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 
54 namespace ob = ompl::base;
55 namespace oc = ompl::control;
56 
58 class KoulesStateValidityChecker : public ompl::base::StateValidityChecker
59 {
60 public:
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 
72 ompl::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 
79 KoulesSetup::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 
86 KoulesSetup::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 
101 void 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 
151 ob::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...
Definition: RandomNumbers.h:58
double uniformReal(double lower_bound, double upper_bound)
Generate a random real within given bounds: [lower_bound, upper_bound)
Definition: RandomNumbers.h:73
A shared pointer wrapper for ompl::base::Goal.
Definition of a scoped state.
Definition: ScopedState.h:57
A shared pointer wrapper for ompl::base::SpaceInformation.
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....
Definition of an abstract state.
Definition: State.h:50
A shared pointer wrapper for ompl::control::DirectedControlSampler.
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.
Definition: AppBase.h:22