LTLProblemDefinition.cpp

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/* Author: Matt Maly */
 
#include "ompl/control/PathControl.h"
#include "ompl/control/planners/ltl/LTLProblemDefinition.h"
#include "ompl/control/planners/ltl/LTLSpaceInformation.h"
#include "ompl/base/ProblemDefinition.h"
 
namespace ob = ompl::base;
namespace oc = ompl::control;
 
oc::LTLProblemDefinition::LTLProblemDefinition(const LTLSpaceInformationPtr &ltlsi)
  : ob::ProblemDefinition(ltlsi), ltlsi_(ltlsi)
{
    createGoal();
}
 
void oc::LTLProblemDefinition::addLowerStartState(const ob::State *s)
{
    ob::ScopedState<ob::CompoundStateSpace> fullStart(si_);
    ltlsi_->getFullState(s, fullStart.get());
    addStartState(fullStart);
}
 
ob::PathPtr oc::LTLProblemDefinition::getLowerSolutionPath() const
{
    PathControl *fullPath = static_cast<PathControl *>(getSolutionPath().get());
    auto lowPath(std::make_shared<PathControl>(ltlsi_->getLowSpace()));
 
    if (fullPath->getStateCount() > 0)
    {
        for (size_t i = 0; i < fullPath->getStateCount() - 1; ++i)
            lowPath->append(ltlsi_->getLowLevelState(fullPath->getState(i)), fullPath->getControl(i),
                            fullPath->getControlDuration(i));
 
        // The last state does not have a control
        lowPath->append(ltlsi_->getLowLevelState(fullPath->getState(fullPath->getStateCount() - 1)));
    }
 
    return lowPath;
}
 
void oc::LTLProblemDefinition::createGoal()
{
    class LTLGoal : public base::Goal
    {
    public:
        LTLGoal(const LTLSpaceInformationPtr &ltlsi) : ob::Goal(ltlsi), ltlsi_(ltlsi), prod_(ltlsi->getProductGraph())
        {
        }
        ~LTLGoal() override = default;
        bool isSatisfied(const ob::State *s) const override
        {
            return prod_->isSolution(ltlsi_->getProdGraphState(s));
        }
 
    protected:
        const LTLSpaceInformationPtr ltlsi_;
        const ProductGraphPtr prod_;
    };
 
    // Some compilers have trouble with LTLGoal being hidden in this function,
    // and so we explicitly cast it to its base type.
    setGoal(std::make_shared<LTLGoal>(ltlsi_));
}