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SimpleSetup.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/geometric/SimpleSetup.h"
38#include "ompl/tools/config/SelfConfig.h"
39
40ompl::geometric::SimpleSetup::SimpleSetup(const base::SpaceInformationPtr &si)
41 : configured_(false), planTime_(0.0), simplifyTime_(0.0), lastStatus_(base::PlannerStatus::UNKNOWN)
42{
43 si_ = si;
44 pdef_ = std::make_shared<base::ProblemDefinition>(si_);
45}
46
47ompl::geometric::SimpleSetup::SimpleSetup(const base::StateSpacePtr &space)
48 : configured_(false), planTime_(0.0), simplifyTime_(0.0), lastStatus_(base::PlannerStatus::UNKNOWN)
49{
50 si_ = std::make_shared<base::SpaceInformation>(space);
51 pdef_ = std::make_shared<base::ProblemDefinition>(si_);
52}
53
55{
56 if (!configured_ || !si_->isSetup() || !planner_->isSetup())
57 {
58 if (!si_->isSetup())
59 si_->setup();
60 if (!planner_)
61 {
62 if (pa_)
63 planner_ = pa_(si_);
64 if (!planner_)
65 {
66 OMPL_INFORM("No planner specified. Using default.");
67 planner_ = tools::SelfConfig::getDefaultPlanner(getGoal());
68 }
69 }
70 planner_->setProblemDefinition(pdef_);
71 if (!planner_->isSetup())
72 planner_->setup();
73 psk_ = std::make_shared<PathSimplifier>(si_, pdef_->getGoal(), pdef_->getOptimizationObjective());
74 configured_ = true;
75 }
76}
77
79{
80 if (planner_)
81 planner_->clear();
82 if (pdef_)
83 pdef_->clearSolutionPaths();
84}
85
87 const base::ScopedState<> &goal, const double threshold)
88{
89 pdef_->setStartAndGoalStates(start, goal, threshold);
90
91 // Clear any past solutions since they no longer correspond to our start and goal states
92 pdef_->clearSolutionPaths();
93
94 // force setup to rerun
95 configured_ = false;
96}
97
98void ompl::geometric::SimpleSetup::setGoalState(const base::ScopedState<> &goal, const double threshold)
99{
100 pdef_->setGoalState(goal, threshold);
101
102 // force setup to rerun
103 configured_ = false;
104}
105
108void ompl::geometric::SimpleSetup::setGoal(const base::GoalPtr &goal)
109{
110 pdef_->setGoal(goal);
111
112 if (goal && goal->hasType(base::GOAL_SAMPLEABLE_REGION))
113 psk_ = std::make_shared<PathSimplifier>(si_, pdef_->getGoal());
114 else
115 psk_ = std::make_shared<PathSimplifier>(si_);
116
117 // force setup to rerun
118 configured_ = false;
119}
120
121// we provide a duplicate implementation here to allow the planner to choose how the time is turned into a planner
122// termination condition
124{
125 setup();
126 lastStatus_ = base::PlannerStatus::UNKNOWN;
127 time::point start = time::now();
128 lastStatus_ = planner_->solve(time);
129 planTime_ = time::seconds(time::now() - start);
130 if (lastStatus_)
131 OMPL_INFORM("Solution found in %f seconds", planTime_);
132 else
133 OMPL_INFORM("No solution found after %f seconds", planTime_);
134 return lastStatus_;
135}
136
138{
139 setup();
140 lastStatus_ = base::PlannerStatus::UNKNOWN;
141 time::point start = time::now();
142 lastStatus_ = planner_->solve(ptc);
143 planTime_ = time::seconds(time::now() - start);
144 if (lastStatus_)
145 OMPL_INFORM("Solution found in %f seconds", planTime_);
146 else
147 OMPL_INFORM("No solution found after %f seconds", planTime_);
148 return lastStatus_;
149}
150
152{
153 if (pdef_)
154 {
155 const base::PathPtr &p = pdef_->getSolutionPath();
156 if (p)
157 {
158 time::point start = time::now();
159 auto &path = static_cast<PathGeometric &>(*p);
160 std::size_t numStates = path.getStateCount();
161 psk_->simplify(path, ptc);
162 simplifyTime_ = time::seconds(time::now() - start);
163 OMPL_INFORM("SimpleSetup: Path simplification took %f seconds and changed from %d to %d states",
164 simplifyTime_, numStates, path.getStateCount());
165 return;
166 }
