collision_operations_generator.h

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#include <ros/ros.h>

#include <map>
#include <string>
#include <vector>
#include <fstream>

#include <planning_environment/models/collision_models.h>
#include <yaml-cpp/yaml.h>

namespace planning_environment 
{

class CollisionOperationsGenerator {

public:

  enum DisableType {
    ADJACENT,
    ALWAYS,
    DEFAULT,
    OFTEN,
    OCCASIONALLY,
    NEVER
  };

  enum SamplingSafety
  {
    VerySafe,
    Safe,
    Normal,
    Fast,
    VeryFast
  };

  CollisionOperationsGenerator(CollisionModels* cm);
  
  typedef std::pair<std::string, std::string> StringPair;
  typedef std::map<std::string, double> CollidingJointValues;

  void generateAdjacentInCollisionPairs(std::vector<StringPair>& adjacent_in_collision_pairs);
  
  void generateAlwaysInCollisionPairs(std::vector<StringPair>& always_in_collision_pairs,
                                      std::vector<CollidingJointValues>& in_collision_joint_values);

  void generateDefaultInCollisionPairs(std::vector<StringPair>& default_in_collision_pairs,
                                       std::vector<CollidingJointValues>& in_collision_joint_values);

  void generateOftenInCollisionPairs(std::vector<StringPair>& often_in_collision_pairs,
                                     std::vector<double>& collision_percentage,
                                     std::vector<CollidingJointValues>& in_collision_joint_values);
  
  void generateOccasionallyAndNeverInCollisionPairs(std::vector<StringPair>& occasionally_in_collision_pairs,
                                                    std::vector<StringPair>& never_in_collision_pairs,
                                                    std::vector<double>& collision_percentage,
                                                    std::vector<CollidingJointValues>& in_collision_joint_values);
  
  void enablePairCollisionChecking(const StringPair& pair);  
  void disablePairCollisionChecking(const StringPair& pair);
  void disablePairCollisionChecking(const std::vector<StringPair>& pair_vec);

  void enableAllCollisions();
  void outputYamlStringOfSavedResults(YAML::Emitter& outy, const std::map<DisableType, std::vector<StringPair> >& disable_types);
  //void outputFileOfSavedResults();

  void performanceTestSavedResults(std::map<CollisionOperationsGenerator::DisableType, std::vector<CollisionOperationsGenerator::StringPair> >& disable_types);

  void generateSamplingStructures(const std::map<std::string, bool>& add_map);

  inline void setSafety(SamplingSafety safety)
  {
    switch(safety)
    {
      case VerySafe:
        establish_always_num_ = 5000;
        establish_often_num_ = 15000;
        establish_often_percentage_ = 0.5;
        establish_occasional_num_ = 1000000;
        performance_testing_num_ = 5000;
        break;

      case Safe:
        establish_always_num_ = 10000;
        establish_often_num_ = 5000;
        establish_often_percentage_ = 0.5;
        establish_occasional_num_ = 100000;
        performance_testing_num_ = 1000;
        break;

      case Normal:
        establish_always_num_ = 1000;
        establish_often_num_ = 1000;
        establish_often_percentage_ = 0.5;
        establish_occasional_num_ = 20000;
        performance_testing_num_ = 1000;
        break;

      case Fast:
        establish_always_num_ = 100;
        establish_often_num_ = 500;
        establish_often_percentage_ = 0.5;
        establish_occasional_num_ = 1000;
        performance_testing_num_ = 100;
        break;

      case VeryFast:
        establish_always_num_ = 100;
        establish_often_num_ = 100;
        establish_often_percentage_ = 0.5;
        establish_occasional_num_ = 500;
        performance_testing_num_ = 10;
        break;
    }
  }

  unsigned int establish_always_num_;
  unsigned int establish_often_num_;
  double establish_often_percentage_;
  unsigned int establish_occasional_num_;
  unsigned int performance_testing_num_;

protected:

  void accumulateAdjacentLinksRecursive(const planning_models::KinematicModel::LinkModel* parent,
                                        std::vector<StringPair>& adjacencies);

  void sampleAndCountCollisions(unsigned int num);

  void buildOutputStructures(unsigned int num, double low_value, double high_value, 
                             std::vector<StringPair>& meets_threshold_collision,
                             std::vector<double>& collision_percentages, 
                             std::vector<CollidingJointValues>& joint_values,
                             std::map<std::string, std::map<std::string, double> >& percentage_num);
  
  void resetCountingMap();

  void generateRandomState(planning_models::KinematicState& state);

  std::map<std::string, std::pair<double, double> > joint_bounds_map_;
  std::map<std::string, std::map<std::string, unsigned int> > collision_count_map_;
  std::map<std::string, std::map<std::string, CollidingJointValues> > collision_joint_values_;

  planning_environment::CollisionModels* cm_;

};
}