OptimizePlan.cpp
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2012, Willow Garage, Inc.
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 Willow Garage 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: Ioan Sucan */
36 
37 #include "ompl/tools/multiplan/OptimizePlan.h"
38 #include "ompl/geometric/PathSimplifier.h"
39 #include "ompl/base/OptimizationObjective.h"
40 
42 {
43  if (planner && planner->getSpaceInformation().get() != getProblemDefinition()->getSpaceInformation().get())
44  throw Exception("Planner instance does not match space information");
45  planners_.push_back(planner);
46 }
47 
49 {
50  planners_.push_back(pa(getProblemDefinition()->getSpaceInformation()));
51 }
52 
54 {
55  planners_.clear();
56 }
57 
58 ompl::base::PlannerStatus ompl::tools::OptimizePlan::solve(double solveTime, unsigned int maxSol, unsigned int nthreads)
59 {
60  time::point end = time::now() + time::seconds(solveTime);
61  unsigned int nt = std::min(nthreads, (unsigned int)planners_.size());
62  OMPL_DEBUG("Using %u threads", nt);
63 
64  base::PlannerStatus result;
65  unsigned int np = 0;
66  const base::ProblemDefinitionPtr &pdef = getProblemDefinition();
67  pp_.clearHybridizationPaths();
68 
69  while (time::now() < end)
70  {
71  pp_.clearPlanners();
72  for (unsigned int i = 0; i < nt; ++i)
73  {
74  planners_[np]->clear();
75  pp_.addPlanner(planners_[np]);
76  np = (np + 1) % planners_.size();
77  }
78  base::PlannerStatus localResult = pp_.solve(std::max(time::seconds(end - time::now()), 0.0), true);
79  if (localResult)
80  {
82  result = localResult;
83 
84  if (!pdef->hasOptimizationObjective())
85  {
86  OMPL_DEBUG("Terminating early since there is no optimization objective specified");
87  break;
88  }
89 
90  base::Cost obj_cost = pdef->getSolutionPath()->cost(pdef->getOptimizationObjective());
91 
92  if (pdef->getOptimizationObjective()->isSatisfied(obj_cost))
93  {
94  OMPL_DEBUG("Terminating early since solution path satisfies the optimization objective");
95  break;
96  }
97  if (pdef->getSolutionCount() >= maxSol)
98  {
99  OMPL_DEBUG("Terminating early since %u solutions were generated", maxSol);
100  break;
101  }
102  }
103  }
104 
105  // if we have more time, and we have a geometric path, we try to simplify it
106  if (time::now() < end && result)
107  {
108  geometric::PathGeometric *p = dynamic_cast<geometric::PathGeometric *>(pdef->getSolutionPath().get());
109  if (p)
110  {
111  geometric::PathSimplifier ps(getProblemDefinition()->getSpaceInformation());
112  ps.simplify(*p, std::max(time::seconds(end - time::now()), 0.0));
113  }
114  }
115 
116  return result;
117 }
A shared pointer wrapper for ompl::base::ProblemDefinition.
std::vector< base::PlannerPtr > planners_
The set of planners to be used.
Definition: OptimizePlan.h:84
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:76
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the problem definition used.
Definition: OptimizePlan.h:69
A shared pointer wrapper for ompl::base::Planner.
void addPlannerAllocator(const base::PlannerAllocator &pa)
Add a planner allocator to use.
void addPlanner(const base::PlannerPtr &planner)
Add a planner to use.
The planner found an exact solution.
Definition: PlannerStatus.h:66
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
This class contains routines that attempt to simplify geometric paths.
The exception type for ompl.
Definition: Exception.h:46
#define OMPL_DEBUG(fmt,...)
Log a formatted debugging string.
Definition: Console.h:70
point now()
Get the current time point.
Definition: Time.h:70
base::PlannerStatus solve(double solveTime, unsigned int maxSol=10, unsigned int nthreads=1)
Try to solve the specified problem within a solveTime seconds, using at most nthreads threads...
Definition of a geometric path.
Definition: PathGeometric.h:60
std::function< PlannerPtr(const SpaceInformationPtr &)> PlannerAllocator
Definition of a function that can allocate a planner.
Definition: Planner.h:433
std::chrono::system_clock::time_point point
Representation of a point in time.
Definition: Time.h:64
void clearPlanners()
Clear the set of planners to be executed.
Definition of a cost value. Can represent the cost of a motion or the cost of a state.
Definition: Cost.h:47
bool simplify(PathGeometric &path, double maxTime, bool atLeastOnce=true)
Run simplification algorithms on the path for at most maxTime seconds, and at least once if atLeastOn...