Program Listing for File VFRRT.h

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/* Authors: Caleb Voss, Wilson Beebe */

#ifndef OMPL_GEOMETRIC_PLANNERS_RRT_VFRRT_
#define OMPL_GEOMETRIC_PLANNERS_RRT_VFRRT_

#include <limits>

#include <Eigen/Core>

#include <ompl/geometric/planners/rrt/RRT.h>

namespace ompl
{
    namespace geometric
    {
        class VFRRT : public RRT
        {
        public:
            using VectorField = std::function<Eigen::VectorXd(const base::State *)>;

            VFRRT(const base::SpaceInformationPtr &si, VectorField vf, double exploration, double initial_lambda,
                  unsigned int update_freq);

            ~VFRRT() override;

            void clear() override;

            double determineMeanNorm();

            Eigen::VectorXd getNewDirection(const base::State *qnear, const base::State *qrand);

            double biasedSampling(const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield, double lambdaScale);

            void updateGain();

            Eigen::VectorXd computeAlphaBeta(double omega, const Eigen::VectorXd &vrand, const Eigen::VectorXd &vfield);

            Motion *extendTree(Motion *m, base::State *rstate, const Eigen::VectorXd &v);
            void updateExplorationEfficiency(Motion *m);

            base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override;

            void setup() override;

        private:
            const VectorField vf_;

            unsigned int efficientCount_{0u};

            unsigned int inefficientCount_{0u};

            double explorationInefficiency_{0.};

            double explorationSetting_;

            double lambda_;

            unsigned int nth_step_;

            unsigned int step_{0u};

            double meanNorm_{0.};

            unsigned int vfdim_{0u};
        };
    }
}
#endif