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KoulesSetup.cpp
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34
35/* Author: Beck Chen, Mark Moll */
36
37#include "KoulesSetup.h"
38#include "KoulesGoal.h"
39#include "KoulesStateSpace.h"
40#include "KoulesControlSpace.h"
41#include "KoulesStatePropagator.h"
42#include "KoulesDirectedControlSampler.h"
43#include "KoulesDecomposition.h"
44#include <ompl/base/spaces/RealVectorStateSpace.h>
45#include <ompl/control/planners/rrt/RRT.h>
46#include <ompl/control/planners/kpiece/KPIECE1.h>
47#include <ompl/control/planners/est/EST.h>
48#include <ompl/control/planners/pdst/PDST.h>
49#include <ompl/control/planners/sst/SST.h>
50#include <ompl/control/planners/syclop/SyclopRRT.h>
51#include <ompl/control/planners/syclop/SyclopEST.h>
52
53
54namespace ob = ompl::base;
55namespace oc = ompl::control;
56
58class KoulesStateValidityChecker : public ompl::base::StateValidityChecker
59{
60public:
61 KoulesStateValidityChecker(const ompl::base::SpaceInformationPtr &si) : ompl::base::StateValidityChecker(si)
62 {
63 }
64
65 bool isValid(const ob::State *state) const override
66 {
67 return si_->satisfiesBounds(state);
68 }
69};
71
72ompl::control::DirectedControlSamplerPtr KoulesDirectedControlSamplerAllocator(
73 const ompl::control::SpaceInformation *si, const ompl::base::GoalPtr &goal, bool propagateMax)
74{
75 return std::make_shared<KoulesDirectedControlSampler>(si, goal, propagateMax);
76}
77
78
79KoulesSetup::KoulesSetup(unsigned int numKoules, const std::string& plannerName,
80 const std::vector<double>& stateVec)
81 : ompl::control::SimpleSetup(std::make_shared<KoulesControlSpace>(numKoules))
82{
83 initialize(numKoules, plannerName, stateVec);
84}
85
86KoulesSetup::KoulesSetup(unsigned int numKoules, const std::string& plannerName, double kouleVel)
87 : ompl::control::SimpleSetup(std::make_shared<KoulesControlSpace>(numKoules))
88{
89 initialize(numKoules, plannerName);
90 double* state = getProblemDefinition()->getStartState(0)->as<KoulesStateSpace::StateType>()->values;
91 double theta;
92 ompl::RNG rng;
93 for (unsigned int i = 0; i < numKoules; ++i)
94 {
95 theta = rng.uniformReal(0., 2. * boost::math::constants::pi<double>());
96 state[4 * i + 7] = kouleVel * cos(theta);
97 state[4 * i + 8] = kouleVel * sin(theta);
98 }
99}
100
101void KoulesSetup::initialize(unsigned int numKoules, const std::string& plannerName,
102 const std::vector<double>& stateVec)
103{
104 const ob::StateSpacePtr& space = getStateSpace();
105 space->setup();
106 // setup start state
107 ob::ScopedState<> start(space);
108 if (stateVec.size() == space->getDimension())
109 space->copyFromReals(start.get(), stateVec);
110 else
111 {
112 // Pick koule positions evenly radially distributed, but at a linearly
113 // increasing distance from the center. The ship's initial position is
114 // at the center. Initial velocities are 0.
115 std::vector<double> startVec(space->getDimension(), 0.);
116 double r, theta = boost::math::constants::pi<double>(), delta = 2.*theta / numKoules;
117 startVec[0] = .5 * sideLength;
118 startVec[1] = .5 * sideLength;
119 startVec[4] = .5 * delta;
120 for (unsigned int i = 0; i < numKoules; ++i, theta += delta)
121 {
122 r = .1 + i * .1 / numKoules;
123 startVec[4 * i + 5] = .5 * sideLength + r * cos(theta);
124 startVec[4 * i + 6] = .5 * sideLength + r * sin(theta);
125 }
126 space->copyFromReals(start.get(), startVec);
127 }
128 setStartState(start);
129 // set goal
130 setGoal(std::make_shared<KoulesGoal>(si_));
131 // set propagation step size
132 si_->setPropagationStepSize(propagationStepSize);
133 // set min/max propagation steps
134 si_->setMinMaxControlDuration(propagationMinSteps, propagationMaxSteps);
135 // set directed control sampler; when using the PDST planner, propagate as long as possible
136 bool isPDST = plannerName == "pdst";
137 const ompl::base::GoalPtr& goal = getGoal();
138 si_->setDirectedControlSamplerAllocator(
139 [&goal, isPDST](const ompl::control::SpaceInformation *si)
140 {
141 return KoulesDirectedControlSamplerAllocator(si, goal, isPDST);
142 });
143 // set planner
144 setPlanner(getConfiguredPlannerInstance(plannerName));
145 // set validity checker
146 setStateValidityChecker(std::make_shared<KoulesStateValidityChecker>(si_));
147 // set state propagator
148 setStatePropagator(std::make_shared<KoulesStatePropagator>(si_));
149}
150
151ob::PlannerPtr KoulesSetup::getConfiguredPlannerInstance(const std::string& plannerName)
152{
153 if (plannerName == "rrt")
154 {
155 auto rrtplanner(std::make_shared<oc::RRT>(si_));
156 rrtplanner->setIntermediateStates(true);
157 return rrtplanner;
158 }
159 if (plannerName == "est")
160 return std::make_shared<oc::EST>(si_);
161 if (plannerName == "kpiece")
162 return std::make_shared<oc::KPIECE1>(si_);
163 if (plannerName == "sst")
164 {
165 auto sstplanner(std::make_shared<oc::SST>(si_));
166 sstplanner->setSelectionRadius(0.05);
167 sstplanner->setPruningRadius(0.001);
168 return sstplanner;
169 }
170 if (plannerName == "sycloprrt")
171 return std::make_shared<oc::SyclopRRT>(si_, std::make_shared<KoulesDecomposition>(getStateSpace()));
172 if (plannerName == "syclopest")
173 return std::make_shared<oc::SyclopEST>(si_, std::make_shared<KoulesDecomposition>(getStateSpace()));
174
175 auto pdstplanner(std::make_shared<oc::PDST>(si_));
176 pdstplanner->setProjectionEvaluator(
177 si_->getStateSpace()->getProjection("PDSTProjection"));
178 return pdstplanner;
179}
Random number generation. An instance of this class cannot be used by multiple threads at once (membe...
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition of a scoped state.
Definition ScopedState.h:57
Abstract definition for a class checking the validity of states. The implementation of this class mus...
virtual bool isValid(const State *state) const =0
Return true if the state state is valid. Usually, this means at least collision checking....
Space information containing necessary information for planning with controls. setup() needs to be ca...
This namespace contains sampling based planning routines shared by both planning under geometric cons...
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
Main namespace. Contains everything in this library.
STL namespace.