OpenDEStatePropagator.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/extensions/opende/OpenDEStatePropagator.h"
38 #include "ompl/extensions/opende/OpenDEStateSpace.h"
39 #include "ompl/extensions/opende/OpenDEControlSpace.h"
40 #include "ompl/util/Exception.h"
41 #include "ompl/util/Console.h"
42 
44 {
45  if (auto *oss = dynamic_cast<OpenDEStateSpace *>(si->getStateSpace().get()))
46  env_ = oss->getEnvironment();
47  else
48  throw Exception("OpenDE State Space needed for OpenDEStatePropagator");
49 }
50 
52 namespace ompl
53 {
54  struct CallbackParam
55  {
56  const control::OpenDEEnvironment *env;
57  bool collision;
58  };
59 
60  void nearCallback(void *data, dGeomID o1, dGeomID o2)
61  {
62  dBodyID b1 = dGeomGetBody(o1);
63  dBodyID b2 = dGeomGetBody(o2);
64 
65  if ((b1 != nullptr) && (b2 != nullptr) && (dAreConnectedExcluding(b1, b2, dJointTypeContact) != 0))
66  return;
67 
68  auto *cp = reinterpret_cast<CallbackParam *>(data);
69 
70  const unsigned int maxContacts = cp->env->getMaxContacts(o1, o2);
71  if (maxContacts <= 0)
72  return;
73 
74  auto *contact = new dContact[maxContacts];
75 
76  for (unsigned int i = 0; i < maxContacts; ++i)
77  cp->env->setupContact(o1, o2, contact[i]);
78 
79  if (int numc = dCollide(o1, o2, maxContacts, &contact[0].geom, sizeof(dContact)))
80  {
81  for (int i = 0; i < numc; ++i)
82  {
83  dJointID c = dJointCreateContact(cp->env->world_, cp->env->contactGroup_, contact + i);
84  dJointAttach(c, b1, b2);
85  bool valid = cp->env->isValidCollision(o1, o2, contact[i]);
86  if (!valid)
87  cp->collision = true;
88  if (cp->env->verboseContacts_)
89  {
90  OMPL_DEBUG("%s contact between %s and %s", (valid ? "Valid" : "Invalid"),
91  cp->env->getGeomName(o1).c_str(), cp->env->getGeomName(o1).c_str());
92  }
93  }
94  }
95 
96  delete[] contact;
97  }
98 }
100 
102  const double duration, base::State *result) const
103 {
104  env_->mutex_.lock();
105 
106  // place the OpenDE world at the start state
107  si_->getStateSpace()->as<OpenDEStateSpace>()->writeState(state);
108 
109  // apply the controls
110  env_->applyControl(control->as<RealVectorControlSpace::ControlType>()->values);
111 
112  // created contacts as needed
113  CallbackParam cp = {env_.get(), false};
114  for (auto &collisionSpace : env_->collisionSpaces_)
115  dSpaceCollide(collisionSpace, &cp, &nearCallback);
116 
117  // propagate one step forward
118  dWorldQuickStep(env_->world_, (const dReal)duration);
119 
120  // remove created contacts
121  dJointGroupEmpty(env_->contactGroup_);
122 
123  // read the final state from the OpenDE world
124  si_->getStateSpace()->as<OpenDEStateSpace>()->readState(result);
125 
126  env_->mutex_.unlock();
127 
128  // update the collision flag for the start state, if needed
130  {
131  if (cp.collision)
134  }
135 }
136 
138 {
139  return false;
140 }
Index of bit in StateType::collision indicating whether it is known if a state is in collision or not...
const T * as() const
Cast this instance to a desired type.
Definition: Control.h:64
const StateSpacePtr & getStateSpace() const
Return the instance of the used state space.
SpaceInformation * si_
The instance of space information this state propagator operates on.
Definition of an abstract control.
Definition: Control.h:47
Index of bit in StateType::collision indicating whether a state is in collision or not...
void propagate(const base::State *state, const Control *control, double duration, base::State *result) const override
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
OpenDE State. This is a compound state that allows accessing the properties of the bodies the state s...
Model the effect of controls on system states.
This class contains the OpenDE constructs OMPL needs to know about when planning. ...
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
State space representing OpenDE states.
bool canPropagateBackward() const override
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
Definition of an abstract state.
Definition: State.h:49
A shared pointer wrapper for ompl::control::SpaceInformation.
The exception type for ompl.
Definition: Exception.h:46
#define OMPL_DEBUG(fmt,...)
Log a formatted debugging string.
Definition: Console.h:70
OpenDEStatePropagator(const SpaceInformationPtr &si)
Construct a representation of OpenDE state propagator. If si->getStateSpace() does not cast to an Ope...
OpenDEEnvironmentPtr env_
The OpenDE environment this state propagator operates on.
int collision
Flag containing information about state validity.
double * values
An array of length n, representing the value of the control.