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<div class="title">RigidBodyPlanningWithControls.cpp</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*********************************************************************</span>
<a name="l00002"></a>00002 <span class="comment">* Software License Agreement (BSD License)</span>
<a name="l00003"></a>00003 <span class="comment">*</span>
<a name="l00004"></a>00004 <span class="comment">* Copyright (c) 2010, Rice University</span>
<a name="l00005"></a>00005 <span class="comment">* All rights reserved.</span>
<a name="l00006"></a>00006 <span class="comment">*</span>
<a name="l00007"></a>00007 <span class="comment">* Redistribution and use in source and binary forms, with or without</span>
<a name="l00008"></a>00008 <span class="comment">* modification, are permitted provided that the following conditions</span>
<a name="l00009"></a>00009 <span class="comment">* are met:</span>
<a name="l00010"></a>00010 <span class="comment">*</span>
<a name="l00011"></a>00011 <span class="comment">* * Redistributions of source code must retain the above copyright</span>
<a name="l00012"></a>00012 <span class="comment">* notice, this list of conditions and the following disclaimer.</span>
<a name="l00013"></a>00013 <span class="comment">* * Redistributions in binary form must reproduce the above</span>
<a name="l00014"></a>00014 <span class="comment">* copyright notice, this list of conditions and the following</span>
<a name="l00015"></a>00015 <span class="comment">* disclaimer in the documentation and/or other materials provided</span>
<a name="l00016"></a>00016 <span class="comment">* with the distribution.</span>
<a name="l00017"></a>00017 <span class="comment">* * Neither the name of the Rice University nor the names of its</span>
<a name="l00018"></a>00018 <span class="comment">* contributors may be used to endorse or promote products derived</span>
<a name="l00019"></a>00019 <span class="comment">* from this software without specific prior written permission.</span>
<a name="l00020"></a>00020 <span class="comment">*</span>
<a name="l00021"></a>00021 <span class="comment">* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00022"></a>00022 <span class="comment">* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00023"></a>00023 <span class="comment">* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00024"></a>00024 <span class="comment">* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00025"></a>00025 <span class="comment">* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00026"></a>00026 <span class="comment">* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00027"></a>00027 <span class="comment">* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00028"></a>00028 <span class="comment">* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00029"></a>00029 <span class="comment">* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00030"></a>00030 <span class="comment">* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00031"></a>00031 <span class="comment">* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00032"></a>00032 <span class="comment">* POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00033"></a>00033 <span class="comment">*********************************************************************/</span>
<a name="l00034"></a>00034
<a name="l00035"></a>00035 <span class="comment">/* Author: Ioan Sucan */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include <ompl/control/SpaceInformation.h></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <ompl/base/GoalState.h></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <ompl/base/spaces/SE2StateSpace.h></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <ompl/control/spaces/RealVectorControlSpace.h></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <ompl/control/planners/kpiece/KPIECE1.h></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <ompl/control/planners/rrt/RRT.h></span>
<a name="l00043"></a>00043 <span class="preprocessor">#include <ompl/control/SimpleSetup.h></span>
<a name="l00044"></a>00044 <span class="preprocessor">#include <ompl/config.h></span>
<a name="l00045"></a>00045 <span class="preprocessor">#include <iostream></span>
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <span class="keyword">namespace </span>ob = ompl::base;
<a name="l00048"></a>00048 <span class="keyword">namespace </span>oc = ompl::control;
<a name="l00049"></a>00049
<a name="l00050"></a>00050 <span class="keywordtype">bool</span> isStateValid(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">oc::SpaceInformation</a> *si, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *state)
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="comment">// ob::ScopedState<ob::SE2StateSpace></span>
<a name="l00053"></a>00053 <span class="comment">// cast the abstract state type to the type we expect</span>
<a name="l00054"></a>00054 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a> *se2state = state-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a>>();
<a name="l00055"></a>00055
<a name="l00056"></a>00056 <span class="comment">// extract the first component of the state and cast it to what we expect</span>
<a name="l00057"></a>00057 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a> *pos = se2state->as<<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a>>(0);
