.. _program_listing_file_src_ompl_geometric_PathHybridization.h:

Program Listing for File PathHybridization.h
============================================

|exhale_lsh| :ref:`Return to documentation for file <file_src_ompl_geometric_PathHybridization.h>` (``src/ompl/geometric/PathHybridization.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

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   /* Author: Ioan Sucan */
   
   #ifndef OMPL_GEOMETRIC_PATH_HYBRIDIZATION_
   #define OMPL_GEOMETRIC_PATH_HYBRIDIZATION_
   
   #include "ompl/base/SpaceInformation.h"
   #include "ompl/base/OptimizationObjective.h"
   #include "ompl/geometric/PathGeometric.h"
   #include <boost/graph/graph_traits.hpp>
   #include <boost/graph/adjacency_list.hpp>
   #include <iostream>
   #include <set>
   
   namespace ompl
   {
       namespace geometric
       {
   
           OMPL_CLASS_FORWARD(PathHybridization);
   
           class PathHybridization
           {
           public:
               PathHybridization(base::SpaceInformationPtr si);
   
               PathHybridization(base::SpaceInformationPtr si, base::OptimizationObjectivePtr obj);
   
               ~PathHybridization();
   
               const geometric::PathGeometricPtr &getHybridPath() const;
   
               void computeHybridPath();
   
               unsigned int recordPath(const geometric::PathGeometricPtr &pp, bool matchAcrossGaps);
   
               std::size_t pathCount() const;
   
               void matchPaths(const geometric::PathGeometric &p, const geometric::PathGeometric &q, double gapValue,
                               std::vector<int> &indexP, std::vector<int> &indexQ) const;
   
               void clear();
   
               void print(std::ostream &out = std::cout) const;
   
               const std::string &getName() const;
   
           private:
               struct vertex_state_t
               {
                   using kind = boost::vertex_property_tag;
               };
   
               using HGraph = boost::adjacency_list<
                   boost::vecS, boost::vecS, boost::undirectedS,
                   boost::property<vertex_state_t, base::State *,
                                   boost::property<boost::vertex_predecessor_t, unsigned long int,
                                                   boost::property<boost::vertex_rank_t, base::Cost>>>,
                   boost::property<boost::edge_weight_t, base::Cost>>;
   
               using Vertex = boost::graph_traits<HGraph>::vertex_descriptor;
               using Edge = boost::graph_traits<HGraph>::edge_descriptor;
   
               struct PathInfo
               {
                   PathInfo(const geometric::PathGeometricPtr &path)
                     : path_(path), states_(path->getStates()), cost_(base::Cost())
                   {
                       vertices_.reserve(states_.size());
                   }
   
                   bool operator==(const PathInfo &other) const
                   {
                       return path_ == other.path_;
                   }
   
                   bool operator<(const PathInfo &other) const
                   {
                       return path_ < other.path_;
                   }
   
                   geometric::PathGeometricPtr path_;
                   const std::vector<base::State *> &states_;
                   base::Cost cost_;
                   std::vector<Vertex> vertices_;
               };
   
               void attemptNewEdge(const PathInfo &p, const PathInfo &q, int indexP, int indexQ);
   
               base::SpaceInformationPtr si_;
               base::OptimizationObjectivePtr obj_;
               HGraph g_;
               boost::property_map<HGraph, vertex_state_t>::type stateProperty_;
               Vertex root_;
               Vertex goal_;
               std::set<PathInfo> paths_;
               geometric::PathGeometricPtr hpath_;
   
               std::string name_;
           };
       }
   }
   
   #endif