Fix MAB-RRT demo: update include paths and remove MAB_RRT_DEBUG references

- Changed include from disassemblyrrt to rrt directory
- Removed MAB_RRT_DEBUG references (not available in this branch)
- Fixed duplicate CMakeLists.txt entry
- Demo now uses standard MAB_RRT planner

Author: serboba

demos/CMakeLists.txt

@@ -37,7 +37,6 @@ if (OMPL_BUILD_DEMOS)
     
     add_ompl_demo(demo_OptimalPlanning OptimalPlanning.cpp)
     add_ompl_demo(demo_PlannerProgressProperties PlannerProgressProperties.cpp)
-    add_ompl_demo(demo_MAB_RRT MAB_RRT_Demo.cpp)
     add_ompl_demo(demo_CForestCircleGridBenchmark CForestCircleGridBenchmark.cpp)
     
     add_ompl_demo(demo_Diagonal Diagonal.cpp)
@@ -60,7 +59,7 @@ if (OMPL_BUILD_DEMOS)
     add_ompl_demo(demo_SpaceTimePlanning SpaceTimePlanning.cpp)
 
     # MAB-RRT Demo - Multi-Armed Bandit RRT planner
-    add_ompl_demo(demo_MAB_RRT disassembly/MAB_RRT_Demo.cpp)
+    add_ompl_demo(demo_MAB_RRT MAB_RRT_Demo.cpp)
     target_link_libraries(demo_MAB_RRT PRIVATE yaml-cpp::yaml-cpp)
     
     # MAB-RRT Benchmark - Compare planners on occupancy grid

demos/MAB_RRT_Demo.cpp

@@ -65,8 +65,7 @@
 #include <ompl/geometric/PathGeometric.h>
 
 // MAB-RRT planner
-#include <ompl/geometric/planners/disassemblyrrt/MAB_RRT.h>
-#include <ompl/geometric/planners/disassemblyrrt/MAB_RRT_DEBUG.h>
+#include <ompl/geometric/planners/rrt/MAB_RRT.h>
 
 namespace ob = ompl::base;
 namespace og = ompl::geometric;
@@ -558,14 +557,12 @@ void runBugTrapDemo(const std::string& configPath, double timeout = 10.0, bool d
     std::cout << "[INFO] Config file: " << configPath << std::endl;
 
     std::shared_ptr<og::MAB_RRT> planner;
-    std::shared_ptr<og::MAB_RRT_DEBUG> debugPlanner;
 
+    // Note: MAB_RRT_DEBUG is not available in this branch, using standard MAB_RRT
     if (debug) {
-        debugPlanner = std::make_shared<og::MAB_RRT_DEBUG>(si, configPath);
-        planner = debugPlanner;  // MAB_RRT_DEBUG inherits from MAB_RRT (note: class names not yet renamed)
-    } else {
-        planner = std::make_shared<og::MAB_RRT>(si, configPath);
+        std::cout << "[WARNING] Debug mode requested but MAB_RRT_DEBUG not available. Using standard MAB_RRT." << std::endl;
     }
+    planner = std::make_shared<og::MAB_RRT>(si, configPath);
 
     planner->setProblemDefinition(pdef);
     planner->setup();
@@ -651,10 +648,9 @@ void runBugTrapDemo(const std::string& configPath, double timeout = 10.0, bool d
     std::cout << "\n[STATS] Tree vertices: " << pdata.numVertices() << std::endl;
     std::cout << "[STATS] Tree edges: " << pdata.numEdges() << std::endl;
 
-    // Export debug data if in debug mode (always to demos/disassembly/)
-    if (debug && debugPlanner) {
-        debugPlanner->exportSampleData("bugtrap_samples_debug.csv");
-        std::cout << "[DEBUG] Sample data exported to: demos/disassembly/bugtrap_samples_debug.csv" << std::endl;
+    // Export debug data if in debug mode (MAB_RRT_DEBUG not available in this branch)
+    if (debug) {
+        std::cout << "[WARNING] Debug data export not available - MAB_RRT_DEBUG not in this branch" << std::endl;
     }
 
     std::cout << "\n==================================================" << std::endl;
@@ -754,17 +750,13 @@ void runOccupancyGridDemo(const std::string& configPath,
     std::cout << "[INFO] Config file: " << configPath << std::endl;
 
     std::shared_ptr<og::MAB_RRT> planner;
-    std::shared_ptr<og::MAB_RRT_DEBUG> debugPlanner;
 
+    // Note: MAB_RRT_DEBUG is not available in this branch, using standard MAB_RRT
     if (debug) {
-        std::cout << "[DEBUG] Creating MAB_RRT_DEBUG planner instance..." << std::endl;
-        debugPlanner = std::make_shared<og::MAB_RRT_DEBUG>(si, configPath);
-        planner = debugPlanner;
-        std::cout << "[DEBUG] MAB_RRT_DEBUG planner created successfully" << std::endl;
-    } else {
-        std::cout << "[INFO] Creating standard MAB_RRT planner (non-debug)" << std::endl;
-        planner = std::make_shared<og::MAB_RRT>(si, configPath);
+        std::cout << "[WARNING] Debug mode requested but MAB_RRT_DEBUG not available. Using standard MAB_RRT." << std::endl;
     }
+    std::cout << "[INFO] Creating MAB_RRT planner..." << std::endl;
+    planner = std::make_shared<og::MAB_RRT>(si, configPath);
 
     planner->setProblemDefinition(pdef);
     planner->setup();
@@ -831,11 +823,9 @@ void runOccupancyGridDemo(const std::string& configPath,
     std::cout << "\n[STATS] Tree vertices: " << pdata.numVertices() << std::endl;
     std::cout << "[STATS] Tree edges: " << pdata.numEdges() << std::endl;
 
-    // Export debug data if in debug mode
-    if (debug && debugPlanner) {
-        std::string samplesFile = "bugtrap_samples_debug.csv";
-        debugPlanner->exportSampleData(samplesFile);
-        std::cout << "[DEBUG] Sample data exported to: " << samplesFile << std::endl;
+    // Export debug data if in debug mode (MAB_RRT_DEBUG not available in this branch)
+    if (debug) {
+        std::cout << "[WARNING] Debug data export not available - MAB_RRT_DEBUG not in this branch" << std::endl;
     }
 
     std::cout << "\n==================================================" << std::endl;

demos/disassembly/MAB_SSRRT_WORKFLOW.md

@@ -721,10 +721,6 @@ Output: newMotion (if valid), solutionFound
 
 ### 10.3 Burn-In Parameters
 - `adaptive_quasirandom_sample_size`: Number of samples per radius test
-- `adaptive_start_radius`: Initial sampling radius
-- `adaptive_min_radius`: Minimum radius threshold
-- `adaptive_shrink_step`: Radius reduction factor
-- `adaptive_grow_step`: Radius increase factor
 - `adaptive_min_expected_validity_rate`: Lower bound for target range
 - `adaptive_max_expected_validity_rate`: Upper bound for target range
 - `adaptive_burnin_max_steps`: Maximum iterations

demos/disassembly/README.md

@@ -158,7 +158,6 @@ The demo requires a YAML configuration file. The default configuration is locate
 
 Key parameters:
 - `adaptive_quasirandom_sample_size`: Number of samples during burn-in
-- `adaptive_start_radius`: Initial sampling radius
 - `mab_uniform_sphere_window_size`: MAB sliding window size
 - `uniform_goal_bias`: Goal bias for uniform sampling
 - `sphere_goal_bias`: Goal bias for cylinder sampling