167 }
168 OMPL_WARN("No solution to simplify");
169}
170
172{
173 if (pdef_)
174 {
175 const base::PathPtr &p = pdef_->getSolutionPath();
176 if (p)
177 {
178 time::point start = time::now();
179 auto &path = static_cast<PathGeometric &>(*p);
180 std::size_t numStates = path.getStateCount();
181 if (duration < std::numeric_limits<double>::epsilon())
182 psk_->simplifyMax(static_cast<PathGeometric &>(*p));
183 else
184 psk_->simplify(static_cast<PathGeometric &>(*p), duration);
185 simplifyTime_ = time::seconds(time::now() - start);
186 OMPL_INFORM("SimpleSetup: Path simplification took %f seconds and changed from %d to %d states",
187 simplifyTime_, numStates, path.getStateCount());
188 return;
189 }
190 }
191 OMPL_WARN("No solution to simplify");
192}
193
195{
196 if (pdef_)
197 {
198 const ompl::base::PathPtr path; // convert to a generic path ptr
199 ompl::base::PlannerSolution solution(path); // a dummy solution
200
201 // Get our desired solution
202 pdef_->getSolution(solution);
203 return solution.plannerName_;
204 }
205 throw Exception("No problem definition found");
206}
207
209{
210 if (pdef_)
211 {
212 const base::PathPtr &p = pdef_->getSolutionPath();
213 if (p)
214 return static_cast<PathGeometric &>(*p);
215 }
216 throw Exception("No solution path");
217}
218
220{
221 pd.clear();
222 if (planner_)
223 planner_->getPlannerData(pd);
224}
225
226void ompl::geometric::SimpleSetup::print(std::ostream &out) const
227{
228 if (si_)
229 {
230 si_->printProperties(out);
231 si_->printSettings(out);
232 }
233 if (planner_)
234 {
235 planner_->printProperties(out);
236 planner_->printSettings(out);
237 }
238 if (pdef_)
239 pdef_->print(out);
240}
The exception type for ompl.
Definition Exception.h:47
A shared pointer wrapper for ompl::base::Path.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
virtual void clear()
Clears the entire data structure.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition of a scoped state.
Definition ScopedState.h:57
Definition of a geometric path.
PathGeometric & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for up to a specified amount of time (default is 1 second)
const std::string getSolutionPlannerName() const
Get the best solution's planer name. Throw an exception if no solution is available.
void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
Set the start and goal states to use.
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation....
void simplifySolution(double duration=0.0)
Attempt to simplify the current solution path. Spent at most duration seconds in the simplification p...
SimpleSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
void setGoal(const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called.
base::SpaceInformationPtr si_
The created space information.
base::ProblemDefinitionPtr pdef_
The created problem definition.
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
void setGoalState(const base::ScopedState<> &goal, double threshold=std::numeric_limits< double >::epsilon())
A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition Console.h:68
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition Console.h:66
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition GoalTypes.h:56
std::chrono::system_clock::time_point point
Representation of a point in time.
Definition Time.h:52
point now()
Get the current time point.
Definition Time.h:58
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition Time.h:64
Representation of a solution to a planning problem.
std::string plannerName_
Name of planner type that generated this solution, as received from Planner::getName()
A class to store the exit status of Planner::solve()
@ UNKNOWN
Uninitialized status.