planner.h

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/*
 * 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 __PLANNER_H_
#define __PLANNER_H_


#define         GETSTATEIND(stateid, mapid) StateID2IndexMapping[mapid][stateid]


//indices for the StateID2Index mapping
enum STATEID2IND {      STATEID2IND_SLOT0 = 0, 
                                        STATEID2IND_SLOT1,//add more slots if necessary
                                 NUMOFINDICES_STATEID2IND
};

//use the slots above for the mutually exclusive algorithms
#define VIMDP_STATEID2IND STATEID2IND_SLOT0
#define ARAMDP_STATEID2IND STATEID2IND_SLOT0
#define ADMDP_STATEID2IND STATEID2IND_SLOT0
#define RSTARMDP_STATEID2IND STATEID2IND_SLOT0
#define RSTARMDP_LSEARCH_STATEID2IND STATEID2IND_SLOT1
#define anaMDP_STATEID2IND STATEID2IND_SLOT0

//for example
//#define YYYPLANNER_STATEID2IND STATEID2IND_SLOT0
//#define YYYPLANNER_STATEID2IND STATEID2IND_SLOT1


typedef enum 
        {       //different state types if you have more than one type inside a single planner
                ABSTRACT_STATE = 0,
                ABSTRACT_STATEACTIONPAIR,
                ABSTRACT_GENERALSTATE
} AbstractSearchStateType_t; 

class AbstractSearchState
{

public:
        struct listelement* listelem[2];
        int heapindex;
        AbstractSearchStateType_t StateType; 

public:
        AbstractSearchState(){StateType = ABSTRACT_GENERALSTATE;listelem[0] = listelem[1] = NULL; };
        ~AbstractSearchState(){};
};

class DiscreteSpaceInformation;

class StateChangeQuery;

class SBPLPlanner
{

public:

  virtual int replan(double allocated_time_sec, std::vector<int>* solution_stateIDs_V) = 0;
  virtual int replan(double allocated_time_sec, std::vector<int>* solution_stateIDs_V, int* solcost) = 0;

    virtual int set_goal(int goal_stateID) = 0;

    virtual int set_start(int start_stateID) = 0;

    virtual int force_planning_from_scratch() = 0; 

        virtual int set_search_mode(bool bSearchUntilFirstSolution) = 0;

        virtual void costs_changed(StateChangeQuery const & stateChange) = 0;
  
   virtual double get_solution_eps() const {SBPL_ERROR("get_solution_eps is unimplemented for this planner\n"); return -1; }

  virtual int get_n_expands() const {SBPL_ERROR("get_n_expands is unimplemented for this planner\n");  return -1; }

  virtual double get_initial_eps(){SBPL_ERROR("get_initial_eps is unimplemented for this planner\n"); return -1;};

  virtual double get_initial_eps_planning_time(){SBPL_ERROR("get_initial_eps_planning_time is unimplemented for this planner\n"); return -1;}

  virtual double get_final_eps_planning_time(){SBPL_ERROR("get_final_eps_planning_time is unimplemented for this planner\n"); return -1;};

  virtual int get_n_expands_init_solution(){SBPL_ERROR("get_n_expands_init_solution is unimplemented for this planner\n"); return -1;};

  virtual double get_final_epsilon(){SBPL_ERROR("get_final_epsilon is unimplemented for this planner\n"); return -1;};


   virtual void set_initialsolution_eps(double initialsolution_eps) {};


    virtual ~SBPLPlanner(){};

protected:
        DiscreteSpaceInformation *environment_;

};



#endif