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="comment">// extract the second component of the state and cast it to what we expect</span>
<a name="l00060"></a>00060 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::SO2StateSpace::StateType</a> *rot = se2state->as<<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::SO2StateSpace::StateType</a>>(1);
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <span class="comment">// check validity of state defined by pos & rot</span>
<a name="l00063"></a>00063
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="comment">// return a value that is always true but uses the two variables we define, so we avoid compiler warnings</span>
<a name="l00066"></a>00066 <span class="keywordflow">return</span> si-><a class="code" href="classompl_1_1base_1_1SpaceInformation.html#ad76b863efa604add17cae43b4ebcb0b9" title="Check if a state is inside the bounding box.">satisfiesBounds</a>(state) && (<span class="keywordtype">void</span>*)rot != (<span class="keywordtype">void</span>*)pos;
<a name="l00067"></a>00067 }
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="keywordtype">void</span> propagate(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *start, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">oc::Control</a> *control, <span class="keyword">const</span> <span class="keywordtype">double</span> duration, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *result)
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a> *se2state = start-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a>>();
<a name="l00072"></a>00072 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a> *pos = se2state->as<<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a>>(0);
<a name="l00073"></a>00073 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::SO2StateSpace::StateType</a> *rot = se2state->as<<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::SO2StateSpace::StateType</a>>(1);
<a name="l00074"></a>00074 <span class="keyword">const</span> oc::RealVectorControlSpace::ControlType *rctrl = control-><a class="code" href="classompl_1_1control_1_1Control.html#a53552cde1fbdd3fcdcfe8ed1f96579c8" title="Cast this instance to a desired type.">as</a><oc::RealVectorControlSpace::ControlType>();
<a name="l00075"></a>00075
<a name="l00076"></a>00076 result-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a>>()->as<ob::RealVectorStateSpace::StateType>(0)->values[0] =
<a name="l00077"></a>00077 (*pos)[0] + (*rctrl)[0] * duration * cos(rot->value);
<a name="l00078"></a>00078
<a name="l00079"></a>00079 result-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a>>()->as<ob::RealVectorStateSpace::StateType>(0)->values[1] =
<a name="l00080"></a>00080 (*pos)[1] + (*rctrl)[0] * duration * sin(rot->value);
<a name="l00081"></a>00081
<a name="l00082"></a>00082 result-><a class="code" href="classompl_1_1base_1_1State.html#ae4ed5c095a6b2d4a5c946b91bc65e9cb" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1base_1_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE2StateSpace::StateType</a>>()->as<ob::SO2StateSpace::StateType>(1)->value =
<a name="l00083"></a>00083 rot->value + (*rctrl)[1];
<a name="l00084"></a>00084 }
<a name="l00085"></a>00085
<a name="l00086"></a>00086 <span class="keywordtype">void</span> plan(<span class="keywordtype">void</span>)
<a name="l00087"></a>00087 {
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="comment">// construct the state space we are planning in</span>
<a name="l00090"></a>00090 <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ob::StateSpacePtr</a> space(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)">ob::SE2StateSpace</a>());
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="comment">// set the bounds for the R^2 part of SE(2)</span>
<a name="l00093"></a>00093 <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">ob::RealVectorBounds</a> bounds(2);
<a name="l00094"></a>00094 bounds.setLow(-1);
<a name="l00095"></a>00095 bounds.setHigh(1);
<a name="l00096"></a>00096
<a name="l00097"></a>00097 space->as<<a class="code" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)">ob::SE2StateSpace</a>>()->setBounds(bounds);
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="comment">// create a control space</span>
<a name="l00100"></a>00100 <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">oc::ControlSpacePtr</a> cspace(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html" title="A control space representing Rn. The distance function is the L2 norm.">oc::RealVectorControlSpace</a>(space, 2));
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="comment">// set the bounds for the control space</span>
<a name="l00103"></a>00103 <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">ob::RealVectorBounds</a> cbounds(2);
<a name="l00104"></a>00104 cbounds.setLow(-0.3);
<a name="l00105"></a>00105 cbounds.setHigh(0.3);
<a name="l00106"></a>00106
<a name="l00107"></a>00107 cspace->as<<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html" title="A control space representing Rn. The distance function is the L2 norm.">oc::RealVectorControlSpace</a>>()->setBounds(cbounds);
<a name="l00108"></a>00108
