-
Notifications
You must be signed in to change notification settings - Fork 574
/
SimpleSetup.cpp
240 lines (217 loc) · 8.15 KB
/
SimpleSetup.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2010, Rice University
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Rice University nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#include "ompl/geometric/SimpleSetup.h"
#include "ompl/tools/config/SelfConfig.h"
ompl::geometric::SimpleSetup::SimpleSetup(const base::SpaceInformationPtr &si)
: configured_(false), planTime_(0.0), simplifyTime_(0.0), lastStatus_(base::PlannerStatus::UNKNOWN)
{
si_ = si;
pdef_ = std::make_shared<base::ProblemDefinition>(si_);
}
ompl::geometric::SimpleSetup::SimpleSetup(const base::StateSpacePtr &space)
: configured_(false), planTime_(0.0), simplifyTime_(0.0), lastStatus_(base::PlannerStatus::UNKNOWN)
{
si_ = std::make_shared<base::SpaceInformation>(space);
pdef_ = std::make_shared<base::ProblemDefinition>(si_);
}
void ompl::geometric::SimpleSetup::setup()
{
if (!configured_ || !si_->isSetup() || !planner_->isSetup())
{
if (!si_->isSetup())
si_->setup();
if (!planner_)
{
if (pa_)
planner_ = pa_(si_);
if (!planner_)
{
OMPL_INFORM("No planner specified. Using default.");
planner_ = tools::SelfConfig::getDefaultPlanner(getGoal());
}
}
planner_->setProblemDefinition(pdef_);
if (!planner_->isSetup())
planner_->setup();
psk_ = std::make_shared<PathSimplifier>(si_, pdef_->getGoal(), pdef_->getOptimizationObjective());
configured_ = true;
}
}
void ompl::geometric::SimpleSetup::clear()
{
if (planner_)
planner_->clear();
if (pdef_)
pdef_->clearSolutionPaths();
}
void ompl::geometric::SimpleSetup::setStartAndGoalStates(const base::ScopedState<> &start,
const base::ScopedState<> &goal, const double threshold)
{
pdef_->setStartAndGoalStates(start, goal, threshold);
// Clear any past solutions since they no longer correspond to our start and goal states
pdef_->clearSolutionPaths();
// force setup to rerun
configured_ = false;
}
void ompl::geometric::SimpleSetup::setGoalState(const base::ScopedState<> &goal, const double threshold)
{
pdef_->setGoalState(goal, threshold);
// force setup to rerun
configured_ = false;
}
/** \brief Set the goal for planning. This call is not
needed if setStartAndGoalStates() has been called. */
void ompl::geometric::SimpleSetup::setGoal(const base::GoalPtr &goal)
{
pdef_->setGoal(goal);
if (goal && goal->hasType(base::GOAL_SAMPLEABLE_REGION))
psk_ = std::make_shared<PathSimplifier>(si_, pdef_->getGoal());
else
psk_ = std::make_shared<PathSimplifier>(si_);
// force setup to rerun
configured_ = false;
}
// we provide a duplicate implementation here to allow the planner to choose how the time is turned into a planner
// termination condition
ompl::base::PlannerStatus ompl::geometric::SimpleSetup::solve(double time)
{
setup();
lastStatus_ = base::PlannerStatus::UNKNOWN;
time::point start = time::now();
lastStatus_ = planner_->solve(time);
planTime_ = time::seconds(time::now() - start);
if (lastStatus_)
OMPL_INFORM("Solution found in %f seconds", planTime_);
else
OMPL_INFORM("No solution found after %f seconds", planTime_);
return lastStatus_;
}
ompl::base::PlannerStatus ompl::geometric::SimpleSetup::solve(const base::PlannerTerminationCondition &ptc)
{
setup();
lastStatus_ = base::PlannerStatus::UNKNOWN;
time::point start = time::now();
lastStatus_ = planner_->solve(ptc);
planTime_ = time::seconds(time::now() - start);
if (lastStatus_)
OMPL_INFORM("Solution found in %f seconds", planTime_);
else
OMPL_INFORM("No solution found after %f seconds", planTime_);
return lastStatus_;
}
void ompl::geometric::SimpleSetup::simplifySolution(const base::PlannerTerminationCondition &ptc)
{
if (pdef_)
{
const base::PathPtr &p = pdef_->getSolutionPath();
if (p)
{
time::point start = time::now();
auto &path = static_cast<PathGeometric &>(*p);
std::size_t numStates = path.getStateCount();
psk_->simplify(path, ptc);
simplifyTime_ = time::seconds(time::now() - start);
OMPL_INFORM("SimpleSetup: Path simplification took %f seconds and changed from %d to %d states",
simplifyTime_, numStates, path.getStateCount());
return;
}
}
OMPL_WARN("No solution to simplify");
}
void ompl::geometric::SimpleSetup::simplifySolution(double duration)
{
if (pdef_)
{
const base::PathPtr &p = pdef_->getSolutionPath();
if (p)
{
time::point start = time::now();
auto &path = static_cast<PathGeometric &>(*p);
std::size_t numStates = path.getStateCount();
if (duration < std::numeric_limits<double>::epsilon())
psk_->simplifyMax(static_cast<PathGeometric &>(*p));
else
psk_->simplify(static_cast<PathGeometric &>(*p), duration);
simplifyTime_ = time::seconds(time::now() - start);
OMPL_INFORM("SimpleSetup: Path simplification took %f seconds and changed from %d to %d states",
simplifyTime_, numStates, path.getStateCount());
return;
}
}
OMPL_WARN("No solution to simplify");
}
const std::string ompl::geometric::SimpleSetup::getSolutionPlannerName() const
{
if (pdef_)
{
const ompl::base::PathPtr path; // convert to a generic path ptr
ompl::base::PlannerSolution solution(path); // a dummy solution
// Get our desired solution
pdef_->getSolution(solution);
return solution.plannerName_;
}
throw Exception("No problem definition found");
}
ompl::geometric::PathGeometric &ompl::geometric::SimpleSetup::getSolutionPath() const
{
if (pdef_)
{
const base::PathPtr &p = pdef_->getSolutionPath();
if (p)
return static_cast<PathGeometric &>(*p);
}
throw Exception("No solution path");
}
void ompl::geometric::SimpleSetup::getPlannerData(base::PlannerData &pd) const
{
pd.clear();
if (planner_)
planner_->getPlannerData(pd);
}
void ompl::geometric::SimpleSetup::print(std::ostream &out) const
{
if (si_)
{
si_->printProperties(out);
si_->printSettings(out);
}
if (planner_)
{
planner_->printProperties(out);
planner_->printSettings(out);
}
if (pdef_)
pdef_->print(out);
}