BKPIECE1.cpp
1 /*********************************************************************
2  * Software License Agreement (BSD License)
3  *
4  * Copyright (c) 2011, Rice University,
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 Rice University 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/geometric/planners/kpiece/BKPIECE1.h"
38 #include "ompl/base/goals/GoalSampleableRegion.h"
39 #include "ompl/tools/config/SelfConfig.h"
40 #include <cassert>
41 
42 ompl::geometric::BKPIECE1::BKPIECE1(const base::SpaceInformationPtr &si)
43  : base::Planner(si, "BKPIECE1")
44  , dStart_([this](Motion *m) { freeMotion(m); })
45  , dGoal_([this](Motion *m) { freeMotion(m); })
46 {
47  specs_.recognizedGoal = base::GOAL_SAMPLEABLE_REGION;
48 
49  Planner::declareParam<double>("range", this, &BKPIECE1::setRange, &BKPIECE1::getRange, "0.:1.:10000.");
50  Planner::declareParam<double>("border_fraction", this, &BKPIECE1::setBorderFraction, &BKPIECE1::getBorderFraction,
51  "0.:.05:1.");
52  Planner::declareParam<double>("failed_expansion_score_factor", this, &BKPIECE1::setFailedExpansionCellScoreFactor,
54  Planner::declareParam<double>("min_valid_path_fraction", this, &BKPIECE1::setMinValidPathFraction,
56 }
57 
58 ompl::geometric::BKPIECE1::~BKPIECE1() = default;
59 
61 {
62  Planner::setup();
63  tools::SelfConfig sc(si_, getName());
64  sc.configureProjectionEvaluator(projectionEvaluator_);
65  sc.configurePlannerRange(maxDistance_);
66 
67  if (failedExpansionScoreFactor_ < std::numeric_limits<double>::epsilon() || failedExpansionScoreFactor_ > 1.0)
68  throw Exception("Failed expansion cell score factor must be in the range (0,1]");
69  if (minValidPathFraction_ < std::numeric_limits<double>::epsilon() || minValidPathFraction_ > 1.0)
70  throw Exception("The minimum valid path fraction must be in the range (0,1]");
71 
72  dStart_.setDimension(projectionEvaluator_->getDimension());
73  dGoal_.setDimension(projectionEvaluator_->getDimension());
74 }
75 
77 {
78  checkValidity();
79  auto *goal = dynamic_cast<base::GoalSampleableRegion *>(pdef_->getGoal().get());
80 
81  if (goal == nullptr)
82  {
83  OMPL_ERROR("%s: Unknown type of goal", getName().c_str());
85  }
86 
87  Discretization<Motion>::Coord xcoord(projectionEvaluator_->getDimension());
88 
89  while (const base::State *st = pis_.nextStart())
90  {
91  auto *motion = new Motion(si_);
92  si_->copyState(motion->state, st);
93  motion->root = motion->state;
94  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
95  dStart_.addMotion(motion, xcoord);
96  }
97 
98  if (dStart_.getMotionCount() == 0)
99  {
100  OMPL_ERROR("%s: Motion planning start tree could not be initialized!", getName().c_str());
102  }
103 
104  if (!goal->couldSample())
105  {
106  OMPL_ERROR("%s: Insufficient states in sampleable goal region", getName().c_str());
108  }
109 
110  if (!sampler_)
111  sampler_ = si_->allocValidStateSampler();
112 
113  OMPL_INFORM("%s: Starting planning with %d states already in datastructure", getName().c_str(),
114  (int)(dStart_.getMotionCount() + dGoal_.getMotionCount()));
115 
116  std::vector<Motion *> solution;
117  base::State *xstate = si_->allocState();
118  bool startTree = true;
119  bool solved = false;
120 
121  while (!ptc)
122  {
123  Discretization<Motion> &disc = startTree ? dStart_ : dGoal_;
124  startTree = !startTree;
125  Discretization<Motion> &otherDisc = startTree ? dStart_ : dGoal_;
126  disc.countIteration();
127 
128  // if we have not sampled too many goals already
129  if (dGoal_.getMotionCount() == 0 || pis_.getSampledGoalsCount() < dGoal_.getMotionCount() / 2)
130  {
131  const base::State *st = dGoal_.getMotionCount() == 0 ? pis_.nextGoal(ptc) : pis_.nextGoal();
132  if (st != nullptr)
133  {
134  auto *motion = new Motion(si_);
135  si_->copyState(motion->state, st);
136  motion->root = motion->state;
137  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
138  dGoal_.addMotion(motion, xcoord);
139  }
140  if (dGoal_.getMotionCount() == 0)
141  {
142  OMPL_ERROR("%s: Unable to sample any valid states for goal tree", getName().c_str());
143  break;
144  }
145  }
146 
147  Discretization<Motion>::Cell *ecell = nullptr;
148  Motion *existing = nullptr;
149  disc.selectMotion(existing, ecell);
150  assert(existing);
151  if (sampler_->sampleNear(xstate, existing->state, maxDistance_))
152  {
153  std::pair<base::State *, double> fail(xstate, 0.0);
154  bool keep = si_->checkMotion(existing->state, xstate, fail);
155  if (!keep && fail.second > minValidPathFraction_)
156  keep = true;
157 
158  if (keep)
159  {
160  /* create a motion */
161  auto *motion = new Motion(si_);
162  si_->copyState(motion->state, xstate);
163  motion->root = existing->root;
164  motion->parent = existing;
165 
166  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
167  disc.addMotion(motion, xcoord);
168 
169  Discretization<Motion>::Cell *cellC = otherDisc.getGrid().getCell(xcoord);
170 
171  if ((cellC != nullptr) && !cellC->data->motions.empty())
172  {
173  Motion *connectOther = cellC->data->motions[rng_.uniformInt(0, cellC->data->motions.size() - 1)];
174 
175  if (goal->isStartGoalPairValid(startTree ? connectOther->root : motion->root,
176  startTree ? motion->root : connectOther->root) &&
177  si_->checkMotion(motion->state, connectOther->state))
178  {
179  if (startTree)
