LBKPIECE1.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/geometric/planners/kpiece/LBKPIECE1.h"
38 #include "ompl/base/goals/GoalSampleableRegion.h"
39 #include "ompl/tools/config/SelfConfig.h"
40 #include <cassert>
41 
43  : base::Planner(si, "LBKPIECE1")
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, &LBKPIECE1::setRange, &LBKPIECE1::getRange, "0.:1.:10000");
50  Planner::declareParam<double>("border_fraction", this, &LBKPIECE1::setBorderFraction, &LBKPIECE1::getBorderFraction,
51  "0.:.05:1.");
52  Planner::declareParam<double>("min_valid_path_fraction", this, &LBKPIECE1::setMinValidPathFraction,
54 }
55 
56 ompl::geometric::LBKPIECE1::~LBKPIECE1() = default;
57 
59 {
60  Planner::setup();
61  tools::SelfConfig sc(si_, getName());
62  sc.configureProjectionEvaluator(projectionEvaluator_);
63  sc.configurePlannerRange(maxDistance_);
64 
65  if (minValidPathFraction_ < std::numeric_limits<double>::epsilon() || minValidPathFraction_ > 1.0)
66  throw Exception("The minimum valid path fraction must be in the range (0,1]");
67 
68  dStart_.setDimension(projectionEvaluator_->getDimension());
69  dGoal_.setDimension(projectionEvaluator_->getDimension());
70 }
71 
73 {
74  checkValidity();
75  auto *goal = dynamic_cast<base::GoalSampleableRegion *>(pdef_->getGoal().get());
76 
77  if (goal == nullptr)
78  {
79  OMPL_ERROR("%s: Unknown type of goal", getName().c_str());
81  }
82 
83  Discretization<Motion>::Coord xcoord(projectionEvaluator_->getDimension());
84 
85  while (const base::State *st = pis_.nextStart())
86  {
87  auto *motion = new Motion(si_);
88  si_->copyState(motion->state, st);
89  motion->root = st;
90  motion->valid = true;
91  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
92  dStart_.addMotion(motion, xcoord);
93  }
94 
95  if (dStart_.getMotionCount() == 0)
96  {
97  OMPL_ERROR("%s: Motion planning start tree could not be initialized!", getName().c_str());
99  }
100 
101  if (!goal->couldSample())
102  {
103  OMPL_ERROR("%s: Insufficient states in sampleable goal region", getName().c_str());
105  }
106 
107  if (!sampler_)
108  sampler_ = si_->allocStateSampler();
109 
110  OMPL_INFORM("%s: Starting planning with %d states already in datastructure", getName().c_str(),
111  (int)(dStart_.getMotionCount() + dGoal_.getMotionCount()));
112 
113  base::State *xstate = si_->allocState();
114  bool startTree = true;
115  bool solved = false;
116 
117  while (!ptc)
118  {
119  Discretization<Motion> &disc = startTree ? dStart_ : dGoal_;
120  startTree = !startTree;
121  Discretization<Motion> &otherDisc = startTree ? dStart_ : dGoal_;
122  disc.countIteration();
123 
124  // if we have not sampled too many goals already
125  if (dGoal_.getMotionCount() == 0 || pis_.getSampledGoalsCount() < dGoal_.getMotionCount() / 2)
126  {
127  const base::State *st = dGoal_.getMotionCount() == 0 ? pis_.nextGoal(ptc) : pis_.nextGoal();
128  if (st != nullptr)
129  {
130  auto *motion = new Motion(si_);
131  si_->copyState(motion->state, st);
132  motion->root = motion->state;
133  motion->valid = true;
134  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
135  dGoal_.addMotion(motion, xcoord);
136  }
137  if (dGoal_.getMotionCount() == 0)
138  {
139  OMPL_ERROR("%s: Unable to sample any valid states for goal tree", getName().c_str());
140  break;
141  }
142  }
143 
144  Discretization<Motion>::Cell *ecell = nullptr;
145  Motion *existing = nullptr;
146  disc.selectMotion(existing, ecell);
147  assert(existing);
148  sampler_->sampleUniformNear(xstate, existing->state, maxDistance_);
149 
150  /* create a motion */
151  auto *motion = new Motion(si_);
152  si_->copyState(motion->state, xstate);
153  motion->parent = existing;
154  motion->root = existing->root;
