SimpleSetup.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/control/SimpleSetup.h"
38 #include "ompl/tools/config/SelfConfig.h"
39 
41  : configured_(false), planTime_(0.0), last_status_(base::PlannerStatus::UNKNOWN)
42 {
43  si_ = si;
44  pdef_ = std::make_shared<base::ProblemDefinition>(si_);
45 }
46 
48  : configured_(false), planTime_(0.0), last_status_(base::PlannerStatus::UNKNOWN)
49 {
50  si_ = std::make_shared<SpaceInformation>(space->getStateSpace(), space);
51  pdef_ = std::make_shared<base::ProblemDefinition>(si_);
52 }
53 
55 {
56  if (!configured_ || !si_->isSetup() || !planner_->isSetup())
57  {
58  if (!si_->isSetup())
59  si_->setup();
60  if (!planner_)
61  {
62  if (pa_)
63  planner_ = pa_(si_);
64  if (!planner_)
65  {
66  OMPL_INFORM("No planner specified. Using default.");
67  planner_ = tools::SelfConfig::getDefaultPlanner(getGoal());
68  }
69  }
70  planner_->setProblemDefinition(pdef_);
71  if (!planner_->isSetup())
72  planner_->setup();
73 
74  configured_ = true;
75  }
76 }
77 
79 {
80  if (planner_)
81  planner_->clear();
82  if (pdef_)
83  pdef_->clearSolutionPaths();
84 }
85 
86 // we provide a duplicate implementation here to allow the planner to choose how the time is turned into a planner
87 // termination condition
89 {
90  setup();
91  last_status_ = base::PlannerStatus::UNKNOWN;
92  time::point start = time::now();
93  last_status_ = planner_->solve(time);
94  planTime_ = time::seconds(time::now() - start);
95  if (last_status_)
96  OMPL_INFORM("Solution found in %f seconds", planTime_);
97  else
98  OMPL_INFORM("No solution found after %f seconds", planTime_);
99  return last_status_;
100 }
101 
103 {
104  setup();
105  last_status_ = base::PlannerStatus::UNKNOWN;
106  time::point start = time::now();
107  last_status_ = planner_->solve(ptc);
108  planTime_ = time::seconds(time::now() - start);
109  if (last_status_)
110  OMPL_INFORM("Solution found in %f seconds", planTime_);
111  else
112  OMPL_INFORM("No solution found after %f seconds", planTime_);
113  return last_status_;
114 }
115 
117 {
118  if (pdef_)
119  {
120  const base::PathPtr &p = pdef_->getSolutionPath();
121  if (p)
122  return static_cast<PathControl &>(*p);
123  }
124  throw Exception("No solution path");
125 }
126 
128 {
129  return haveSolutionPath() && (!pdef_->hasApproximateSolution() ||
130  pdef_->getSolutionDifference() < std::numeric_limits<double>::epsilon());
131 }
132 
134 {
135  pd.clear();
136  if (planner_)
137  planner_->getPlannerData(pd);
138 }
139 
140 void ompl::control::SimpleSetup::print(std::ostream &out) const
141 {
142  if (si_)
143  {
144  si_->printProperties(out);
145  si_->printSettings(out);
146  }
147  if (planner_)
148  {
149  planner_->printProperties(out);
150  planner_->printSettings(out);
151  }
152  if (pdef_)
153  pdef_->print(out);
154 }
A shared pointer wrapper for ompl::base::SpaceInformation.
std::chrono::system_clock::time_point point
Representation of a point in time.
Definition: Time.h:52
SimpleSetup(const SpaceInformationPtr &si)
Constructor needs the control space used for planning.
Definition: SimpleSetup.cpp:40
A shared pointer wrapper for ompl::control::ControlSpace.
base::ProblemDefinitionPtr pdef_
The created problem definition.
Definition: SimpleSetup.h:279
SpaceInformationPtr si_
The created space information.
Definition: SimpleSetup.h:276
point now()
Get the current time point.
Definition: Time.h:58
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition: Console.h:68
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:54
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for a specified amount of time (default is 1 second)
Definition: SimpleSetup.cpp:88
@ UNKNOWN
Uninitialized status.
Definition: PlannerStatus.h:54
PathControl & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
Definition of a control path.
Definition: PathControl.h:61
virtual void clear()
Clears the entire data structure.
Definition: PlannerData.cpp:74
The exception type for ompl.
Definition: Exception.h:47
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SelfConfig.cpp:243
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:64
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation....
Definition: SimpleSetup.cpp:78