MorseSimpleSetup.cpp
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34 
35 /* Authors: Ioan Sucan, Caleb Voss */
36 
37 #include "ompl/extensions/morse/MorseSimpleSetup.h"
38 #include "ompl/extensions/morse/MorseControlSpace.h"
39 #include "ompl/extensions/morse/MorseProjection.h"
40 #include "ompl/extensions/morse/MorseStatePropagator.h"
41 #include "ompl/extensions/morse/MorseStateValidityChecker.h"
42 #include "ompl/extensions/morse/MorseTerminationCondition.h"
43 #include "ompl/util/Console.h"
44 
46  : SimpleSetup(std::make_shared<MorseControlSpace>(std::make_shared<base::MorseStateSpace>(env))), env_(env)
47 {
48  si_->setPropagationStepSize(env_->stepSize_);
49  si_->setMinMaxControlDuration(env_->minControlSteps_, env_->maxControlSteps_);
50  si_->setStatePropagator(std::make_shared<MorseStatePropagator>(si_));
51 }
52 
54 {
56  getStateSpace()->as<base::MorseStateSpace>()->readState(current.get());
57  return current;
58 }
59 
61 {
62  getStateSpace()->as<base::MorseStateSpace>()->writeState(state);
63 }
64 
66 {
67  getStateSpace()->as<base::MorseStateSpace>()->writeState(state.get());
68 }
69 
71 {
72  if (!si_->getStateValidityChecker())
73  {
74  OMPL_INFORM("Using default state validity checker for MORSE");
75  si_->setStateValidityChecker(std::make_shared<base::MorseStateValidityChecker>(si_));
76  }
77  base::StateSpacePtr space = si_->getStateSpace();
78  if (!space->hasDefaultProjection())
79  {
80  OMPL_INFORM("Registering MorseProjection as default projection evaluator for MORSE");
81  space->registerDefaultProjection(std::make_shared<base::MorseProjection>(space));
82  }
83  if (pdef_->getStartStateCount() == 0)
84  {
85  OMPL_INFORM("Using the initial state of MORSE as the starting state for the planner");
86  pdef_->addStartState(getCurrentState());
87  }
89 }
90 
92 {
93  setup();
94  // terminate if user exits MORSE
96 }
97 
99 {
100  if (haveSolutionPath())
101  playPath(pdef_->getSolutionPath());
102 }
103 
105 {
106  PathControl *pc = dynamic_cast<PathControl *>(path.get());
107  if (pc)
108  {
109  unsigned int i;
110  base::State *result = si_->allocState();
111  for (i = 0; i < pc->getControlCount(); i++)
112  {
113  si_->getStatePropagator()->propagate(pc->getState(i), pc->getControl(i), pc->getControlDuration(i), result);
114  }
115  getStateSpace()->as<base::MorseStateSpace>()->writeState(pc->getState(i));
116  }
117  else
118  {
119  geometric::PathGeometric *pg = dynamic_cast<geometric::PathGeometric *>(path.get());
120  if (!pg)
121  throw Exception("Unknown type of path");
122  if (pg->getStateCount() > 0)
123  {
124  double d = si_->getPropagationStepSize();
125  getStateSpace()->as<base::MorseStateSpace>()->writeState(pg->getState(0));
126  for (unsigned int i = 1; i < pg->getStateCount(); ++i)
127  {
128  getEnvironment()->worldStep(d);
129  getStateSpace()->as<base::MorseStateSpace>()->writeState(pg->getState(i));
130  }
131  }
132  }
133 }
134 
135 ompl::base::PathPtr ompl::control::MorseSimpleSetup::simulateControl(const double *control, unsigned int steps) const
136 {
137  Control *c = si_->allocControl();
138  memcpy(c->as<MorseControlSpace::ControlType>()->values, control,
139  sizeof(double) * getControlSpace()->getDimension());
140  base::PathPtr path = simulateControl(c, steps);
141  si_->freeControl(c);
142  return path;
143 }
144 
146 {
147  auto p(std::make_shared<PathControl>(si_));
148 
149  base::State *s0 = si_->allocState();
150  getStateSpace()->as<base::MorseStateSpace>()->readState(s0);
151  p->getStates().push_back(s0);
152 
153  base::State *s1 = si_->allocState();
154  si_->propagate(s0, control, steps, s1);
155  p->getStates().push_back(s1);
156 
157  p->getControls().push_back(si_->cloneControl(control));
158  p->getControlDurations().push_back(steps);
159  return p;
160 }
161 
163 {
164  Control *c = si_->allocControl();
165  si_->nullControl(c);
166  base::PathPtr path = simulateControl(c, steps);
167  si_->freeControl(c);
168  return path;
169 }
void playPath(const base::PathPtr &path) const
Set the MORSE world to the states that are contained in a given path, sequentially.