155  existing->children.push_back(motion);
156  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
157  disc.addMotion(motion, xcoord);
158 
159  /* attempt to connect trees */
160  Discretization<Motion>::Cell *ocell = otherDisc.getGrid().getCell(xcoord);
161  if ((ocell != nullptr) && !ocell->data->motions.empty())
162  {
163  Motion *connectOther = ocell->data->motions[rng_.uniformInt(0, ocell->data->motions.size() - 1)];
164 
165  if (goal->isStartGoalPairValid(startTree ? connectOther->root : motion->root,
166  startTree ? motion->root : connectOther->root))
167  {
168  auto *connect = new Motion(si_);
169  si_->copyState(connect->state, connectOther->state);
170  connect->parent = motion;
171  connect->root = motion->root;
172  motion->children.push_back(connect);
173  projectionEvaluator_->computeCoordinates(connect->state, xcoord);
174  disc.addMotion(connect, xcoord);
175 
176  if (isPathValid(disc, connect, xstate) && isPathValid(otherDisc, connectOther, xstate))
177  {
178  if (startTree)
179  connectionPoint_ = std::make_pair(connectOther->state, motion->state);
180  else
181  connectionPoint_ = std::make_pair(motion->state, connectOther->state);
182 
183  /* extract the motions and put them in solution vector */
184 
185  std::vector<Motion *> mpath1;
186  while (motion != nullptr)
187  {
188  mpath1.push_back(motion);
189  motion = motion->parent;
190  }
191 
192  std::vector<Motion *> mpath2;
193  while (connectOther != nullptr)
194  {
195  mpath2.push_back(connectOther);
196  connectOther = connectOther->parent;
197  }
198 
199  if (startTree)
200  mpath1.swap(mpath2);
201 
202  auto path(std::make_shared<PathGeometric>(si_));
203  path->getStates().reserve(mpath1.size() + mpath2.size());
204  for (int i = mpath1.size() - 1; i >= 0; --i)
205  path->append(mpath1[i]->state);
206  for (auto &i : mpath2)
207  path->append(i->state);
208 
209  pdef_->addSolutionPath(path, false, 0.0, getName());
210  solved = true;
211  break;
212  }
213  }
214  }
215  }
216 
217  si_->freeState(xstate);
218 
219  OMPL_INFORM("%s: Created %u (%u start + %u goal) states in %u cells (%u start (%u on boundary) + %u goal (%u on "
220  "boundary))",
221  getName().c_str(), dStart_.getMotionCount() + dGoal_.getMotionCount(), dStart_.getMotionCount(),
222  dGoal_.getMotionCount(), dStart_.getCellCount() + dGoal_.getCellCount(), dStart_.getCellCount(),
223  dStart_.getGrid().countExternal(), dGoal_.getCellCount(), dGoal_.getGrid().countExternal());
224 
226 }
227 
229 {
230  std::vector<Motion *> mpath;
231 
232  /* construct the solution path */
233  while (motion != nullptr)
234  {
235  mpath.push_back(motion);
236  motion = motion->parent;
237  }
238 
239  std::pair<base::State *, double> lastValid;
240  lastValid.first = temp;
241 
242  /* check the path */
243  for (int i = mpath.size() - 1; i >= 0; --i)
244  if (!mpath[i]->valid)
245  {
246  if (si_->checkMotion(mpath[i]->parent->state, mpath[i]->state, lastValid))
247  mpath[i]->valid = true;
248  else
249  {
250  Motion *parent = mpath[i]->parent;
251  removeMotion(disc, mpath[i]);
252 
253  // add the valid part of the path, if sufficiently long
254  if (lastValid.second > minValidPathFraction_)
255  {
256  auto *reAdd = new Motion(si_);
257  si_->copyState(reAdd->state, lastValid.first);
258  reAdd->parent = parent;
259  reAdd->root = parent->root;
260  parent->children.push_back(reAdd);
261  reAdd->valid = true;
262  Discretization<Motion>::Coord coord(projectionEvaluator_->getDimension());
263  projectionEvaluator_->computeCoordinates(reAdd->state, coord);
264  disc.addMotion(reAdd, coord);
265  }
266 
267  return false;
268  }
269  }
270  return true;
271 }
272 
274 {
275  /* remove from grid */
276 
