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<div class="title">SelfConfig.cpp</div> </div>
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<div class="contents">
<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) 2011, 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/tools/config/SelfConfig.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/tools/config/MagicConstants.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/util/Console.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <boost/thread/mutex.hpp></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <boost/shared_ptr.hpp></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <algorithm></span>
<a name="l00043"></a>00043 <span class="preprocessor">#include <limits></span>
<a name="l00044"></a>00044 <span class="preprocessor">#include <cmath></span>
<a name="l00045"></a>00045 <span class="preprocessor">#include <map></span>
<a name="l00046"></a>00046
<a name="l00048"></a>00048 <span class="keyword">namespace </span>ompl
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="keyword">class </span>SelfConfig::SelfConfigImpl
<a name="l00052"></a>00052 {
<a name="l00053"></a>00053 <span class="keyword">friend</span> <span class="keyword">class </span><a class="code" href="classompl_1_1SelfConfig.html#a19d273dfbfb18c14ae6d9f4eaa71585b" title="Construct an instance that can configure the space encapsulated by si. Any information printed to the...">SelfConfig</a>;
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="keyword">public</span>:
<a name="l00056"></a>00056
<a name="l00057"></a>00057 SelfConfigImpl(<span class="keyword">const</span> base::SpaceInformationPtr &si) :
<a name="l00058"></a>00058 si_(si), probabilityOfValidState_(-1.0), averageValidMotionLength_(-1.0)
<a name="l00059"></a>00059 {
<a name="l00060"></a>00060 }
<a name="l00061"></a>00061
<a name="l00062"></a>00062 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1SelfConfig.html#ac795dd61a5ac2ae25762c76f6444e5bf" title="Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidS...">getProbabilityOfValidState</a>(<span class="keywordtype">void</span>)
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 checkSetup();
<a name="l00065"></a>00065 <span class="keywordflow">if</span> (probabilityOfValidState_ < 0.0)
<a name="l00066"></a>00066 probabilityOfValidState_ = si_->probabilityOfValidState(<a class="code" href="namespaceompl_1_1magic.html#ad96353c64e790206f36a2fb9b2c7d646" title="When multiple states need to be generated as part of the computation of various information (usually ...">magic::TEST_STATE_COUNT</a>);
<a name="l00067"></a>00067 <span class="keywordflow">return</span> probabilityOfValidState_;
<a name="l00068"></a>00068 }
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <span class="keywordtype">double</span> <a class="code" href="classompl_1_1SelfConfig.html#a30838d63015b4e9ddba668a1dc469e92" title="Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionL...">getAverageValidMotionLength</a>(<span class="keywordtype">void</span>)
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 checkSetup();
<a name="l00073"></a>00073 <span class="keywordflow">if</span> (averageValidMotionLength_ < 0.0)
<a name="l00074"></a>00074 averageValidMotionLength_ = si_->averageValidMotionLength(<a class="code" href="namespaceompl_1_1magic.html#ad96353c64e790206f36a2fb9b2c7d646" title="When multiple states need to be generated as part of the computation of various information (usually ...">magic::TEST_STATE_COUNT</a>);
<a name="l00075"></a>00075 <span class="keywordflow">return</span> averageValidMotionLength_;
<a name="l00076"></a>00076 }
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1SelfConfig.html#a780bebbba8fd7a867baa0db333211028" title="Instances of base::ValidStateSampler need a number of attempts to be specified -- the maximum number ...">configureValidStateSamplingAttempts</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &attempts)
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 <span class="keywordflow">if</span> (attempts == 0)
<a name="l00081"></a>00081 attempts = <a class="code" href="namespaceompl_1_1magic.html#a22100e2fff9398fce45cfc11e21451f4" title="When multiple attempts are needed to generate valid samples, this value defines the default number of...">magic::MAX_VALID_SAMPLE_ATTEMPTS</a>;
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="comment">/*</span>
<a name="l00084"></a>00084 <span class="comment"> static const double log_of_0_9 = -0.105360516;</span>
<a name="l00085"></a>00085 <span class="comment"> if (attempts == 0)</span>
<a name="l00086"></a>00086 <span class="comment"> {</span>
<a name="l00087"></a>00087 <span class="comment"> double p = 1.0 - getProbabilityOfValidState();</span>
