TSPSolver.h

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/**
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot kit at edu )
 * @date       2025
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <cstddef>
#include <cstdint>
#include <optional>
#include <utility>
#include <vector>
 
#include <Eigen/Core>
 
namespace armarx::navigation::algorithms::tsp
{
 
    class TSPSolver
    {
    public:
        struct Parameters
        {
            std::int64_t timeLimitSeconds = 5;
        };
 
        TSPSolver(const Parameters& params);
 
        struct Result
        {
            // Add result data here
            std::vector<Eigen::Vector2f> orderedPoints;
            std::vector<std::size_t> orderIndices;
        };
 
        std::optional<Result> solve(const std::vector<Eigen::Vector2f>& points,
                                    const Eigen::Vector2f& startingPosition) const;
 
    protected:
    private:
        Parameters params_;
    };
 
    namespace detail
    {
        std::vector<std::vector<double>>
        buildDistanceMatrix(const std::vector<Eigen::Vector2f>& pts);
 
        std::pair<double, std::vector<int>>
        heldKarpTsp(const std::vector<std::vector<double>>& d);
    } // namespace detail
 
} // namespace armarx::navigation::algorithms::tsp