const T * as() const
Cast this instance to a desired type.
Definition: Control.h:64
base::PathPtr simulate(unsigned int steps) const
Simulate the MORSE environment forward for steps simulation steps, using the null control (ompl::cont...
Control * getControl(unsigned int index)
Get the control located at index along the path. This is the control that gets applied to the state l...
Definition: PathControl.h:169
State space representing MORSE states.
base::ProblemDefinitionPtr pdef_
The created problem definition.
Definition: SimpleSetup.h:274
const ControlSpacePtr & getControlSpace() const
Get the current instance of the control space.
Definition: SimpleSetup.h:93
Definition of a scoped state.
Definition: ScopedState.h:56
Definition of an abstract control.
Definition: Control.h:47
A shared pointer wrapper for ompl::base::StateSpace.
const base::MorseEnvironmentPtr env_
Pointer to the environment representing the MORSE simulation.
Create the set of classes typically needed to solve a control problem.
Definition: SimpleSetup.h:63
void setup() override
This method will create the necessary classes for planning. The solve() method will call this functio...
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
STL namespace.
MorseSimpleSetup(const base::MorseEnvironmentPtr &env)
The control space is assumed to be MorseControlSpace. The state space is assumed to be MorseStateSpac...
base::PlannerStatus solve()
Run the planner until solution is found or user shuts down MORSE.
Definition of a control path.
Definition: PathControl.h:60
base::State * getState(unsigned int index)
Get the state located at index along the path.
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:87
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for a specified amount of time (default is 1 second)
Definition: SimpleSetup.cpp:93
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:59
base::State * getState(unsigned int index)
Get the state located at index along the path.
Definition: PathControl.h:156
StateType * get()
Returns a pointer to the contained state.
Definition: ScopedState.h:394
void playSolutionPath() const
Call playPath() on the solution path, if one is available.
base::PathPtr simulateControl(const double *control, unsigned int steps) const
Simulate the MORSE environment forward for steps simulation steps, using the control control...
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
Definition of an abstract state.
Definition: State.h:49
base::ScopedState< base::MorseStateSpace > getCurrentState() const
Get the current MORSE state (read parameters from MORSE bodies)
SpaceInformationPtr si_
The created space information.
Definition: SimpleSetup.h:271
std::size_t getControlCount() const
Get the number of controls applied along this path. This should be equal to getStateCount() - 1 unles...
Definition: PathControl.h:195
const base::MorseEnvironmentPtr & getEnvironment() const
Get the MORSE environment associated with this setup.
The exception type for ompl.
Definition: Exception.h:46
Definition of a geometric path.
Definition: PathGeometric.h:60
double getControlDuration(unsigned int index) const
Get the duration of the control at index, which gets applied to the state at index.
Definition: PathControl.h:182
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.
Definition: SimpleSetup.h:134
Representation of controls applied in MORSE environments. This is an array of double values...
A shared pointer wrapper for ompl::base::MorseEnvironment.
A shared pointer wrapper for ompl::base::Path.
void setCurrentState(const base::ScopedState<> &state)
Set the current MORSE state (set parameters for MORSE bodies)
This class represents a termination condition for the planner that only terminates if the user shuts ...
double * values
An array of length n, representing the value of the control.
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition: Console.h:68