180  connectionPoint_ = std::make_pair(connectOther->state, motion->state);
181  else
182  connectionPoint_ = std::make_pair(motion->state, connectOther->state);
183 
184  /* extract the motions and put them in solution vector */
185 
186  std::vector<Motion *> mpath1;
187  while (motion != nullptr)
188  {
189  mpath1.push_back(motion);
190  motion = motion->parent;
191  }
192 
193  std::vector<Motion *> mpath2;
194  while (connectOther != nullptr)
195  {
196  mpath2.push_back(connectOther);
197  connectOther = connectOther->parent;
198  }
199 
200  if (startTree)
201  mpath1.swap(mpath2);
202 
203  auto path(std::make_shared<PathGeometric>(si_));
204  path->getStates().reserve(mpath1.size() + mpath2.size());
205  for (int i = mpath1.size() - 1; i >= 0; --i)
206  path->append(mpath1[i]->state);
207  for (auto &i : mpath2)
208  path->append(i->state);
209 
210  pdef_->addSolutionPath(path, false, 0.0, getName());
211  solved = true;
212  break;
213  }
214  }
215  }
216  else
217  ecell->data->score *= failedExpansionScoreFactor_;
218  }
219  else
220  ecell->data->score *= failedExpansionScoreFactor_;
221  disc.updateCell(ecell);
222  }
223 
224  si_->freeState(xstate);
225 
226  OMPL_INFORM("%s: Created %u (%u start + %u goal) states in %u cells (%u start (%u on boundary) + %u goal (%u on "
227  "boundary))",
228  getName().c_str(), dStart_.getMotionCount() + dGoal_.getMotionCount(), dStart_.getMotionCount(),
229  dGoal_.getMotionCount(), dStart_.getCellCount() + dGoal_.getCellCount(), dStart_.getCellCount(),
230  dStart_.getGrid().countExternal(), dGoal_.getCellCount(), dGoal_.getGrid().countExternal());
231 
233 }
234 
236 {
237  if (motion->state != nullptr)
238  si_->freeState(motion->state);
239  delete motion;
240 }
241 
243 {
244  Planner::clear();
245 
246  sampler_.reset();
247  dStart_.clear();
248  dGoal_.clear();
249  connectionPoint_ = std::make_pair<base::State *, base::State *>(nullptr, nullptr);
250 }
251 
253 {
254  Planner::getPlannerData(data);
255  dStart_.getPlannerData(data, 1, true, nullptr);
256  dGoal_.getPlannerData(data, 2, false, nullptr);
257 
258  // Insert the edge connecting the two trees
259  data.addEdge(data.vertexIndex(connectionPoint_.first), data.vertexIndex(connectionPoint_.second));
260 }
const base::State * root
The root state (start state) that leads to this motion.
Definition: BKPIECE1.h:287
@ UNRECOGNIZED_GOAL_TYPE
The goal is of a type that a planner does not recognize.
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
Representation of a motion for this algorithm.
Definition: BKPIECE1.h:274
void freeMotion(Motion *motion)
Free the memory for a motion.
Definition: BKPIECE1.cpp:235
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: BKPIECE1.cpp:76
Definition of an abstract state.
Definition: State.h:113
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:123
Motion * parent
The parent motion in the exploration tree.
Definition: BKPIECE1.h:293
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: BKPIECE1.h:260
typename Grid::Cell Cell
The datatype for the maintained grid cells.
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition: Console.h:68
@ TIMEOUT
The planner failed to find a solution.
double getRange() const
Get the range the planner is using.
Definition: BKPIECE1.h:208
unsigned int addMotion(Motion *motion, const Coord &coord, double dist=0.0)
Add a motion to the grid containing motions. As a hint, dist specifies the distance to the goal from ...
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: BKPIECE1.h:202
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:238
BKPIECE1(const base::SpaceInformationPtr &si)
Constructor.
Definition: BKPIECE1.cpp:42
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed.
Definition: BKPIECE1.h:243
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
@ INVALID_GOAL
Invalid goal state.
unsigned int vertexIndex(const PlannerDataVertex &v) const
Return the index for the vertex associated with the given data. INVALID_INDEX is returned if this ver...
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BKPIECE1.cpp:242
A class to store the exit status of Planner::solve()
base::State * state
The state contained by this motion.
Definition: BKPIECE1.h:290
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: BKPIECE1.h:254
void selectMotion(Motion *&smotion, Cell *&scell)
Select a motion and the cell it is part of from the grid of motions. This is where preference is give...
typename Grid::Coord Coord
The datatype for the maintained grid coordinates.
@ GOAL_SAMPLEABLE_REGION
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible.
Definition: GoalTypes.h:152
@ EXACT_SOLUTION
The planner found an exact solution.
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail....
Definition: BKPIECE1.h:236
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: BKPIECE1.h:227
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:231
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BKPIECE1.cpp:60
One-level discretization used for KPIECE.
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Abstract definition of a goal region that can be sampled.
The exception type for ompl.
Definition: Exception.h:78
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: BKPIECE1.cpp:252
@ INVALID_START
Invalid start state or no start state specified.
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: BKPIECE1.h:219