SimpleSetup.h
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34 
35 /* Author: Ioan Sucan */
36 
37 #ifndef OMPL_GEOMETRIC_SIMPLE_SETUP_
38 #define OMPL_GEOMETRIC_SIMPLE_SETUP_
39 
40 #include "ompl/base/Planner.h"
41 #include "ompl/base/PlannerData.h"
42 #include "ompl/base/SpaceInformation.h"
43 #include "ompl/base/ProblemDefinition.h"
44 #include "ompl/geometric/PathGeometric.h"
45 #include "ompl/geometric/PathSimplifier.h"
46 #include "ompl/util/Console.h"
47 #include "ompl/util/Exception.h"
48 #include "ompl/util/Deprecation.h"
49 
50 namespace ompl
51 {
52  namespace geometric
53  {
55  OMPL_CLASS_FORWARD(SimpleSetup);
57 
64  {
65  public:
67  explicit SimpleSetup(const base::SpaceInformationPtr &si);
68 
70  explicit SimpleSetup(const base::StateSpacePtr &space);
71 
72  virtual ~SimpleSetup() = default;
73 
76  {
77  return si_;
78  }
79 
82  {
83  return pdef_;
84  }
85 
88  {
89  return si_->getStateSpace();
90  }
91 
94  {
95  return si_->getStateValidityChecker();
96  }
97 
99  const base::GoalPtr &getGoal() const
100  {
101  return pdef_->getGoal();
102  }
103 
106  {
107  return planner_;
108  }
109 
112  {
113  return pa_;
114  }
115 
118  {
119  return psk_;
120  }
121 
124  {
125  return psk_;
126  }
127 
130  {
131  return pdef_->getOptimizationObjective();
132  }
133 
136  bool haveExactSolutionPath() const;
137 
140  bool haveSolutionPath() const
141  {
142  return pdef_->getSolutionPath().get();
143  }
144 
146  const std::string getSolutionPlannerName() const;
147 
150 
152  void getPlannerData(base::PlannerData &pd) const;
153 
156  {
157  si_->setStateValidityChecker(svc);
158  }
159 
162  {
163  si_->setStateValidityChecker(svc);
164  }
165 
167  void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
168  {
169  pdef_->setOptimizationObjective(optimizationObjective);
170  }
171 
173  void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal,
174  const double threshold = std::numeric_limits<double>::epsilon());
175 
179  {
180  pdef_->addStartState(state);
181  }
182 
185  {
186  pdef_->clearStartStates();
187  }
188 
191  {
193  addStartState(state);
194  }
195 
197  void setGoalState(const base::ScopedState<> &goal,
198  const double threshold = std::numeric_limits<double>::epsilon());
199 
202  void setGoal(const base::GoalPtr &goal);
203 
208  void setPlanner(const base::PlannerPtr &planner)
209  {
210  if (planner && planner->getSpaceInformation().get() != si_.get())
211  throw Exception("Planner instance does not match space information");
212  planner_ = planner;
213  configured_ = false;
214  }
215 
220  {
221  pa_ = pa;
222  planner_.reset();
223  configured_ = false;
224  }
225 
227  virtual base::PlannerStatus solve(double time = 1.0);
228 
231 
234  {
235  return lastStatus_;
236  }
237 
240  {
241  return planTime_;
242  }
243 
246  {
247  return simplifyTime_;
248  }
249 
253  void simplifySolution(double duration = 0.0);
254 
258 
262  virtual void clear();
263 
265  virtual void print(std::ostream &out = std::cout) const;
266 
270  virtual void setup();
271 
272  protected:
275 
278 
281 
284 
287 
290 
292  double planTime_;
293 
296 
299  };
300 
303  OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal);
304  }
305 }
306 #endif
const std::string getSolutionPlannerName() const
Get the best solution&#39;s planer name. Throw an exception if no solution is available.
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
void setStartAndGoalStates(const base::ScopedState<> &start, const base::ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
Set the start and goal states to use.
Definition: SimpleSetup.cpp:90
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:140
void setOptimizationObjective(const base::OptimizationObjectivePtr &optimizationObjective)
Set the optimization objective to use.
Definition: SimpleSetup.h:167
const base::StateValidityCheckerPtr & getStateValidityChecker() const
Get the current instance of the state validity checker.
Definition: SimpleSetup.h:93
double simplifyTime_
The amount of time the last path simplification step took.
Definition: SimpleSetup.h:295
A shared pointer wrapper for ompl::base::ProblemDefinition.
base::PlannerAllocator pa_
The optional planner allocator.
