Program Listing for File ant_colony.hpp

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#ifndef ANT_COLONY_H
#define ANT_COLONY_H

#include <tuple>
#include <unordered_map>

#include "path_planning/planner.hpp"
#include "utils/utils.hpp"

struct Ant {
  Ant(const Node& start = Node(), const int id = 0)
      : id_(id), current_node_(start), previous_node_(Node(-1, -1)) {}

  bool found_goal_ = false;
  int id_;
  int steps_ = 0;
  Node current_node_;
  Node previous_node_;
  std::vector<Node> path_;
};

class AntColony : public Planner {
 public:
  explicit AntColony(const std::vector<std::vector<int>>& grid)
      : Planner(grid) {}

  void SetParams(const int n_ants = 10, const double alpha = 1,
                 const double beta = 0.2, const double evap_rate = 0.5,
                 const double Q = 10, const int iterations = 50);

  void PrintAntPath(Ant& ant) const;

  static void RemoveLoop(Ant& ant);

  std::tuple<bool, std::vector<Node>> Plan(const Node& start,
                                           const Node& goal) override;

 private:
  int n_ants_ = 10;
  double alpha_ = 1;
  double beta_ = 0.2;
  double evap_rate_ = 0.5;
  double Q_ = 10;
  int iterations_ = 50;
  Node start_, goal_;
  std::vector<Ant> ants_;
  std::vector<Node> motions_;
  std::unordered_map<std::pair<int, int>, double, pair_hash> pheromone_edges_;
};

#endif  // ANT_COLONY_H