BKPIECE1.cpp
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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 
43  : base::Planner(si, "BKPIECE1")
44  , dStart_([this](Motion *m)
45  {
46  freeMotion(m);
47  })
48  , dGoal_([this](Motion *m)
49  {
50  freeMotion(m);
51  })
52 {
53  specs_.recognizedGoal = base::GOAL_SAMPLEABLE_REGION;
54 
55  Planner::declareParam<double>("range", this, &BKPIECE1::setRange, &BKPIECE1::getRange, "0.:1.:10000.");
56  Planner::declareParam<double>("border_fraction", this, &BKPIECE1::setBorderFraction, &BKPIECE1::getBorderFraction,
57  "0.:.05:1.");
58  Planner::declareParam<double>("failed_expansion_score_factor", this, &BKPIECE1::setFailedExpansionCellScoreFactor,
60  Planner::declareParam<double>("min_valid_path_fraction", this, &BKPIECE1::setMinValidPathFraction,
62 }
63 
64 ompl::geometric::BKPIECE1::~BKPIECE1() = default;
65 
67 {
68  Planner::setup();
69  tools::SelfConfig sc(si_, getName());
70  sc.configureProjectionEvaluator(projectionEvaluator_);
71  sc.configurePlannerRange(maxDistance_);
72 
73  if (failedExpansionScoreFactor_ < std::numeric_limits<double>::epsilon() || failedExpansionScoreFactor_ > 1.0)
74  throw Exception("Failed expansion cell score factor must be in the range (0,1]");
75  if (minValidPathFraction_ < std::numeric_limits<double>::epsilon() || minValidPathFraction_ > 1.0)
76  throw Exception("The minimum valid path fraction must be in the range (0,1]");
77 
78  dStart_.setDimension(projectionEvaluator_->getDimension());
79  dGoal_.setDimension(projectionEvaluator_->getDimension());
80 }
81 
83 {
84  checkValidity();
85  auto *goal = dynamic_cast<base::GoalSampleableRegion *>(pdef_->getGoal().get());
86 
87  if (goal == nullptr)
88  {
89  OMPL_ERROR("%s: Unknown type of goal", getName().c_str());
91  }
92 
94 
95  while (const base::State *st = pis_.nextStart())
96  {
97  auto *motion = new Motion(si_);
98  si_->copyState(motion->state, st);
99  motion->root = motion->state;
100  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
101  dStart_.addMotion(motion, xcoord);
102  }
103 
104  if (dStart_.getMotionCount() == 0)
105  {
106  OMPL_ERROR("%s: Motion planning start tree could not be initialized!", getName().c_str());
108  }
109 
110  if (!goal->couldSample())
111  {
112  OMPL_ERROR("%s: Insufficient states in sampleable goal region", getName().c_str());
114  }
115 
116  if (!sampler_)
117  sampler_ = si_->allocValidStateSampler();
118 
119  OMPL_INFORM("%s: Starting planning with %d states already in datastructure", getName().c_str(),
120  (int)(dStart_.getMotionCount() + dGoal_.getMotionCount()));
121 
122  std::vector<Motion *> solution;
123  base::State *xstate = si_->allocState();
124  bool startTree = true;
125  bool solved = false;
126 
127  while (!ptc)
128  {
129  Discretization<Motion> &disc = startTree ? dStart_ : dGoal_;
130  startTree = !startTree;
131  Discretization<Motion> &otherDisc = startTree ? dStart_ : dGoal_;
132  disc.countIteration();
133 
134  // if we have not sampled too many goals already
135  if (dGoal_.getMotionCount() == 0 || pis_.getSampledGoalsCount() < dGoal_.getMotionCount() / 2)
136  {
137  const base::State *st = dGoal_.getMotionCount() == 0 ? pis_.nextGoal(ptc) : pis_.nextGoal();
138  if (st != nullptr)
139  {
140  auto *motion = new Motion(si_);
141  si_->copyState(motion->state, st);
142  motion->root = motion->state;
143  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
144  dGoal_.addMotion(motion, xcoord);
145  }
146  if (dGoal_.getMotionCount() == 0)
147  {
148  OMPL_ERROR("%s: Unable to sample any valid states for goal tree", getName().c_str());
149  break;
150  }
151  }
152 
153  Discretization<Motion>::Cell *ecell = nullptr;
154  Motion *existing = nullptr;
155  disc.selectMotion(existing, ecell);
156  assert(existing);
157  if (sampler_->sampleNear(xstate, existing->state, maxDistance_))
158  {
159  std::pair<base::State *, double> fail(xstate, 0.0);
160  bool keep = si_->checkMotion(existing->state, xstate, fail);
161  if (!keep && fail.second > minValidPathFraction_)
162  keep = true;
163 
164  if (keep)
165  {
166  /* create a motion */
167  auto *motion = new Motion(si_);
168  si_->copyState(motion->state, xstate);
169  motion->root = existing->root;
170  motion->parent = existing;
171 
172  projectionEvaluator_->computeCoordinates(motion->state, xcoord);
173  disc.addMotion(motion, xcoord);
174 
175  Discretization<Motion>::Cell *cellC = otherDisc.getGrid().getCell(xcoord);
176 
177  if ((cellC != nullptr) && !cellC->data->motions.empty())
178  {
179  Motion *connectOther = cellC->data->motions[rng_.uniformInt(0, cellC->data->motions.size() - 1)];
180 
181  if (goal->isStartGoalPairValid(startTree ? connectOther->root : motion->root,
182  startTree ? motion->root : connectOther->root) &&
183  si_->checkMotion(motion->state, connectOther->state))
184  {
185  if (startTree)
186  connectionPoint_ = std::make_pair(connectOther->state, motion->state);
187  else
188  connectionPoint_ = std::make_pair(motion->state, connectOther->state);
189 
190  /* extract the motions and put them in solution vector */
191 
192  std::vector<Motion *> mpath1;
193  while (motion != nullptr)
194  {
195  mpath1.push_back(motion);
196  motion = motion->parent;
