All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
SimpleSetup.cpp
1 /*********************************************************************
2 * Software License Agreement (BSD License)
3 *
4 * Copyright (c) 2010, 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/control/SimpleSetup.h"
38 #include "ompl/control/planners/rrt/RRT.h"
39 #include "ompl/control/planners/kpiece/KPIECE1.h"
40 
42 {
43  base::PlannerPtr planner;
44  if (!goal)
45  throw Exception("Unable to allocate default planner for unspecified goal definition");
46 
47  SpaceInformationPtr si = boost::static_pointer_cast<SpaceInformation, base::SpaceInformation>(goal->getSpaceInformation());
48  if (si->getStateSpace()->hasDefaultProjection())
49  planner = base::PlannerPtr(new KPIECE1(si));
50  else
51  planner = base::PlannerPtr(new RRT(si));
52 
53  return planner;
54 }
55 
57  configured_(false), planTime_(0.0), last_status_(base::PlannerStatus::UNKNOWN)
58 {
59  si_.reset(new SpaceInformation(space->getStateSpace(), space));
60  pdef_.reset(new base::ProblemDefinition(si_));
61  params_.include(si_->params());
62 }
63 
65 {
66  if (!configured_ || !si_->isSetup() || !planner_->isSetup())
67  {
68  if (!si_->isSetup())
69  si_->setup();
70  if (!planner_)
71  {
72  if (pa_)
73  planner_ = pa_(si_);
74  if (!planner_)
75  {
76  OMPL_INFORM("No planner specified. Using default.");
77  planner_ = getDefaultPlanner(getGoal());
78  }
79  }
80  planner_->setProblemDefinition(pdef_);
81  if (!planner_->isSetup())
82  planner_->setup();
83 
84  params_.clear();
85  params_.include(si_->params());
86  params_.include(planner_->params());
87  configured_ = true;
88  }
89 }
90 
92 {
93  if (planner_)
94  planner_->clear();
95  if (pdef_)
96  pdef_->clearSolutionPaths();
97 }
98 
99 // we provide a duplicate implementation here to allow the planner to choose how the time is turned into a planner termination condition
101 {
102  setup();
103  last_status_ = base::PlannerStatus::UNKNOWN;
104  time::point start = time::now();
105  last_status_ = planner_->solve(time);
106  planTime_ = time::seconds(time::now() - start);
107  if (last_status_)
108  OMPL_INFORM("Solution found in %f seconds", planTime_);
109  else
110  OMPL_INFORM("No solution found after %f seconds", planTime_);
111  return last_status_;
112 }
113 
115 {
116  setup();
117  last_status_ = base::PlannerStatus::UNKNOWN;
118  time::point start = time::now();
119  last_status_ = planner_->solve(ptc);
120  planTime_ = time::seconds(time::now() - start);
121  if (last_status_)
122  OMPL_INFORM("Solution found in %f seconds", planTime_);
123  else
124  OMPL_INFORM("No solution found after %f seconds", planTime_);
125  return last_status_;
126 }
127 
129 {
130  if (pdef_)
131  {
132  const base::PathPtr &p = pdef_->getSolutionPath();
133  if (p)
134  return static_cast<PathControl&>(*p);
135  }
136  throw Exception("No solution path");
137 }
138 
140 {
141  return haveSolutionPath() && (!pdef_->hasApproximateSolution() || pdef_->getSolutionDifference() < std::numeric_limits<double>::epsilon());
142 }
143 
145 {
146  pd.clear();
147  if (planner_)
148  planner_->getPlannerData(pd);
149 }
150 
151 void ompl::control::SimpleSetup::print(std::ostream &out) const
152 {
153  if (si_)
154  {
155  si_->printProperties(out);
156  si_->printSettings(out);
157  }
158  if (planner_)
159  {
160  planner_->printProperties(out);
161  planner_->printSettings(out);
162  }
163  if (pdef_)
164  pdef_->print(out);
165 }