KoulesDirectedControlSampler.cpp
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2013, Rice University
5 * All rights reserved.
6 *
7 * Redistribution and use in source and binary forms, with or without
8 * modification, are permitted provided that the following conditions
9 * are met:
10 *
11 * * Redistributions of source code must retain the above copyright
12 * notice, this list of conditions and the following disclaimer.
13 * * Redistributions in binary form must reproduce the above
14 * copyright notice, this list of conditions and the following
15 * disclaimer in the documentation and/or other materials provided
16 * with the distribution.
17 * * Neither the name of the Rice University nor the names of its
18 * contributors may be used to endorse or promote products derived
19 * from this software without specific prior written permission.
20 *
21 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
22 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
23 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
24 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
25 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
26 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
27 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
28 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
29 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
30 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
31 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
32 * POSSIBILITY OF SUCH DAMAGE.
33 *********************************************************************/
34 
35 /* Author: Beck Chen, Mark Moll */
36 
37 #include "KoulesDirectedControlSampler.h"
38 #include "KoulesStateSpace.h"
39 #include <ompl/base/spaces/RealVectorStateSpace.h>
40 
41 namespace ob = ompl::base;
42 namespace oc = ompl::control;
43 
44 unsigned int KoulesDirectedControlSampler::sampleTo(oc::Control *control, const ob::State *source, ob::State *dest)
45 {
46  const double* dstPos = dest->as<KoulesStateSpace::StateType>()->values;
47  double stepSize = si_->getPropagationStepSize();
48  unsigned int steps = propagateMax_ ? si_->getMaxControlDuration() :
50 
51  cs_.steer(control, source, dstPos[0], dstPos[1]);
52  // perform the first step of propagation
53  statePropagator_->propagate(source, control, stepSize, dest);
54  // if we reached the goal, we're done
55  if (goal_->isSatisfied(dest))
56  return 1;
57  // if we found a valid state after one step, we can go on
58  if (si_->isValid(dest))
59  {
60  ob::State *temp1 = dest, *temp2 = si_->allocState(), *toDelete = temp2;
61  unsigned int r = steps;
62  for (unsigned int i = 1 ; i < steps ; ++i)
63  {
64  statePropagator_->propagate(temp1, control, stepSize, temp2);
65  if (goal_->isSatisfied(dest))
66  {
67  si_->copyState(dest, temp2);
68  si_->freeState(toDelete);
69  return i + 1;
70  }
71  if (si_->isValid(temp2))
72  std::swap(temp1, temp2);
73  else
74  {
75  // the last valid state is temp1;
76  r = i;
77  break;
78  }
79  }
80  // if we finished the for-loop without finding an invalid state, the last valid state is temp1
81  // make sure dest contains that information
82  if (dest != temp1)
83  si_->copyState(dest, temp1);
84  si_->freeState(toDelete);
85  return r;
86  }
87  // if the first propagation step produced an invalid step, return 0 steps
88  // the last valid state is the starting one (assumed to be valid)
89  else
90  {
91  if (dest != source)
92  si_->copyState(dest, source);
93  return 0;
94  }
95 }
virtual unsigned int sampleTo(ompl::control::Control *control, const ompl::base::State *source, ompl::base::State *dest)
Sample a control given that it will be applied to state state and the intention is to reach state tar...
void freeState(State *state) const
Free the memory of a state.
State * allocState() const
Allocate memory for a state.
void copyState(State *destination, const State *source) const
Copy a state to another.
bool isValid(const State *state) const
Check if a given state is valid or not.
Definition of an abstract state.
Definition: State.h:50
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
virtual unsigned int sampleStepCount(unsigned int minSteps, unsigned int maxSteps)
Sample a number of steps to execute a control for.
Definition of an abstract control.
Definition: Control.h:48
const SpaceInformation * si_
The space information this sampler operates on.
unsigned int getMinControlDuration() const
Get the minimum number of steps a control is propagated for.
double getPropagationStepSize() const
Propagation is performed at integer multiples of a specified step size. This function returns the val...
unsigned int getMaxControlDuration() const
Get the maximum number of steps a control is propagated for.
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