<a name="l00109"></a>00109 <span class="comment">// construct an instance of space information from this control space</span>
<a name="l00110"></a>00110 <a class="code" href="classompl_1_1control_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::control::SpaceInformation.">oc::SpaceInformationPtr</a> si(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">oc::SpaceInformation</a>(space, cspace));
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="comment">// set state validity checking for this space</span>
<a name="l00113"></a>00113 si-><a class="code" href="classompl_1_1base_1_1SpaceInformation.html#a0449ec0893e02aca2bdfc63323b624e5" title="Set the instance of the state validity checker to use. Parallel implementations of planners assume th...">setStateValidityChecker</a>(boost::bind(&isStateValid, si.get(), _1));
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="comment">// set the state propagation routine</span>
<a name="l00116"></a>00116 si-><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a701c9be56b69d156708f3f05aa580389" title="Set the function that performs state propagation.">setStatePropagator</a>(boost::bind(&propagate, _1, _2, _3, _4));
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="comment">// create a start state</span>
<a name="l00119"></a>00119 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<ob::SE2StateSpace></a> start(space);
<a name="l00120"></a>00120 start->setX(-0.5);
<a name="l00121"></a>00121 start->setY(0.0);
<a name="l00122"></a>00122 start->setYaw(0.0);
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment">// create a goal state</span>
<a name="l00125"></a>00125 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<ob::SE2StateSpace></a> goal(start);
<a name="l00126"></a>00126 goal->setX(0.5);
<a name="l00127"></a>00127
<a name="l00128"></a>00128 <span class="comment">// create a problem instance</span>
<a name="l00129"></a>00129 <a class="code" href="classompl_1_1base_1_1ProblemDefinitionPtr.html" title="A boost shared pointer wrapper for ompl::base::ProblemDefinition.">ob::ProblemDefinitionPtr</a> pdef(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1ProblemDefinition.html" title="Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...">ob::ProblemDefinition</a>(si));
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="comment">// set the start and goal states</span>
<a name="l00132"></a>00132 pdef->setStartAndGoalStates(start, goal, 0.1);
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="comment">// create a planner for the defined space</span>
<a name="l00135"></a>00135 <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">ob::PlannerPtr</a> planner(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1RRT.html" title="Rapidly-exploring Random Tree.">oc::RRT</a>(si));
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <span class="comment">// set the problem we are trying to solve for the planner</span>
<a name="l00138"></a>00138 planner->setProblemDefinition(pdef);
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="comment">// perform setup steps for the planner</span>
<a name="l00141"></a>00141 planner->setup();
<a name="l00142"></a>00142
<a name="l00143"></a>00143
<a name="l00144"></a>00144 <span class="comment">// print the settings for this space</span>
<a name="l00145"></a>00145 si-><a class="code" href="classompl_1_1control_1_1SpaceInformation.html#a3d755d5768314b1b0e3a14fc518ddc74" title="Print information about the current instance of the state space.">printSettings</a>(std::cout);
<a name="l00146"></a>00146
<a name="l00147"></a>00147 <span class="comment">// print the problem settings</span>
<a name="l00148"></a>00148 pdef->print(std::cout);
<a name="l00149"></a>00149
<a name="l00150"></a>00150 <span class="comment">// attempt to solve the problem within one second of planning time</span>
<a name="l00151"></a>00151 <span class="keywordtype">bool</span> solved = planner->solve(10.0);
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="keywordflow">if</span> (solved)
<a name="l00154"></a>00154 {
<a name="l00155"></a>00155 <span class="comment">// get the goal representation from the problem definition (not the same as the goal state)</span>
<a name="l00156"></a>00156 <span class="comment">// and inquire about the found path</span>
<a name="l00157"></a>00157 <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">ob::PathPtr</a> path = pdef->getGoal()->getSolutionPath();
<a name="l00158"></a>00158 std::cout << <span class="stringliteral">"Found solution:"</span> << std::endl;
<a name="l00159"></a>00159
<a name="l00160"></a>00160 <span class="comment">// print the path to screen</span>
<a name="l00161"></a>00161 path->print(std::cout);
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163 <span class="keywordflow">else</span>
<a name="l00164"></a>00164 std::cout << <span class="stringliteral">"No solution found"</span> << std::endl;
<a name="l00165"></a>00165 }
<a name="l00166"></a>00166
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="keywordtype">void</span> planWithSimpleSetup(<span class="keywordtype">void</span>)
<a name="l00169"></a>00169 {
<a name="l00170"></a>00170 <span class="comment">// construct the state space we are planning in</span>
<a name="l00171"></a>00171 <a class="code" href="classompl_1_1base_1_1StateSpacePtr.html" title="A boost shared pointer wrapper for ompl::base::StateSpace.">ob::StateSpacePtr</a> space(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)">ob::SE2StateSpace</a>());
