PlannerRRT_SE2_TPS.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/nav/planners/TMoveTree.h>
#include <mrpt/nav/planners/PlannerRRT_common.h>
#include <numeric>

namespace mrpt
{
namespace nav
{
/** \addtogroup nav_planners Path planning
  * \ingroup mrpt_nav_grp
  * @{ */

/** TP Space-based RRT path planning for SE(2) (planar) robots.
*
*  This planner algorithm is described in the paper:
*   - M. Bellone, J.L. Blanco, A. Gimenez, "TP-Space RRT: Kinematic path
* planning of non-holonomic any-shape vehicles", International Journal of
* Advanced Robotic Systems, 2015.
*
*  Typical usage:
* \code
* mrpt::nav::PlannerRRT_SE2_TPS  planner;
*
* // Set or load planner parameters:
* //planner.loadConfig( mrpt::utils::CConfigFile("config_file.cfg") );
* //planner.params.... // See RRTAlgorithmParams
*
* // Set RRT end criteria (when to stop searching for a solution)
* //planner.end_criteria.... // See RRTEndCriteria
*
* planner.initialize();  // Initialize after setting the algorithm parameters
*
* // Set up planning problem:
* PlannerRRT_SE2_TPS::TPlannerResult planner_result;
* PlannerRRT_SE2_TPS::TPlannerInput planner_input;
* // Start & goal:
* planner_input.start_pose = mrpt::math::TPose2D(XXX,XXX,XXX);
* planner_input.goal_pose  = mrpt::math::TPose2D(XXX,XXX,XXX);
* // Set obtacles: (...)
* // planner_input.obstacles_points ...
* // Set workspace bounding box for picking random poses in the RRT algorithm:
* planner_input.world_bbox_min = mrpt::math::TPoint2D(XX,YY);
* planner_input.world_bbox_max = mrpt::math::TPoint2D(XX,YY);
* // Do path planning:
* planner.solve( planner_input, planner_result);
* // Analyze contents of planner_result...
* \endcode
*
*  - Changes history:
*    - 06/MAR/2014: Creation (MB)
*    - 06/JAN/2015: Refactoring (JLBC)
*
*  \todo Factorize into more generic path planner classes!  //template <class
* POSE, class MOTIONS>...
*/
class PlannerRRT_SE2_TPS : public PlannerTPS_VirtualBase
{
   public:
        /** The type of poses at nodes */
        typedef mrpt::math::TPose2D node_pose_t;

        struct TPlannerInput : public TPlannerInputTempl<node_pose_t, node_pose_t>
        {
                TPlannerInput()
                {
                        start_pose = mrpt::math::TPose2D(0, 0, 0);
                        goal_pose = mrpt::math::TPose2D(0, 0, 0);
                        world_bbox_min = mrpt::math::TPose2D(-10., -10.0, -M_PI);
                        world_bbox_max = mrpt::math::TPose2D(10., 10.0, M_PI);
                }
        };

        struct TPlannerResult : public TPlannerResultTempl<TMoveTreeSE2_TP>
        {
        };

        /** Constructor */
        PlannerRRT_SE2_TPS();

        /** Load all params from a config file source */
        void loadConfig(
                const mrpt::utils::CConfigFileBase& cfgSource,
                const std::string& sSectionName = std::string("PTG_CONFIG"));

        /** Must be called after setting all params (see `loadConfig()`) and before
         * calling `solve()` */
        void initialize();

        /** The main API entry point: tries to find a planned path from 'goal' to
         * 'target' */
        void solve(const TPlannerInput& pi, TPlannerResult& result);

   protected:
        bool m_initialized;

};  // end class PlannerRRT_SE2_TPS

/** @} */
}
}