277  Discretization<Motion>::Coord coord(projectionEvaluator_->getDimension());
278  projectionEvaluator_->computeCoordinates(motion->state, coord);
279  disc.removeMotion(motion, coord);
280 
281  /* remove self from parent list */
282 
283  if (motion->parent != nullptr)
284  {
285  for (unsigned int i = 0; i < motion->parent->children.size(); ++i)
286  if (motion->parent->children[i] == motion)
287  {
288  motion->parent->children.erase(motion->parent->children.begin() + i);
289  break;
290  }
291  }
292 
293  /* remove children */
294  for (auto &i : motion->children)
295  {
296  i->parent = nullptr;
297  removeMotion(disc, i);
298  }
299 
300  freeMotion(motion);
301 }
302 
304 {
305  if (motion->state != nullptr)
306  si_->freeState(motion->state);
307  delete motion;
308 }
309 
311 {
312  Planner::clear();
313 
314  sampler_.reset();
315  dStart_.clear();
316  dGoal_.clear();
317  connectionPoint_ = std::make_pair<base::State *, base::State *>(nullptr, nullptr);
318 }
319 
321 {
322  Planner::getPlannerData(data);
323  dStart_.getPlannerData(data, 1, true, nullptr);
324  dGoal_.getPlannerData(data, 2, false, nullptr);
325 
326  // Insert the edge connecting the two trees
327  data.addEdge(data.vertexIndex(connectionPoint_.first), data.vertexIndex(connectionPoint_.second));
328 }
Grid::Coord Coord
The datatype for the maintained grid coordinates.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
Motion * parent
The parent motion in the exploration tree.
Definition: LBKPIECE1.h:186
Representation of a motion for this algorithm.
Definition: LBKPIECE1.h:166
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: LBKPIECE1.h:135
The planner failed to find a solution.
Definition: PlannerStatus.h:62
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: LBKPIECE1.cpp:72
base::State * state
The state contained by this motion.
Definition: LBKPIECE1.h:183
void removeMotion(Discretization< Motion > &disc, Motion *motion)
Remove a motion from a tree of motions.
Definition: LBKPIECE1.cpp:273
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
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: LBKPIECE1.h:152
double getRange() const
Get the range the planner is using.
Definition: LBKPIECE1.h:117
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
std::vector< Motion * > children
The set of motions descending from the current motion.
Definition: LBKPIECE1.h:192
One-level discretization used for KPIECE.
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: LBKPIECE1.h:111
The planner found an exact solution.
Definition: PlannerStatus.h:66
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.
bool isPathValid(Discretization< Motion > &disc, Motion *motion, base::State *temp)
Since solutions are computed in a lazy fashion, once trees are connected, the solution found needs to...
Definition: LBKPIECE1.cpp:228
Definition of an abstract state.
Definition: State.h:49
void freeMotion(Motion *motion)
Free the memory for a motion.
Definition: LBKPIECE1.cpp:303
Definition of a cell in this grid.
Definition: Grid.h:58
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 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: LBKPIECE1.h:146
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
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LBKPIECE1.cpp:58
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LBKPIECE1.cpp:310
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: LBKPIECE1.cpp:320
const base::State * root
The root state (start state) that leads to this motion.
Definition: LBKPIECE1.h:180
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: LBKPIECE1.h:127
LBKPIECE1(const base::SpaceInformationPtr &si)
Constructor.
Definition: LBKPIECE1.cpp:42
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