVerticesAdded;
  unsigned int mNextVertexTarget;
  double mVertInflFactor;

  VertexIter mCurrVertex;
  VertexIter mLastVertex;

};

} //namespace batching
} //namespace batching_pomp

#endif //BATCHING_POMP_VERTEX_BATCHING_HPP_