<a name="l00172"></a>00172
<a name="l00173"></a>00173 <span class="comment">// set the bounds for the R^2 part of SE(2)</span>
<a name="l00174"></a>00174 <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">ob::RealVectorBounds</a> bounds(2);
<a name="l00175"></a>00175 bounds.setLow(-1);
<a name="l00176"></a>00176 bounds.setHigh(1);
<a name="l00177"></a>00177
<a name="l00178"></a>00178 space->as<<a class="code" href="classompl_1_1base_1_1SE2StateSpace.html" title="A state space representing SE(2)">ob::SE2StateSpace</a>>()->setBounds(bounds);
<a name="l00179"></a>00179
<a name="l00180"></a>00180 <span class="comment">// create a control space</span>
<a name="l00181"></a>00181 <a class="code" href="classompl_1_1control_1_1ControlSpacePtr.html" title="A boost shared pointer wrapper for ompl::control::ControlSpace.">oc::ControlSpacePtr</a> cspace(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html" title="A control space representing Rn. The distance function is the L2 norm.">oc::RealVectorControlSpace</a>(space, 2));
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="comment">// set the bounds for the control space</span>
<a name="l00184"></a>00184 <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">ob::RealVectorBounds</a> cbounds(2);
<a name="l00185"></a>00185 cbounds.setLow(-0.3);
<a name="l00186"></a>00186 cbounds.setHigh(0.3);
<a name="l00187"></a>00187
<a name="l00188"></a>00188 cspace->as<<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace.html" title="A control space representing Rn. The distance function is the L2 norm.">oc::RealVectorControlSpace</a>>()->setBounds(cbounds);
<a name="l00189"></a>00189
<a name="l00190"></a>00190 <span class="comment">// define a simple setup class</span>
<a name="l00191"></a>00191 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a control problem.">oc::SimpleSetup</a> ss(cspace);
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <span class="comment">// set the state propagation routine</span>
<a name="l00194"></a>00194 ss.setStatePropagator(boost::bind(&propagate, _1, _2, _3, _4));
<a name="l00195"></a>00195
<a name="l00196"></a>00196 <span class="comment">// set state validity checking for this space</span>
<a name="l00197"></a>00197 ss.setStateValidityChecker(boost::bind(&isStateValid, ss.getSpaceInformation().get(), _1));
<a name="l00198"></a>00198
<a name="l00199"></a>00199 <span class="comment">// create a start state</span>
<a name="l00200"></a>00200 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<ob::SE2StateSpace></a> start(space);
<a name="l00201"></a>00201 start->setX(-0.5);
<a name="l00202"></a>00202 start->setY(0.0);
<a name="l00203"></a>00203 start->setYaw(0.0);
<a name="l00204"></a>00204
<a name="l00205"></a>00205 <span class="comment">// create a goal state; use the hard way to set the elements</span>
<a name="l00206"></a>00206 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<ob::SE2StateSpace></a> goal(space);
<a name="l00207"></a>00207 (*goal)[0]->as<<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a>>()->values[0] = 0.0;
<a name="l00208"></a>00208 (*goal)[0]->as<<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a>>()->values[1] = 0.5;
<a name="l00209"></a>00209 (*goal)[1]->as<<a class="code" href="classompl_1_1base_1_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::SO2StateSpace::StateType</a>>()->value = 0.0;
<a name="l00210"></a>00210
<a name="l00211"></a>00211
<a name="l00212"></a>00212 <span class="comment">// set the start and goal states</span>
<a name="l00213"></a>00213 ss.setStartAndGoalStates(start, goal, 0.05);
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="comment">// attempt to solve the problem within one second of planning time</span>
<a name="l00216"></a>00216 <span class="keywordtype">bool</span> solved = ss.solve(10.0);
<a name="l00217"></a>00217
<a name="l00218"></a>00218 <span class="keywordflow">if</span> (solved)
<a name="l00219"></a>00219 {
<a name="l00220"></a>00220 std::cout << <span class="stringliteral">"Found solution:"</span> << std::endl;
<a name="l00221"></a>00221 <span class="comment">// print the path to screen</span>
<a name="l00222"></a>00222
<a name="l00223"></a>00223 ss.getSolutionPath().asGeometric().print(std::cout);
<a name="l00224"></a>00224 }
<a name="l00225"></a>00225 <span class="keywordflow">else</span>
<a name="l00226"></a>00226 std::cout << <span class="stringliteral">"No solution found"</span> << std::endl;
<a name="l00227"></a>00227 }
<a name="l00228"></a>00228
<a name="l00229"></a>00229 <span class="keywordtype">int</span> main(<span class="keywordtype">int</span>, <span class="keywordtype">char</span> **)
<a name="l00230"></a>00230 {
<a name="l00231"></a>00231 std::cout << <span class="stringliteral">"OMPL version: "</span> << OMPL_VERSION << std::endl;
<a name="l00232"></a>00232
<a name="l00233"></a>00233 plan();
<a name="l00234"></a>00234
<a name="l00235"></a>00235 std::cout << std::endl << std::endl;
<a name="l00236"></a>00236
<a name="l00237"></a>00237 planWithSimpleSetup();
<a name="l00238"></a>00238
<a name="l00239"></a>00239 <span class="keywordflow">return</span> 0;
<a name="l00240"></a>00240 }
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