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<div class="title">RigidBodyPlanningWithControls.py</div> </div>
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<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">#!/usr/bin/env python</span>
<a name="l00002"></a>00002
<a name="l00003"></a>00003 <span class="comment">######################################################################</span>
<a name="l00004"></a>00004 <span class="comment"># Software License Agreement (BSD License)</span>
<a name="l00005"></a>00005 <span class="comment">#</span>
<a name="l00006"></a>00006 <span class="comment"># Copyright (c) 2010, Rice University</span>
<a name="l00007"></a>00007 <span class="comment"># All rights reserved.</span>
<a name="l00008"></a>00008 <span class="comment">#</span>
<a name="l00009"></a>00009 <span class="comment"># Redistribution and use in source and binary forms, with or without</span>
<a name="l00010"></a>00010 <span class="comment"># modification, are permitted provided that the following conditions</span>
<a name="l00011"></a>00011 <span class="comment"># are met:</span>
<a name="l00012"></a>00012 <span class="comment">#</span>
<a name="l00013"></a>00013 <span class="comment"># * Redistributions of source code must retain the above copyright</span>
<a name="l00014"></a>00014 <span class="comment"># notice, this list of conditions and the following disclaimer.</span>
<a name="l00015"></a>00015 <span class="comment"># * Redistributions in binary form must reproduce the above</span>
<a name="l00016"></a>00016 <span class="comment"># copyright notice, this list of conditions and the following</span>
<a name="l00017"></a>00017 <span class="comment"># disclaimer in the documentation and/or other materials provided</span>
<a name="l00018"></a>00018 <span class="comment"># with the distribution.</span>
<a name="l00019"></a>00019 <span class="comment"># * Neither the name of the Rice University nor the names of its</span>
<a name="l00020"></a>00020 <span class="comment"># contributors may be used to endorse or promote products derived</span>
<a name="l00021"></a>00021 <span class="comment"># from this software without specific prior written permission.</span>
<a name="l00022"></a>00022 <span class="comment">#</span>
<a name="l00023"></a>00023 <span class="comment"># THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span>
<a name="l00024"></a>00024 <span class="comment"># "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span>
<a name="l00025"></a>00025 <span class="comment"># LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span>
<a name="l00026"></a>00026 <span class="comment"># FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span>
<a name="l00027"></a>00027 <span class="comment"># COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span>
<a name="l00028"></a>00028 <span class="comment"># INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span>
<a name="l00029"></a>00029 <span class="comment"># BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span>
<a name="l00030"></a>00030 <span class="comment"># LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span>
<a name="l00031"></a>00031 <span class="comment"># CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span>
<a name="l00032"></a>00032 <span class="comment"># LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span>
<a name="l00033"></a>00033 <span class="comment"># ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span>
<a name="l00034"></a>00034 <span class="comment"># POSSIBILITY OF SUCH DAMAGE.</span>
<a name="l00035"></a>00035 <span class="comment">######################################################################</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="comment"># Author: Mark Moll</span>
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="keyword">from</span> math <span class="keyword">import</span> sin, cos
<a name="l00040"></a>00040 <span class="keywordflow">try</span>:
<a name="l00041"></a>00041 <span class="keyword">from</span> ompl <span class="keyword">import</span> base <span class="keyword">as</span> ob
<a name="l00042"></a>00042 <span class="keyword">from</span> ompl <span class="keyword">import</span> control <span class="keyword">as</span> oc
<a name="l00043"></a>00043 <span class="keyword">from</span> ompl <span class="keyword">import</span> geometric <span class="keyword">as</span> og
<a name="l00044"></a>00044 <span class="keywordflow">except</span>:
<a name="l00045"></a>00045 <span class="comment"># if the ompl module is not in the PYTHONPATH assume it is installed in a</span>
