Task.h

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/*
 * This file is part of ArmarX.
 *
 * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
 *
 * 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/>.
 *
 * @package    RobotComponents
 * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
 * @date       2016
 * @copyright  http://www.gnu.org/licenses/gpl.txt
 *             GNU General Public License
 */
#pragma once
 
#include <atomic>
#include <chrono>
#include <mutex>
#include <random>
 
#include <ArmarXCore/core/system/FactoryCollectionBase.h>
#include <ArmarXCore/core/util/distributed/RemoteHandle/RemoteHandle.h>
#include <ArmarXCore/interface/core/RemoteObjectNode.h>
 
#include <RobotComponents/interface/components/MotionPlanning/Tasks/RandomShortcutPostprocessor/Task.h>
 
#include "../../util/Metrics.h"
#include "../MotionPlanningTask.h"
 
namespace armarx::rngshortcut
{
    class Task;
    using TaskPtr = IceInternal::Handle<Task>;
 
    class Task :
        public virtual PostprocessingMotionPlanningTask,
        public virtual TaskBase,
        public virtual MotionPlanningMultiPathWithCostTaskCI
    {
    public:
        Task(MotionPlanningTaskBasePtr previousStep,
             const std::string& taskName = "RandomShortcutPostprocessorTask",
             Ice::Long maxTimeForPostprocessingInSeconds = 6000,
             Ice::Float dcdStep = 0.01,
             Ice::Long maxTries = 10000,
             Ice::Float minShortcutImprovementRatio = 0.1,
             Ice::Float minPathImprovementRatio = 0.01);
 
        PathWithCost
        getPathWithCost(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return MotionPlanningMultiPathWithCostTaskCI::getPathWithCost();
        }
 
        Path
        getNthPath(Ice::Long n, const Ice::Current& = Ice::emptyCurrent) const override
        {
            return MotionPlanningMultiPathWithCostTaskCI::getNthPath(n);
        }
 
        Path
        getPath(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return MotionPlanningWithCostTaskCI::getPath();
        }
 
        ~Task() override = default;
 
        //PlanningControlInterface
        /**
        * @brief Aborts planning.
        */
        void abortTask(const Ice::Current& = Ice::emptyCurrent) override;
 
        //PlanningTaskBase
        /**
        * @brief Runs the task.
        * @param remoteNodes The list of \ref RemoteObjectNodeInterfacePrx used to distribute work to computers.
        */
        void run(const RemoteObjectNodePrxList& nodes,
                 const Ice::Current& = Ice::emptyCurrent) override;
 
        Ice::Long
        getMaximalPlanningTimeInSeconds(const Ice::Current& = Ice::emptyCurrent) const override
        {
            return previousStep->getMaximalPlanningTimeInSeconds();
        }
 
        Ice::Long getPathCount(const Ice::Current& = Ice::emptyCurrent) const override;
        PathWithCost getBestPath(const Ice::Current& = Ice::emptyCurrent) const override;
        PathWithCost getNthPathWithCost(Ice::Long n,
                                        const Ice::Current& = Ice::emptyCurrent) const override;
        PathWithCostSeq getAllPathsWithCost(const Ice::Current& = Ice::emptyCurrent) const override;
 
        bool isPathCollisionFree(const VectorXf& from, const VectorXf& to);
 
        std::pair<float, float> calcOffsets(float length, std::mt19937& gen);
 
    protected:
        /**
        * @brief Ctor used by object factories.
        */
        Task() = default;
 
        mutable std::mutex mtx;
        Path postprocessedSolution;
        PathWithCostSeq paths;
        std::atomic_bool taskIsAborted{false};
 
    private:
        template <class Base, class Derived>
        friend class ::armarx::GenericFactory;
    };
} // namespace armarx::rngshortcut
 
namespace armarx
{
    using RandomShortcutPostprocessorTask = rngshortcut::Task;
    using RandomShortcutPostprocessorTaskPtr = IceUtil::Handle<RandomShortcutPostprocessorTask>;
    using RandomShortcutPostprocessorTaskHandle =
        RemoteHandle<MotionPlanningMultiPathWithCostTaskControlInterfacePrx>;
} // namespace armarx