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Enables setting optimization objectives from ompl_planning.yaml #75

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Jul 12, 2016
Merged

Enables setting optimization objectives from ompl_planning.yaml #75

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e84f9a9
Enables setting optimization objectives from ompl_planning.yaml
rbbg Jun 9, 2016
cd839b1
Changed to actual names in configuration yaml.
rbbg Jul 8, 2016
2ea79a3
Cleaning up default case handling.
rbbg Jul 8, 2016
95f17ce
Short tutorial for using ompl optimization config.
rbbg Jul 11, 2016
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39 changes: 39 additions & 0 deletions ompl/ompl_interface/src/model_based_planning_context.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,13 @@
#include <ompl/base/spaces/SE3StateSpace.h>
#include <ompl/datastructures/PDF.h>


#include "ompl/base/objectives/PathLengthOptimizationObjective.h"
#include "ompl/base/objectives/MechanicalWorkOptimizationObjective.h"
#include "ompl/base/objectives/MinimaxObjective.h"
#include "ompl/base/objectives/StateCostIntegralObjective.h"
#include "ompl/base/objectives/MaximizeMinClearanceObjective.h"

ompl_interface::ModelBasedPlanningContext::ModelBasedPlanningContext(const std::string &name, const ModelBasedPlanningContextSpecification &spec) :
planning_interface::PlanningContext(name, spec.state_space_->getJointModelGroup()->getName()),
spec_(spec),
Expand Down Expand Up @@ -217,6 +224,38 @@ void ompl_interface::ModelBasedPlanningContext::useConfig()
if (cfg.empty())
return;


ompl::base::OptimizationObjectivePtr objective;
it = cfg.find("optimization_objective");
if (it == cfg.end())
{
logInform("%s: No optimization objective specified, defaulting to PathLengthOptimizationObjective");
objective.reset(new ompl::base::PathLengthOptimizationObjective(ompl_simple_setup_->getSpaceInformation()));
}
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could you rewrite the default case to something like this:

std::string objective;
it = cfg.find("optimization_objective");
if (it == cfg.end())
{
   objective = "PathLengthOptimizationObjective";
   logInform(" ... defaulting to " + objective); // with appropriate string type conversions I suppose...
}
else
{
  objective = it->second;
}

This avoids redundancy and the big else-block afterwards.

else
{
std::string optimizer = it->second.c_str();
if (optimizer == "PathLengthOptimizationObjective"){
objective.reset(new ompl::base::PathLengthOptimizationObjective(ompl_simple_setup_->getSpaceInformation()));
}
else if (optimizer == "MinimaxObjective"){
objective.reset(new ompl::base::MinimaxObjective(ompl_simple_setup_->getSpaceInformation()));
}
else if (optimizer == "StateCostIntegralObjective"){
objective.reset(new ompl::base::StateCostIntegralObjective(ompl_simple_setup_->getSpaceInformation()));
}
else if (optimizer == "MechanicalWorkOptimizationObjective"){
objective.reset(new ompl::base::MechanicalWorkOptimizationObjective(ompl_simple_setup_->getSpaceInformation()));
}
else if (optimizer == "MaximizeMinClearanceObjective"){
objective.reset(new ompl::base::MaximizeMinClearanceObjective(ompl_simple_setup_->getSpaceInformation()));
}
else {
objective.reset(new ompl::base::PathLengthOptimizationObjective(ompl_simple_setup_->getSpaceInformation()));
}
}
ompl_simple_setup_->setOptimizationObjective(objective);

// remove the 'type' parameter; the rest are parameters for the planner itself
it = cfg.find("type");
if (it == cfg.end())
Expand Down