include/architecture/planner/IGPlanner.h

/*
*
* Author: Miguel Julia <mjulia@umh.es> 
* 
* Date:   2009
* 
* Class InformationGainPlanner
*
*/

#pragma once
#ifndef __IG__PLANNER__
#define __IG__PLANNER__

#include <iostream>
#include <stdlib.h>
#include "ClThread.h"
#include "stepEvent.h"
#include "slamInterface.h"
#include "reactive.h"
#include "planner.h"
#include "pathPlanning.h"
#include "ConfigFile.h"


/**
* @brief Implements an exploration algorithm that chooses its target cell using a cost-utility model
*
* Value = IG - Cost
* 
* IG: is the expected number of visible cells from that frontier cell
*
* Cost: is the length of the path to arrive to the cell
*
* The target frontier cell that maximizes the value is chosen
*
*/
class InformationGainPlanner: public planner{

///////////////////////////////////////////////////////////////////////
//-------------------------  Attributes  ------------------------------
///////////////////////////////////////////////////////////////////////

private: 

        ClMutex closing;                                // Mutex for a right stopping of the thread
        bool endPlanner;                                // Flag that indicates that the thread must conclude in the next iteration 
        bool showPlanner;                               // Flag that indicates if the planning figure must be displayed
        bool completedPath;                             // Flag to set when path is finished
        std::vector<point> path;                // planned path

        // parameters
        float replanning_period;
        int inflate_obstacles;
        float utility_radius;
        float utility_weight;
        float cost_weight;
        
//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////

///////////////////////////////////////////////////////////////////////
//-------------------------  Methods  ---------------------------------
///////////////////////////////////////////////////////////////////////

public:

        /// Constructor
        InformationGainPlanner(const ConfigFile& config);
        /// Destructor
        virtual ~InformationGainPlanner();

private:

        int setup();                                    // Thread setup
        void onStop();                                  // Thread on stop
        void execute();                                 // Thead execution body

        int utility(const gridMapInterface& omap, const binMap& esz); // evals the utility of a frontier

//--------------------------------------------------------------------- 
///////////////////////////////////////////////////////////////////////

};

#endif