BKPIECE1.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/geometric/planners/kpiece/BKPIECE1.h"
38 #include "ompl/base/goals/GoalSampleableRegion.h"
39 #include "ompl/tools/config/SelfConfig.h"
40 #include <cassert>
41 
43  : base::Planner(si, "BKPIECE1")
44  , dStart_([this](Motion *m) { freeMotion(m); })
45  , dGoal_([this](Motion *m) { freeMotion(m); })
46 {
47  specs_.recognizedGoal = base::GOAL_SAMPLEABLE_REGION;
48 
49  Planner::declareParam<double>("range", this, &BKPIECE1::setRange, &BKPIECE1::getRange, "0.:1.:10000.");
50  Planner::declareParam<double>("border_fraction", this, &BKPIECE1::setBorderFraction, &BKPIECE1::getBorderFraction,
51  "0.:.05:1.");
52  Planner::declareParam<double>("failed_expansion_score_factor", this, &BKPIECE1::setFailedExpansionCellScoreFactor,
54  Planner::declareParam<double>("min_valid_path_fraction", this, &BKPIECE1::setMinValidPathFraction,
56 }
57 
58 ompl::geometric::BKPIECE1::~BKPIECE1() = default;
59 
61 {
62  Planner::setup();
63  tools::SelfConfig sc(si_, getName());
64  sc.configureProjectionEvaluator(projectionEvaluator_);
65  sc.configurePlannerRange(maxDistance_);
66 
67  if (failedExpansionScoreFactor_ < std::numeric_limits<double>::epsilon() || failedExpansionScoreFactor_ > 1.0)
68  throw Exception("Failed expansion cell score factor must be in the range (0,1]");
69  if (minValidPathFraction_ < std::numeric_limits<double>::epsilon() || minValidPathFraction_ > 1.0)
70  throw Exception("The minimum valid path fraction must be in the range (0,1]");
71 
72  dStart_.setDimension(projectionEvaluator_->getDimension());
73  dGoal_.setDimension(projectionEvaluator_->getDimension());
74 }
75 
77 {
78  checkValidity();
79  auto *goal = dynamic_cast<base::GoalSampleableRegion *>(pdef_->getGoal().get());
80 
81  if (goal == nullptr)
82  {
83  OMPL_ERROR("%s: Unknown type of goal", getName().c_str());
85  }
86 
87  Discretization<Motion>::Coord xcoord(projectionEvaluator_->getDimension());
88 
89  while (const base::State *st = pis_.nextStart())
90  {
91  auto *motion = new Motion(si_);
92  si_->copyState(motion->state, st);
93  motion->root = motion->state;
94  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
95  dStart_.addMotion(motion, xcoord);
96  }
97 
98  if (dStart_.getMotionCount() == 0)
99  {
100  OMPL_ERROR("%s: Motion planning start tree could not be initialized!", getName().c_str());
102  }
103 
104  if (!goal->couldSample())
105  {
106  OMPL_ERROR("%s: Insufficient states in sampleable goal region", getName().c_str());
108  }
109 
110  if (!sampler_)
111  sampler_ = si_->allocValidStateSampler();
112 
113  OMPL_INFORM("%s: Starting planning with %d states already in datastructure", getName().c_str(),
114  (int)(dStart_.getMotionCount() + dGoal_.getMotionCount()));
115 
116  std::vector<Motion *> solution;
117  base::State *xstate = si_->allocState();
118  bool startTree = true;
119  bool solved = false;
120 
121  while (!ptc)
122  {
123  Discretization<Motion> &disc = startTree ? dStart_ : dGoal_;
124  startTree = !startTree;
125  Discretization<Motion> &otherDisc = startTree ? dStart_ : dGoal_;
126  disc.countIteration();
127 
128  // if we have not sampled too many goals already
129  if (dGoal_.getMotionCount() == 0 || pis_.getSampledGoalsCount() < dGoal_.getMotionCount() / 2)
130  {
131  const base::State *st = dGoal_.getMotionCount() == 0 ? pis_.nextGoal(ptc) : pis_.nextGoal();
132  if (st != nullptr)
133  {
134  auto *motion = new Motion(si_);
135  si_->copyState(motion->state, st);
136  motion->root = motion->state;
137  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
138  dGoal_.addMotion(motion, xcoord);
139  }
140  if (dGoal_.getMotionCount() == 0)
141  {
142  OMPL_ERROR("%s: Unable to sample any valid states for goal tree", getName().c_str());
143  break;
144  }
145  }
146 
147  Discretization<Motion>::Cell *ecell = nullptr;
148  Motion *existing = nullptr;
149  disc.selectMotion(existing, ecell);
150  assert(existing);
151  if (sampler_->sampleNear(xstate, existing->state, maxDistance_))
152  {
153  std::pair<base::State *, double> fail(xstate, 0.0);
154  bool keep = si_->checkMotion(existing->state, xstate, fail);
155  if (!keep && fail.second > minValidPathFraction_)
156  keep = true;
157 
158  if (keep)
159  {
160  /* create a motion */
161  auto *motion = new Motion(si_);
162  si_->copyState(motion->state, xstate);
163  motion->root = existing->root;
164  motion->parent = existing;
165 
166  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
167  disc.addMotion(motion, xcoord);
168 
169  Discretization<Motion>::Cell *cellC = otherDisc.getGrid().getCell(xcoord);
170 
171  if ((cellC != nullptr) && !cellC->data->motions.empty())
172  {
173  Motion *connectOther = cellC->data->motions[rng_.uniformInt(0, cellC->data->motions.size() - 1)];
174 
175  if (goal->isStartGoalPairValid(startTree ? connectOther->root : motion->root,
176  startTree ? motion->root : connectOther->root) &&
177  si_->checkMotion(motion->state, connectOther->state))
178  {
179  if (startTree)
180  connectionPoint_ = std::make_pair(connectOther->state, motion->state);
181  else
182  connectionPoint_ = std::make_pair(motion->state, connectOther->state);
183 
