RigidBodyPlanning.cpp

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
 
/* Author: Ioan Sucan */
 
#include <ompl/base/SpaceInformation.h>
#include <ompl/base/spaces/SE3StateSpace.h>
#include <ompl/geometric/planners/rrt/RRTConnect.h>
#include <ompl/geometric/SimpleSetup.h>
 
#include <ompl/config.h>
#include <iostream>
 
namespace ob = ompl::base;
namespace og = ompl::geometric;
 
bool isStateValid(const ob::State *state)
{
    // cast the abstract state type to the type we expect
    const auto *se3state = state->as<ob::SE3StateSpace::StateType>();
 
    // extract the first component of the state and cast it to what we expect
    const auto *pos = se3state->as<ob::RealVectorStateSpace::StateType>(0);
 
    // extract the second component of the state and cast it to what we expect
    const auto *rot = se3state->as<ob::SO3StateSpace::StateType>(1);
 
    // check validity of state defined by pos & rot
 
 
    // return a value that is always true but uses the two variables we define, so we avoid compiler warnings
    return (const void*)rot != (const void*)pos;
}
 
void plan()
{
    // construct the state space we are planning in
    auto space(std::make_shared<ob::SE3StateSpace>());
 
    // set the bounds for the R^3 part of SE(3)
    ob::RealVectorBounds bounds(3);
    bounds.setLow(-1);
    bounds.setHigh(1);
 
    space->setBounds(bounds);
 
    // construct an instance of  space information from this state space
    auto si(std::make_shared<ob::SpaceInformation>(space));
 
    // set state validity checking for this space
    si->setStateValidityChecker(isStateValid);
 
    // create a random start state
    ob::ScopedState<> start(space);
    start.random();
 
    // create a random goal state
    ob::ScopedState<> goal(space);
    goal.random();
 
    // create a problem instance
    auto pdef(std::make_shared<ob::ProblemDefinition>(si));
 
    // set the start and goal states
    pdef->setStartAndGoalStates(start, goal);
 
    // create a planner for the defined space
    auto planner(std::make_shared<og::RRTConnect>(si));
 
    // set the problem we are trying to solve for the planner
    planner->setProblemDefinition(pdef);
 
    // perform setup steps for the planner
    planner->setup();
 
 
    // print the settings for this space
    si->printSettings(std::cout);
 
    // print the problem settings
    pdef->print(std::cout);
 
    // attempt to solve the problem within one second of planning time
    ob::PlannerStatus solved = planner->ob::Planner::solve(1.0);
 
    if (solved)
    {
        // get the goal representation from the problem definition (not the same as the goal state)
        // and inquire about the found path
        ob::PathPtr path = pdef->getSolutionPath();
        std::cout << "Found solution:" << std::endl;
 
        // print the path to screen
        path->print(std::cout);
    }
    else
        std::cout << "No solution found" << std::endl;
}
 
void planWithSimpleSetup()
{
    // construct the state space we are planning in
    auto space(std::make_shared<ob::SE3StateSpace>());
 
    // set the bounds for the R^3 part of SE(3)
    ob::RealVectorBounds bounds(3);
    bounds.setLow(-1);
    bounds.setHigh(1);
 
    space->setBounds(bounds);
 
    // define a simple setup class
    og::SimpleSetup ss(space);
 
    // set state validity checking for this space
    ss.setStateValidityChecker([](const ob::State *state) { return isStateValid(state); });
 
    // create a random start state
    ob::ScopedState<> start(space);
    start.random();
 
    // create a random goal state
    ob::ScopedState<> goal(space);
    goal.random();
 
    // set the start and goal states
    ss.setStartAndGoalStates(start, goal);
 
    // this call is optional, but we put it in to get more output information
    ss.setup();
    ss.print();
 
    // attempt to solve the problem within one second of planning time
    ob::PlannerStatus solved = ss.solve(1.0);
 
    if (solved)
    {
        std::cout << "Found solution:" << std::endl;
        // print the path to screen
        ss.simplifySolution();
        ss.getSolutionPath().print(std::cout);
    }
    else
        std::cout << "No solution found" << std::endl;
}
 
int main(int /*argc*/, char ** /*argv*/)
{
    std::cout << "OMPL version: " << OMPL_VERSION << std::endl;
 
    plan();
 
    std::cout << std::endl << std::endl;
 
    planWithSimpleSetup();
 
    return 0;
}