Program Listing for File genetic_algorithm.hpp

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#ifndef GENETIC_ALGORITHM_H
#define GENETIC_ALGORITHM_H

#include <limits>

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

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

  void SetParams(const int generations = 10000, const int popsize = 30,
                 const double c = 1.05, const bool shorten_chromosome = false,
                 const int path_length = 30);

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

  std::vector<Node> ReturnLastPath() const;

  // given the way a genetic algorithm decreases fitness values, the last path
  // is likely ot be the best. Can reorder ased on actual fitness values if
  // required.

  void PrintChromosome(const std::vector<Node>& path) const;

  void PrintPathOfChromosome(const std::vector<Node>& path) const;

  std::vector<Node> GenerateSimplePath() const;

  std::vector<Node> GenerateRandomPath() const;
  int CalculateFitness(const std::vector<Node>& path) const;

  std::vector<Node> Crossover() const;

  std::vector<Node> Mutate() const;

  bool CheckPath(const std::vector<Node>& path) const;

  void CheckIfNodesInPathAreAcceptable(const std::vector<Node>& path) const;

 private:
  std::vector<Node> motions_;
  Node start_, goal_;
  size_t path_length_ = 30;
  int f_val = std::numeric_limits<int>::max();
  int generations_ = 10000;
  int popsize_ = 30;
  double c_ = 1.05;
  std::vector<std::vector<Node>> paths_;
  std::vector<std::vector<Node>> truepaths_;
  bool found_ = false;
  bool shorten_chromosome_ = false;
};

#endif  // GENETIC_ALGORITHM_H