197  }
198 
199  std::vector<Motion *> mpath2;
200  while (connectOther != nullptr)
201  {
202  mpath2.push_back(connectOther);
203  connectOther = connectOther->parent;
204  }
205 
206  if (startTree)
207  mpath1.swap(mpath2);
208 
209  auto path(std::make_shared<PathGeometric>(si_));
210  path->getStates().reserve(mpath1.size() + mpath2.size());
211  for (int i = mpath1.size() - 1; i >= 0; --i)
212  path->append(mpath1[i]->state);
213  for (auto &i : mpath2)
214  path->append(i->state);
215 
216  pdef_->addSolutionPath(path, false, 0.0, getName());
217  solved = true;
218  break;
219  }
220  }
221  }
222  else
223  ecell->data->score *= failedExpansionScoreFactor_;
224  }
225  else
226  ecell->data->score *= failedExpansionScoreFactor_;
227  disc.updateCell(ecell);
228  }
229 
230  si_->freeState(xstate);
231 
232  OMPL_INFORM("%s: Created %u (%u start + %u goal) states in %u cells (%u start (%u on boundary) + %u goal (%u on "
233  "boundary))",
234  getName().c_str(), dStart_.getMotionCount() + dGoal_.getMotionCount(), dStart_.getMotionCount(),
235  dGoal_.getMotionCount(), dStart_.getCellCount() + dGoal_.getCellCount(), dStart_.getCellCount(),
236  dStart_.getGrid().countExternal(), dGoal_.getCellCount(), dGoal_.getGrid().countExternal());
237 
239 }
240 
242 {
243  if (motion->state != nullptr)
244  si_->freeState(motion->state);
245  delete motion;
246 }
247 
249 {
250  Planner::clear();
251 
252  sampler_.reset();
253  dStart_.clear();
254  dGoal_.clear();
255  connectionPoint_ = std::make_pair<base::State *, base::State *>(nullptr, nullptr);
256 }
257 
259 {
260  Planner::getPlannerData(data);
261  dStart_.getPlannerData(data, 1, true, nullptr);
262  dGoal_.getPlannerData(data, 2, false, nullptr);
263 
264  // Insert the edge connecting the two trees
265  data.addEdge(data.vertexIndex(connectionPoint_.first), data.vertexIndex(connectionPoint_.second));
266 }
Grid::Coord Coord
The datatype for the maintained grid coordinates.
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: BKPIECE1.h:106
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:174
const base::State * root
The root state (start state) that leads to this motion.
Definition: BKPIECE1.h:191
The planner failed to find a solution.
Definition: PlannerStatus.h:62
void freeMotion(Motion *motion)
Free the memory for a motion.
Definition: BKPIECE1.cpp:241
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: BKPIECE1.cpp:66
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
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...
_T data
The data we store in the cell.
Definition: Grid.h:60
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:258
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell&#39;s score if extending a motion from that cell failed...
Definition: BKPIECE1.h:147
double getRange() const
Get the range the planner is using.
Definition: BKPIECE1.h:112
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
Abstract definition of a goal region that can be sampled.
The goal is of a type that a planner does not recognize.
Definition: PlannerStatus.h:60
One-level discretization used for KPIECE.
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
The planner found an exact solution.
Definition: PlannerStatus.h:66
Representation of a motion for this algorithm.
Definition: BKPIECE1.h:178
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 ...
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
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...
A shared pointer wrapper for ompl::base::SpaceInformation.
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it, even if invalid states are found, as long as the valid part represents a sufficiently large fraction from the original motion. This function sets the minimum acceptable fraction.
Definition: BKPIECE1.h:158
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: BKPIECE1.cpp:248
Definition of an abstract state.
Definition: State.h:49
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:82
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail. If the extension fails, the score of the cell is multiplied by factor. These number should be in the range (0, 1].
Definition: BKPIECE1.h:140
base::State * state
The state contained by this motion.
Definition: BKPIECE1.h:194
Definition of a cell in this grid.
Definition: Grid.h:57
Motion * parent
The parent motion in the exploration tree.
Definition: BKPIECE1.h:197
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: BKPIECE1.h:131
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: BKPIECE1.h:164
The exception type for ompl.
Definition: Exception.h:46
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
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...
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
This class contains methods that automatically configure various parameters for motion planning...
Definition: SelfConfig.h:59
BKPIECE1(const base::SpaceInformationPtr &si)
Constructor.
Definition: BKPIECE1.cpp:42
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:123
This bit is set if casting to sampleable goal regions (ompl::base::GoalSampleableRegion) is possible...
Definition: GoalTypes.h:56
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition: Console.h:68