QuotientSpacePlanningKinematicChain.cpp
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35 
36 /* Author: Andreas Orthey */
37 
38 #include "../KinematicChain.h"
39 #include "QuotientSpacePlanningCommon.h"
40 #include <ompl/geometric/planners/quotientspace/QRRT.h>
41 #include <ompl/base/SpaceInformation.h>
42 #include <ompl/tools/benchmark/Benchmark.h>
43 
44 const unsigned int numLinks = 15;
45 const double linkLength = 1.0 / numLinks;
46 const double narrowPassageWidth = log((double)numLinks) / (double)numLinks;
47 
48 namespace ot = ompl::tools;
49 std::vector<Environment> envs;
50 
51 ob::PlannerPtr GetQRRT(std::vector<int> sequenceLinks, ob::SpaceInformationPtr si, ob::ProblemDefinitionPtr pdef)
52 {
53  // ompl::msg::setLogLevel(ompl::msg::LOG_DEV2);
54  std::vector<ob::SpaceInformationPtr> si_vec;
55 
56  for (unsigned int k = 0; k < sequenceLinks.size(); k++)
57  {
58  int links = sequenceLinks.at(k);
59  assert(links < numLinks);
60 
61  OMPL_INFORM("Create QuotientSpace Chain with %d links.", links);
62  auto spaceK(std::make_shared<KinematicChainSpace>(links, linkLength, &envs.at(links)));
63 
64  auto siK = std::make_shared<ob::SpaceInformation>(spaceK);
65  siK->setStateValidityChecker(std::make_shared<KinematicChainValidityChecker>(siK));
66  spaceK->setup();
67  si_vec.push_back(siK);
68  }
69 
70  OMPL_INFORM("Add Original Chain with %d links.", numLinks);
71  si_vec.push_back(si);
72 
73  auto planner = std::make_shared<og::QRRT>(si_vec);
74  planner->setProblemDefinition(pdef);
75 
76  std::string qName = "QuotientSpaceRRT[";
77  for (unsigned int k = 0; k < sequenceLinks.size(); k++)
78  {
79  int links = sequenceLinks.at(k);
80  qName += std::to_string(links) + ",";
81  }
82  qName += std::to_string(numLinks);
83  qName += "]";
84  planner->setName(qName);
85  return planner;
86 }
87 
88 int main()
89 {
90  Environment env = createHornEnvironment(numLinks, narrowPassageWidth);
91  OMPL_INFORM("Original Chain has %d links", numLinks);
92  OMPL_INFORM("Creating Horn Environment with width %f.", narrowPassageWidth);
93  envs.push_back(createHornEnvironment(1, narrowPassageWidth));
94  for (unsigned int k = 1; k < numLinks; k++)
95  {
96  envs.push_back(createHornEnvironment(k, narrowPassageWidth));
97  }
98 
99  auto chain(std::make_shared<KinematicChainSpace>(numLinks, linkLength, &env));
101 
102  ss.setStateValidityChecker(std::make_shared<KinematicChainValidityChecker>(ss.getSpaceInformation()));
103 
104  ompl::base::ScopedState<> start(chain), goal(chain);
105  std::vector<double> startVec(numLinks, boost::math::constants::pi<double>() / (double)numLinks);
106  std::vector<double> goalVec(numLinks, 0);
107  startVec[0] = 0.;
108  goalVec[0] = boost::math::constants::pi<double>() - .001;
109  chain->setup();
110  chain->copyFromReals(start.get(), startVec);
111  chain->copyFromReals(goal.get(), goalVec);
112  ss.setStartAndGoalStates(start, goal);
113 
114  double runtime_limit = 10, memory_limit = 1024;
115  int run_count = 10;
116  ompl::tools::Benchmark::Request request(runtime_limit, memory_limit, run_count, 0.5);
117  ompl::tools::Benchmark b(ss, "KinematicChain");
118  b.addExperimentParameter("num_links", "INTEGER", std::to_string(numLinks));
119 
120  //############################################################################
121  // Compare QRRT with different QuotientSpace sequences to other OMPL planner
122  //############################################################################
123  b.addPlanner(std::make_shared<ompl::geometric::STRIDE>(ss.getSpaceInformation()));
124  b.addPlanner(std::make_shared<ompl::geometric::EST>(ss.getSpaceInformation()));
125  b.addPlanner(std::make_shared<ompl::geometric::KPIECE1>(ss.getSpaceInformation()));
126  b.addPlanner(std::make_shared<ompl::geometric::RRT>(ss.getSpaceInformation()));
127  b.addPlanner(std::make_shared<ompl::geometric::PRM>(ss.getSpaceInformation()));
128 
129  b.addPlanner(GetQRRT(std::vector<int>{3}, ss.getSpaceInformation(), ss.getProblemDefinition()));
130  b.addPlanner(GetQRRT(std::vector<int>{2}, ss.getSpaceInformation(), ss.getProblemDefinition()));
131  b.addPlanner(GetQRRT(std::vector<int>{3, 5, 9}, ss.getSpaceInformation(), ss.getProblemDefinition()));
132  b.addPlanner(GetQRRT(std::vector<int>{3, 11}, ss.getSpaceInformation(), ss.getProblemDefinition()));
133  b.addPlanner(GetQRRT(std::vector<int>{10}, ss.getSpaceInformation(), ss.getProblemDefinition()));
134  b.addPlanner(GetQRRT(std::vector<int>{12}, ss.getSpaceInformation(), ss.getProblemDefinition()));
135  b.addPlanner(GetQRRT(std::vector<int>{8, 13}, ss.getSpaceInformation(), ss.getProblemDefinition()));
136  b.addPlanner(GetQRRT(std::vector<int>{}, ss.getSpaceInformation(), ss.getProblemDefinition()));
137  b.addPlanner(GetQRRT(std::vector<int>{2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14}, ss.getSpaceInformation(),
138  ss.getProblemDefinition()));
139 
140  b.benchmark(request);
141  b.saveResultsToFile(boost::str(boost::format("kinematic_%i.log") % numLinks).c_str());
142 
143  printBenchmarkResults(b);
144  return 0;
145 }
Includes various tools such as self config, benchmarking, etc.
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:127
void log(const char *file, int line, LogLevel level, const char *m,...)
Root level logging function. This should not be invoked directly, but rather used via a logging macro...
Definition: Console.cpp:120
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition: Console.h:68
Representation of a benchmark request.
Definition: Benchmark.h:253
Benchmark a set of planners on a problem instance.
Definition: Benchmark.h:113
Definition of a scoped state.
Definition: ScopedState.h:121