araplanner.h

Go to the documentation of this file.

/*
 * Copyright (c) 2008, Maxim Likhachev
 * All rights reserved.
 * 
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 * 
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Pennsylvania nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 * 
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef __ARAPLANNER_H_
#define __ARAPLANNER_H_


//---configuration----

//control of EPS
//initial suboptimality bound (cost solution <= cost(eps*cost optimal solution)
#define ARA_DEFAULT_INITIAL_EPS     5.0
//as planning time exist, ARA* decreases epsilon bound
#define ARA_DECREASE_EPS    0.2
//final epsilon bound
#define ARA_FINAL_EPS       1.0


//---------------------

#define ARA_INCONS_LIST_ID 0

class CMDP;
class CMDPSTATE;
class CMDPACTION;
class CHeap;
class CList;


//-------------------------------------------------------------


typedef class ARASEARCHSTATEDATA : public AbstractSearchState
{
public:
        CMDPSTATE* MDPstate; 
        unsigned int v;
        unsigned int g;
        short unsigned int iterationclosed;
        short unsigned int callnumberaccessed;
        short unsigned int numofexpands;
        CMDPSTATE *bestpredstate;
        CMDPSTATE  *bestnextstate;
        unsigned int costtobestnextstate;
        int h;

        
public:
        ARASEARCHSTATEDATA() {};        
        ~ARASEARCHSTATEDATA() {};
} ARAState;



typedef struct ARASEARCHSTATESPACE
{
        double eps;
    double eps_satisfied;
        CHeap* heap;
        CList* inconslist;
        short unsigned int searchiteration;
        short unsigned int callnumber;
        CMDPSTATE* searchgoalstate;
        CMDPSTATE* searchstartstate;
        
        CMDP searchMDP;

        bool bReevaluatefvals;
    bool bReinitializeSearchStateSpace;
        bool bNewSearchIteration;

} ARASearchStateSpace_t;



class ARAPlanner : public SBPLPlanner
{

public:

        int replan(double allocated_time_secs, vector<int>* solution_stateIDs_V);
        int replan(double allocated_time_sec, vector<int>* solution_stateIDs_V, int* solcost);

    int set_goal(int goal_stateID);
    int set_start(int start_stateID);

    void costs_changed(StateChangeQuery const & stateChange);

    void costs_changed();


         int force_planning_from_scratch(); 

        int set_search_mode(bool bSearchUntilFirstSolution);

        virtual double get_solution_eps() const {return pSearchStateSpace_->eps_satisfied;};

    virtual int get_n_expands() const { return searchexpands; }

        virtual void set_initialsolution_eps(double initialsolution_eps) {finitial_eps = initialsolution_eps;};

        void print_searchpath(FILE* fOut);


    ARAPlanner(DiscreteSpaceInformation* environment, bool bforwardsearch);
    ~ARAPlanner();

  double get_initial_eps(){return finitial_eps;};

  double get_initial_eps_planning_time(){return finitial_eps_planning_time;}

  double get_final_eps_planning_time(){return final_eps_planning_time;};

  int get_n_expands_init_solution(){return num_of_expands_initial_solution;};

  double get_final_epsilon(){return final_eps;};

private:

        //member variables
  double finitial_eps, finitial_eps_planning_time, final_eps_planning_time, final_eps;

  int num_of_expands_initial_solution;

        MDPConfig* MDPCfg_;

        bool bforwardsearch; //if true, then search proceeds forward, otherwise backward

        bool bsearchuntilfirstsolution; //if true, then search until first solution only (see planner.h for search modes)

    ARASearchStateSpace_t* pSearchStateSpace_;

        unsigned int searchexpands;
        int MaxMemoryCounter;
        clock_t TimeStarted;
        FILE *fDeb;


        //member functions
        void Initialize_searchinfo(CMDPSTATE* state, ARASearchStateSpace_t* pSearchStateSpace);

        CMDPSTATE* CreateState(int stateID, ARASearchStateSpace_t* pSearchStateSpace);

        CMDPSTATE* GetState(int stateID, ARASearchStateSpace_t* pSearchStateSpace);

        int ComputeHeuristic(CMDPSTATE* MDPstate, ARASearchStateSpace_t* pSearchStateSpace);

        //initialization of a state
        void InitializeSearchStateInfo(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace);

        //re-initialization of a state
        void ReInitializeSearchStateInfo(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace);

        void DeleteSearchStateData(ARAState* state);

        //used for backward search
        void UpdatePreds(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace);


        //used for forward search
        void UpdateSuccs(ARAState* state, ARASearchStateSpace_t* pSearchStateSpace);

        int GetGVal(int StateID, ARASearchStateSpace_t* pSearchStateSpace);

        //returns 1 if the solution is found, 0 if the solution does not exist and 2 if it ran out of time
        int ImprovePath(ARASearchStateSpace_t* pSearchStateSpace, double MaxNumofSecs);

        void BuildNewOPENList(ARASearchStateSpace_t* pSearchStateSpace);

        void Reevaluatefvals(ARASearchStateSpace_t* pSearchStateSpace);

        //creates (allocates memory) search state space
        //does not initialize search statespace
        int CreateSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace);

        //deallocates memory used by SearchStateSpace
        void DeleteSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace);

        //debugging 
        void PrintSearchState(ARAState* state, FILE* fOut);


        //reset properly search state space
        //needs to be done before deleting states
        int ResetSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace);

        //initialization before each search
        void ReInitializeSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace);

        //very first initialization
        int InitializeSearchStateSpace(ARASearchStateSpace_t* pSearchStateSpace);

        int SetSearchGoalState(int SearchGoalStateID, ARASearchStateSpace_t* pSearchStateSpace);


        int SetSearchStartState(int SearchStartStateID, ARASearchStateSpace_t* pSearchStateSpace);

        //reconstruct path functions are only relevant for forward search
        int ReconstructPath(ARASearchStateSpace_t* pSearchStateSpace);


        void PrintSearchPath(ARASearchStateSpace_t* pSearchStateSpace, FILE* fOut);

        int getHeurValue(ARASearchStateSpace_t* pSearchStateSpace, int StateID);

        //get path 
        vector<int> GetSearchPath(ARASearchStateSpace_t* pSearchStateSpace, int& solcost);


        bool Search(ARASearchStateSpace_t* pSearchStateSpace, vector<int>& pathIds, int & PathCost, bool bFirstSolution, bool bOptimalSolution, double MaxNumofSecs);


};


#endif