.. _program_listing_file_include_reach_reach_study.h:

Program Listing for File reach_study.h
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_reach_reach_study.h>` (``include/reach/reach_study.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*
    * Copyright 2019 Southwest Research Institute
    *
    * Licensed under the Apache License, Version 2.0 (the "License");
    * you may not use this file except in compliance with the License.
    * You may obtain a copy of the License at
    *
    *     http://www.apache.org/licenses/LICENSE-2.0
    *
    * Unless required by applicable law or agreed to in writing, software
    * distributed under the License is distributed on an "AS IS" BASIS,
    * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    * See the License for the specific language governing permissions and
    * limitations under the License.
    */
   #ifndef reach_REACH_STUDY_H
   #define reach_REACH_STUDY_H
   
   #include <reach/interfaces/display.h>
   #include <reach/interfaces/evaluator.h>
   #include <reach/interfaces/ik_solver.h>
   #include <reach/interfaces/target_pose_generator.h>
   #include <reach/interfaces/logger.h>
   #include <reach/utils.h>
   
   #include <boost/filesystem/path.hpp>
   #include <mutex>
   #include <thread>
   
   namespace reach
   {
   class ReachStudy
   {
   public:
     struct Parameters
     {
       int max_steps;
       float step_improvement_threshold;
       float radius;
       std::size_t max_threads = std::thread::hardware_concurrency();
       std::map<std::string, double> seed_state;
     };
   
     ReachStudy(IKSolver::ConstPtr ik_solver, Evaluator::ConstPtr evaluator, TargetPoseGenerator::ConstPtr pose_generator,
                Display::ConstPtr display, Logger::Ptr logger, Parameters params);
   
     ReachStudy(const ReachStudy&);
   
     void load(const std::string& filename);
   
     void run();
   
     void optimize();
   
     void save(const std::string& filename) const;
   
     ReachResultSummary getResults() const;
     const ReachDatabase& getDatabase() const;
   
     std::tuple<double, double> getAverageNeighborsCount() const;
   
   protected:
     void checkSeedState();
   
     Parameters params_;
     ReachDatabase db_;
   
     // Plugins
     IKSolver::ConstPtr ik_solver_;
     Evaluator::ConstPtr evaluator_;
     Display::ConstPtr display_;
     Logger::Ptr logger_;
   
     mutable std::mutex mutex_;
   
     const VectorIsometry3d target_poses_;
   
     SearchTreePtr search_tree_ = nullptr;
   };
   
   void runReachStudy(const YAML::Node& config, const std::string& config_name = "reach_study",
                      const boost::filesystem::path& results_dir = "/tmp", const bool wait_after_completion = true);
   
   }  // namespace reach
   
   #endif  // reach_REACH_STUDY_H