constraints_library.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_OMPL_INTERFACE_CONSTRAINTS_LIBRARY_
#define MOVEIT_OMPL_INTERFACE_CONSTRAINTS_LIBRARY_

#include <moveit/ompl_interface/planning_context_manager.h>
#include <moveit/kinematic_constraints/kinematic_constraint.h>
#include <ompl/base/StateStorage.h>
#include <boost/function.hpp>
#include <boost/serialization/map.hpp>

namespace ompl_interface
{

typedef std::pair<std::vector<std::size_t>, std::map<std::size_t, std::pair<std::size_t, std::size_t> > > ConstrainedStateMetadata;
typedef ompl::base::StateStorageWithMetadata<ConstrainedStateMetadata> ConstraintApproximationStateStorage;

class ConstraintApproximation;
typedef boost::shared_ptr<ConstraintApproximation> ConstraintApproximationPtr;
typedef boost::shared_ptr<const ConstraintApproximation> ConstraintApproximationConstPtr;

class ConstraintApproximation
{
public:

  ConstraintApproximation(const std::string &group, const std::string &state_space_parameterization, bool explicit_motions,
                          const moveit_msgs::Constraints &msg, const std::string &filename, const ompl::base::StateStoragePtr &storage,
                          std::size_t milestones = 0);

  virtual ~ConstraintApproximation()
  {
  }

  const std::string& getName() const
  {
    return constraint_msg_.name;
  }

  ompl::base::StateSamplerAllocator getStateSamplerAllocator(const moveit_msgs::Constraints &msg) const;

  InterpolationFunction getInterpolationFunction() const;

  const std::vector<int>& getSpaceSignature() const
  {
    return space_signature_;
  }

  const std::string& getGroup() const
  {
    return group_;
  }

  bool hasExplicitMotions() const
  {
    return explicit_motions_;
  }

  std::size_t getMilestoneCount() const
  {
    return milestones_;
  }

  const std::string& getStateSpaceParameterization() const
  {
    return state_space_parameterization_;
  }

  const moveit_msgs::Constraints& getConstraintsMsg() const
  {
    return constraint_msg_;
  }

  const ompl::base::StateStoragePtr& getStateStorage() const
  {
    return state_storage_ptr_;
  }

  const std::string& getFilename() const
  {
    return ompldb_filename_;
  }

protected:

  std::string group_;
  std::string state_space_parameterization_;
  bool explicit_motions_;

  moveit_msgs::Constraints constraint_msg_;

  std::vector<int> space_signature_;

  std::string ompldb_filename_;
  ompl::base::StateStoragePtr state_storage_ptr_;
  ConstraintApproximationStateStorage *state_storage_;
  std::size_t milestones_;
};

struct ConstraintApproximationConstructionOptions
{
  ConstraintApproximationConstructionOptions() :
    samples(0),
    edges_per_sample(0),
    max_edge_length(std::numeric_limits<double>::infinity()),
    explicit_motions(false),
    explicit_points_resolution(0.0),
    max_explicit_points(0)
  {
  }

  std::string state_space_parameterization;
  unsigned int samples;
  unsigned int edges_per_sample;
  double max_edge_length;
  bool explicit_motions;
  double explicit_points_resolution;
  unsigned int max_explicit_points;
};

struct ConstraintApproximationConstructionResults
{
  ConstraintApproximationPtr approx;
  std::size_t                milestones;
  double                     state_sampling_time;
  double                     state_connection_time;
  double                     sampling_success_rate;
};

class ConstraintsLibrary
{
public:

  ConstraintsLibrary(const PlanningContextManager &pcontext) : context_manager_(pcontext)
  {
  }

  void loadConstraintApproximations(const std::string &path);

  void saveConstraintApproximations(const std::string &path);

  ConstraintApproximationConstructionResults
  addConstraintApproximation(const moveit_msgs::Constraints &constr_sampling, const moveit_msgs::Constraints &constr_hard,
                             const std::string &group, const planning_scene::PlanningSceneConstPtr &scene,
                             const ConstraintApproximationConstructionOptions &options);

  ConstraintApproximationConstructionResults
  addConstraintApproximation(const moveit_msgs::Constraints &constr,
                             const std::string &group, const planning_scene::PlanningSceneConstPtr &scene,
                             const ConstraintApproximationConstructionOptions &options);

  void printConstraintApproximations(std::ostream &out = std::cout) const;
  void clearConstraintApproximations();

  void registerConstraintApproximation(const ConstraintApproximationPtr &approx)
  {
    constraint_approximations_[approx->getName()] = approx;
  }

  const ConstraintApproximationPtr& getConstraintApproximation(const moveit_msgs::Constraints &msg) const;

private:

  ompl::base::StateStoragePtr constructConstraintApproximation(const ModelBasedPlanningContextPtr &pcontext,
                                                               const moveit_msgs::Constraints &constr_sampling, const moveit_msgs::Constraints &constr_hard,
                                                               const ConstraintApproximationConstructionOptions &options,
                                                               ConstraintApproximationConstructionResults &result);

  const PlanningContextManager &context_manager_;
  std::map<std::string, ConstraintApproximationPtr> constraint_approximations_;

};

typedef boost::shared_ptr<ConstraintsLibrary> ConstraintsLibraryPtr;
typedef boost::shared_ptr<const ConstraintsLibrary> ConstraintsLibraryConstPtr;

}

#endif