Definition: SimpleSetup.h:283
PathGeometric & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
const base::StateSpacePtr & getStateSpace() const
Get the current instance of the state space.
Definition: SimpleSetup.h:87
Definition of a scoped state.
Definition: ScopedState.h:56
A shared pointer wrapper for ompl::base::StateSpace.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
void setGoal(const base::GoalPtr &goal)
Set the goal for planning. This call is not needed if setStartAndGoalStates() has been called...
void setPlanner(const base::PlannerPtr &planner)
Set the planner to use. If the planner is not set, an attempt is made to use the planner allocator...
Definition: SimpleSetup.h:208
const base::SpaceInformationPtr & getSpaceInformation() const
Get the current instance of the space information.
Definition: SimpleSetup.h:75
double getLastPlanComputationTime() const
Get the amount of time (in seconds) spent during the last planning step.
Definition: SimpleSetup.h:239
const base::PlannerAllocator & getPlannerAllocator() const
Get the planner allocator.
Definition: SimpleSetup.h:111
base::SpaceInformationPtr si_
The created space information.
Definition: SimpleSetup.h:274
PathSimplifierPtr psk_
The instance of the path simplifier.
Definition: SimpleSetup.h:286
A shared pointer wrapper for ompl::base::StateValidityChecker.
void clearStartStates()
Clear the currently set starting states.
Definition: SimpleSetup.h:184
double getLastSimplificationTime() const
Get the amount of time (in seconds) spend during the last path simplification step.
Definition: SimpleSetup.h:245
Main namespace. Contains everything in this library.
Definition: AppBase.h:21
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:63
A shared pointer wrapper for ompl::base::Planner.
base::PlannerStatus getLastPlannerStatus() const
Return the status of the last planning attempt.
Definition: SimpleSetup.h:233
SimpleSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition: SimpleSetup.cpp:45
base::PlannerPtr planner_
The maintained planner instance.
Definition: SimpleSetup.h:280
const base::ProblemDefinitionPtr & getProblemDefinition() const
Get the current instance of the problem definition.
Definition: SimpleSetup.h:81
base::ProblemDefinitionPtr pdef_
The created problem definition.
Definition: SimpleSetup.h:277
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
A shared pointer wrapper for ompl::base::SpaceInformation.
PathSimplifierPtr & getPathSimplifier()
Get the path simplifier.
Definition: SimpleSetup.h:123
void setStateValidityChecker(const base::StateValidityCheckerPtr &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:155
const base::OptimizationObjectivePtr & getOptimizationObjective() const
Get the optimization objective to use.
Definition: SimpleSetup.h:129
void setPlannerAllocator(const base::PlannerAllocator &pa)
Set the planner allocator to use. This is only used if no planner has been set. This is optional – a...
Definition: SimpleSetup.h:219
A shared pointer wrapper for ompl::geometric::PathSimplifier.
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:59
void addStartState(const base::ScopedState<> &state)
Add a starting state for planning. This call is not needed if setStartAndGoalStates() has been called...
Definition: SimpleSetup.h:178
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
The exception type for ompl.
Definition: Exception.h:46
base::PlannerStatus lastStatus_
The status of the last planning request.
Definition: SimpleSetup.h:298
const base::GoalPtr & getGoal() const
Get the current goal definition.
Definition: SimpleSetup.h:99
A shared pointer wrapper for ompl::base::OptimizationObjective.
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for up to a specified amount of time (default is 1 second)
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:289
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
void setGoalState(const base::ScopedState<> &goal, const double threshold=std::numeric_limits< double >::epsilon())
A simple form of setGoal(). The goal will be an instance of ompl::base::GoalState.
double planTime_
The amount of time the last planning step took.
Definition: SimpleSetup.h:292
const PathSimplifierPtr & getPathSimplifier() const
Get the path simplifier.
Definition: SimpleSetup.h:117
void setStartState(const base::ScopedState<> &state)
Clear the currently set starting states and add state as the starting state.
Definition: SimpleSetup.h:190
void simplifySolution(double duration=0.0)
Attempt to simplify the current solution path. Spent at most duration seconds in the simplification p...
A shared pointer wrapper for ompl::base::Goal.
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:442
const base::PlannerPtr & getPlanner() const
Get the current planner.
Definition: SimpleSetup.h:105
void setStateValidityChecker(const base::StateValidityCheckerFn &svc)
Set the state validity checker to use.
Definition: SimpleSetup.h:161
OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SimpleSetup.cpp:40
std::function< bool(const State *)> StateValidityCheckerFn
If no state validity checking class is specified (StateValidityChecker), a std::function can be speci...
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.
Definition: SimpleSetup.cpp:82