<a name="l00046"></a>00046 <span class="comment"># subdirectory of the parent directory called "py-bindings."</span>
<a name="l00047"></a>00047 <span class="keyword">from</span> os.path <span class="keyword">import</span> basename, abspath, dirname, join
<a name="l00048"></a>00048 <span class="keyword">import</span> sys
<a name="l00049"></a>00049 sys.path.insert(0, join(dirname(dirname(abspath(__file__))),<span class="stringliteral">'py-bindings'</span>))
<a name="l00050"></a>00050 <span class="keyword">from</span> ompl <span class="keyword">import</span> base <span class="keyword">as</span> ob
<a name="l00051"></a>00051 <span class="keyword">from</span> ompl <span class="keyword">import</span> control <span class="keyword">as</span> oc
<a name="l00052"></a>00052 <span class="keyword">from</span> ompl <span class="keyword">import</span> geometric <span class="keyword">as</span> og
<a name="l00053"></a>00053
<a name="l00054"></a>00054 <span class="keyword">def </span>isStateValid(spaceInformation, state):
<a name="l00055"></a>00055 <span class="comment"># perform collision checking or check if other constraints are</span>
<a name="l00056"></a>00056 <span class="comment"># satisfied</span>
<a name="l00057"></a>00057 <span class="keywordflow">return</span> spaceInformation.satisfiesBounds(state)
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="keyword">def </span>propagate(start, control, duration, state):
<a name="l00060"></a>00060 state.setX( start.getX() + control[0] * duration * cos(start.getYaw()) )
<a name="l00061"></a>00061 state.setY( start.getY() + control[0] * duration * sin(start.getYaw()) )
<a name="l00062"></a>00062 state.setYaw(start.getYaw() + control[1] * duration)
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="keyword">def </span>plan():
<a name="l00065"></a>00065 <span class="comment"># construct the state space we are planning in</span>
<a name="l00066"></a>00066 space = ob.SE2StateSpace()
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="comment"># set the bounds for the R^2 part of SE(2)</span>
<a name="l00069"></a>00069 bounds = ob.RealVectorBounds(2)
<a name="l00070"></a>00070 bounds.setLow(-1)
<a name="l00071"></a>00071 bounds.setHigh(1)
<a name="l00072"></a>00072 space.setBounds(bounds)
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="comment"># create a control space</span>
<a name="l00075"></a>00075 cspace = oc.RealVectorControlSpace(space, 2)
<a name="l00076"></a>00076
<a name="l00077"></a>00077 <span class="comment"># set the bounds for the control space</span>
<a name="l00078"></a>00078 cbounds = ob.RealVectorBounds(2)
<a name="l00079"></a>00079 cbounds.setLow(-.3)
<a name="l00080"></a>00080 cbounds.setHigh(.3)
<a name="l00081"></a>00081 cspace.setBounds(cbounds)
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="comment"># define a simple setup class</span>
<a name="l00084"></a>00084 ss = oc.SimpleSetup(cspace)
<a name="l00085"></a>00085 ss.setStateValidityChecker(isStateValid)
<a name="l00086"></a>00086 ss.setStatePropagatorFn(propagate)
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="comment"># create a start state</span>
<a name="l00089"></a>00089 start = ob.State(space)
<a name="l00090"></a>00090 start().setX(-0.5);
<a name="l00091"></a>00091 start().setY(0.0);
<a name="l00092"></a>00092 start().setYaw(0.0);
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="comment"># create a goal state</span>
<a name="l00095"></a>00095 goal = ob.State(space);
<a name="l00096"></a>00096 goal().setX(0.0);
<a name="l00097"></a>00097 goal().setY(0.5);
<a name="l00098"></a>00098 goal().setYaw(0.0);
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="comment"># set the start and goal states</span>
<a name="l00101"></a>00101 ss.setStartAndGoalStates(start, goal, 0.05)
<a name="l00102"></a>00102
<a name="l00103"></a>00103 <span class="comment"># attempt to solve the problem</span>
<a name="l00104"></a>00104 solved = ss.solve(20.0)
<a name="l00105"></a>00105
<a name="l00106"></a>00106 <span class="keywordflow">if</span> solved:
<a name="l00107"></a>00107 <span class="comment"># print the path to screen</span>
<a name="l00108"></a>00108 <span class="keywordflow">print</span> <span class="stringliteral">"Found solution:"</span>, ss.getSolutionPath().asGeometric()
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="keywordflow">if</span> __name__ == <span class="stringliteral">"__main__"</span>:
<a name="l00111"></a>00111 plan()
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