184  /* extract the motions and put them in solution vector */
185 
186  std::vector<Motion *> mpath1;
187  while (motion != nullptr)
188  {
189  mpath1.push_back(motion);
190  motion = motion->parent;
191  }
192 
193  std::vector<Motion *> mpath2;
194  while (connectOther != nullptr)
195  {
196  mpath2.push_back(connectOther);
197  connectOther = connectOther->parent;
198  }
199 
200  if (startTree)
201  mpath1.swap(mpath2);
202 
203  auto path(std::make_shared<PathGeometric>(si_));
204  path->getStates().reserve(mpath1.size() + mpath2.size());
205  for (int i = mpath1.size() - 1; i >= 0; --i)
206  path->append(mpath1[i]->state);
207  for (auto &i : mpath2)
208  path->append(i->state);
209 
210  pdef_->addSolutionPath(path, false, 0.0, getName());
211  solved = true;
212  break;
213  }
214  }
215  }
216  else
217  ecell->data->score *= failedExpansionScoreFactor_;
218  }
219  else
220  ecell->data->score *= failedExpansionScoreFactor_;
221  disc.updateCell(ecell);
222  }
223 
224  si_->freeState(xstate);
225 
226  OMPL_INFORM("%s: Created %u (%u start + %u goal) states in %u cells (%u start (%u on boundary) + %u goal (%u on "
227  "boundary))",
228  getName().c_str(), dStart_.getMotionCount() + dGoal_.getMotionCount(), dStart_.getMotionCount(),
229  dGoal_.getMotionCount(), dStart_.getCellCount() + dGoal_.getCellCount(), dStart_.getCellCount(),
230  dStart_.getGrid().countExternal(), dGoal_.getCellCount(), dGoal_.getGrid().countExternal());
231 
233 }
234 
236 {
237  if (motion->state != nullptr)
238  si_->freeState(motion->state);
239  delete motion;
240 }
241 
243 {
244  Planner::clear();
245 
246  sampler_.reset();
247  dStart_.clear();
248  dGoal_.clear();
249  connectionPoint_ = std::make_pair<base::State *, base::State *>(nullptr, nullptr);
250 }
251 
253 {
254  Planner::getPlannerData(data);
255  dStart_.getPlannerData(data, 1, true, nullptr);
256  dGoal_.getPlannerData(data, 2, false, nullptr);
257 
258  // Insert the edge connecting the two trees
259  data.addEdge(data.vertexIndex(connectionPoint_.first), data.vertexIndex(connectionPoint_.second));
260 }
Grid::Coord Coord
The datatype for the maintained grid coordinates.
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: BKPIECE1.h:106
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
const base::State * root
The root state (start state) that leads to this motion.
Definition: BKPIECE1.h:191
The planner failed to find a solution.
Definition: PlannerStatus.h:62
void freeMotion(Motion *motion)
Free the memory for a motion.
Definition: BKPIECE1.cpp:235
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BKPIECE1.cpp:60
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
unsigned int vertexIndex(const PlannerDataVertex &v) const
Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...
_T data
The data we store in the cell.
Definition: Grid.h:61
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: BKPIECE1.cpp:252
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell&#39;s score if extending a motion from that cell failed...
Definition: BKPIECE1.h:147
double getRange() const
Get the range the planner is using.
Definition: BKPIECE1.h:112
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
Abstract definition of a goal region that can be sampled.
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:60
One-level discretization used for KPIECE.
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
The planner found an exact solution.
Definition: PlannerStatus.h:66
Representation of a motion for this algorithm.
Definition: BKPIECE1.h:178
unsigned int addMotion(Motion *motion, const Coord &coord, double dist=0.0)
Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
A shared pointer wrapper for ompl::base::SpaceInformation.
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction.
Definition: BKPIECE1.h:158
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BKPIECE1.cpp:242
Definition of an abstract state.
Definition: State.h:49
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: BKPIECE1.cpp:76
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail. If the extension fails, the score of the cell is multiplied by factor. These number should be in the range (0, 1].
Definition: BKPIECE1.h:140
base::State * state
The state contained by this motion.
Definition: BKPIECE1.h:194
Definition of a cell in this grid.
Definition: Grid.h:58
Motion * parent
The parent motion in the exploration tree.
Definition: BKPIECE1.h:197
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: BKPIECE1.h:131
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: BKPIECE1.h:164
The exception type for ompl.
Definition: Exception.h:46
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:231
void selectMotion(Motion *&smotion, Cell *&scell)
Select a motion and the cell it is part of from the grid of motions. This is where preference is give...
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:59
BKPIECE1(const base::SpaceInformationPtr &si)
Constructor.
Definition: BKPIECE1.cpp:42
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: BKPIECE1.h:123
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible...
Definition: GoalTypes.h:56
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition: Console.h:68