AORRTC.cpp

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/* Author: Tyler Wilson */
 
#include "ompl/geometric/planners/rrt/AORRTC.h"
#include <limits>
#include "ompl/base/goals/GoalSampleableRegion.h"
#include "ompl/tools/config/SelfConfig.h"
 
ompl::geometric::AORRTC::AORRTC(const base::SpaceInformationPtr &si) : base::Planner(si, "AORRTC")
{
    specs_.approximateSolutions = true;
    specs_.directed = true;
}
 
ompl::geometric::AORRTC::~AORRTC()
{
    freeMemory();
}
 
void ompl::geometric::AORRTC::clear()
{
    setup_ = false;
    Planner::clear();
    freeMemory();
}
 
ompl::base::Cost ompl::geometric::AORRTC::bestCost() const
{
    return bestCost_;
}
 
void ompl::geometric::AORRTC::setup()
{
    Planner::setup();
 
    aox_planner = std::make_shared<ompl::geometric::AOXRRTConnect>(si_);
    aox_planner->setProblemDefinition(pdef_);
    aox_planner->setName("AOXRRTConnect");
    aox_planner->setRange(getRange());
 
    aox_planner->setup();
 
    psk_ = std::make_shared<PathSimplifier>(si_);
    initCost_ = std::numeric_limits<double>::infinity();
    solve_status = base::PlannerStatus::TIMEOUT;
}
 
/* Reset our planner to begin a new search */
void ompl::geometric::AORRTC::reset(bool solvedProblem)
{
    aox_planner->clearQuery();
    aox_planner->setFoundPath(nullptr);
    aox_planner->reset(solvedProblem);
    solve_status = base::PlannerStatus::TIMEOUT;
}
 
void ompl::geometric::AORRTC::setProblemDefinition(const base::ProblemDefinitionPtr &pdef)
{
    pdef_ = pdef;
 
    if (aox_planner != nullptr)
    {
        aox_planner->setProblemDefinition(pdef);
    }
}
 
void ompl::geometric::AORRTC::freeMemory()
{
    aox_planner->clear();
}
 
void ompl::geometric::AORRTC::simplifySolution(const base::PathPtr &p, const base::PlannerTerminationCondition &ptc)
{
    if (pdef_)
    {
        if (p)
        {
            auto &path = static_cast<PathGeometric &>(*p);
            psk_->simplify(path, ptc);
            return;
        }
    }
    OMPL_WARN("No solution to simplify");
}
 
ompl::base::PlannerStatus ompl::geometric::AORRTC::solve(const base::PlannerTerminationCondition &ptc)
{
    do
    {
        /* If we already have a solution (and therefore a reasonable cost range) */
        if (pdef_->hasExactSolution())
        {
            /* Inform the planner about our cost bound */
            aox_planner->setPathCost(bestCost_.value());
 
            /* Try to solve the planning problem */
            solve_status = aox_planner->solve(ptc);
 
            if (solve_status == base::PlannerStatus::EXACT_SOLUTION)
            {
                /* If we found a solution, extract it and update our path */
                const base::PathPtr path = aox_planner->getFoundPath();
 
                /* Update our best path if our new path is better */
                if (path->length() < bestCost_.value())
                {
                    bestPath_ = path;
                    bestCost_ = ompl::base::Cost(path->length());
 
                    pdef_->addSolutionPath(bestPath_, false, 0.0, getName());
                }
 
                /* Simplify our solution */
                simplifySolution(path, ptc);
 
                /* Again, update our best path if our new (simplified) path is better */
                if (path->length() < bestCost_.value())
                {
                    OMPL_INFORM("%s: AOX search simplified to cost %.5f", getName().c_str(), path->length());
 
                    bestPath_ = path;
                    bestCost_ = ompl::base::Cost(path->length());
 
                    pdef_->addSolutionPath(bestPath_, false, 0.0, getName());
                }
            }
        }
 
        /* Find an initial solution */
        else
        {
            solve_status = aox_planner->solve(ptc);
 
            /* If we found a solution, extract it and update our path */
            if (solve_status == base::PlannerStatus::EXACT_SOLUTION)
            {
                initCost_ = pdef_->getSolutionPath()->length();
                bestPath_ = pdef_->getSolutionPath();
 
                bestCost_ = ompl::base::Cost(bestPath_->length());
                pdef_->addSolutionPath(bestPath_, false, 0.0, getName());
 
                simplifySolution(bestPath_, ptc);
                OMPL_INFORM("%s: Initial search simplified to cost %.5f", getName().c_str(),
                            pdef_->getSolutionPath()->length());
 
                bestCost_ = ompl::base::Cost(bestPath_->length());
                pdef_->addSolutionPath(bestPath_, false, 0.0, getName());
            }
        }
 
        /* If we ran into errors, exit early */
        if (solve_status == base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE ||
            solve_status == base::PlannerStatus::INVALID_START || solve_status == base::PlannerStatus::INVALID_GOAL)
        {
            return solve_status;
        }
 
        /* If we found a solution, we can reset our planner */
        if (solve_status == base::PlannerStatus::EXACT_SOLUTION)
        {
            reset(true);
        }
 
        /* If we didn't find a solution on this iteration of solve, reset our planner.
        (PDT visualize calls solve for each iteration of the search,
        so we need to check if our planner actually needs to reset) */
        else if (aox_planner->internalResetCondition())
        {
            OMPL_INFORM("%s: Restarted before finding a solution", getName().c_str());
            reset(false);
        }
 
        /* Something has surely gone wrong if you have found a zero-length path */
        if (bestCost_.value() == 0)
        {
            OMPL_ERROR("%s: Zero-length path found. May have a common start/goal.", getName().c_str());
            return base::PlannerStatus::INVALID_GOAL;
        }
    } while (!ptc);
 
    /* Now that we're done, return whether or not we timed out */
    if (pdef_->hasExactSolution())
    {
        return base::PlannerStatus::EXACT_SOLUTION;
    }
    else
    {
        return base::PlannerStatus::TIMEOUT;
    }
}
 
void ompl::geometric::AORRTC::getPlannerData(base::PlannerData &data) const
{
    aox_planner->getPlannerData(data);
}