<a name="l00088"></a>00088 <span class="comment"> if (p > 0.0)</span>
<a name="l00089"></a>00089 <span class="comment"> attempts = std::min((unsigned int)std::max((int)ceil(log_of_0_9 / log(p)), 1),</span>
<a name="l00090"></a>00090 <span class="comment"> magic::MAX_VALID_SAMPLE_ATTEMPTS);</span>
<a name="l00091"></a>00091 <span class="comment"> else</span>
<a name="l00092"></a>00092 <span class="comment"> attempts = 1;</span>
<a name="l00093"></a>00093 <span class="comment"> msg_.debug("Number of attempts made at sampling a valid state in space %s is computed to be %u",</span>
<a name="l00094"></a>00094 <span class="comment"> si_->getStateSpace()->getName().c_str(), attempts);</span>
<a name="l00095"></a>00095 <span class="comment"> }</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1SelfConfig.html#a86d0c4b1dc9a9a25bd53a6820a6b973c" title="Compute what a good length for motion segments is.">configurePlannerRange</a>(<span class="keywordtype">double</span> &range)
<a name="l00100"></a>00100 {
<a name="l00101"></a>00101 <span class="keywordflow">if</span> (range < std::numeric_limits<double>::epsilon())
<a name="l00102"></a>00102 {
<a name="l00103"></a>00103 range = si_->getMaximumExtent() * <a class="code" href="namespaceompl_1_1magic.html#abfb9e851ce1422c2114373bcf1ed7224" title="For planners: if default values are to be used for the maximum length of motions, this constant defin...">magic::MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION</a>;
<a name="l00104"></a>00104 msg_.debug(<span class="stringliteral">"Planner range detected to be %lf"</span>, range);
<a name="l00105"></a>00105 }
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">/*</span>
<a name="l00108"></a>00108 <span class="comment"> if (range < std::numeric_limits<double>::epsilon())</span>
<a name="l00109"></a>00109 <span class="comment"> {</span>
<a name="l00110"></a>00110 <span class="comment"> range = getAverageValidMotionLength() / 2.0;</span>
<a name="l00111"></a>00111 <span class="comment"> double b = si_->getMaximumExtent() * magic::MAX_MOTION_LENGTH_AS_SPACE_EXTENT_FRACTION;</span>
<a name="l00112"></a>00112 <span class="comment"> if (range < std::numeric_limits<double>::epsilon())</span>
<a name="l00113"></a>00113 <span class="comment"> range = b;</span>
<a name="l00114"></a>00114 <span class="comment"> else</span>
<a name="l00115"></a>00115 <span class="comment"> range = std::min(range, b);</span>
<a name="l00116"></a>00116 <span class="comment"> msg_.debug("Planner range detected to be %lf", range);</span>
<a name="l00117"></a>00117 <span class="comment"> }</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1SelfConfig.html#ad2b1dc5899d8fab0744bacab31bc1661" title="If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...">configureProjectionEvaluator</a>(base::ProjectionEvaluatorPtr &proj)
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123 checkSetup();
<a name="l00124"></a>00124 <span class="keywordflow">if</span> (!proj)
<a name="l00125"></a>00125 {
<a name="l00126"></a>00126 msg_.inform(<span class="stringliteral">"Attempting to use default projection."</span>);
<a name="l00127"></a>00127 proj = si_->getStateSpace()->getDefaultProjection();
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129 <span class="keywordflow">if</span> (!proj)
<a name="l00130"></a>00130 <span class="keywordflow">throw</span> Exception(msg_.getPrefix(), <span class="stringliteral">"No projection evaluator specified"</span>);
<a name="l00131"></a>00131 proj->setup();
<a name="l00132"></a>00132 }
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="keywordtype">void</span> <a class="code" href="classompl_1_1SelfConfig.html#a933249c323c888005f0bbea7d8e8a668" title="Print the computed configuration parameters.">print</a>(std::ostream &out)<span class="keyword"> const</span>
<a name="l00135"></a>00135 <span class="keyword"> </span>{
<a name="l00136"></a>00136 out << <span class="stringliteral">"Configuration parameters for space '"</span> << si_->getStateSpace()->getName() << <span class="stringliteral">"'"</span> << std::endl;
<a name="l00137"></a>00137 out << <span class="stringliteral">" - probability of a valid state is "</span> << probabilityOfValidState_ << std::endl;
<a name="l00138"></a>00138 out << <span class="stringliteral">" - average length of a valid motion is "</span> << averageValidMotionLength_ << std::endl;
<a name="l00139"></a>00139 }
<a name="l00140"></a>00140
<a name="l00141"></a>00141 <span class="keyword">private</span>:
<a name="l00142"></a>00142
<a name="l00143"></a>00143 <span class="keywordtype">void</span> checkSetup(<span class="keywordtype">void</span>)
<a name="l00144"></a>00144 {
<a name="l00145"></a>00145 <span class="keywordflow">if</span> (!si_->isSetup())
<a name="l00146"></a>00146 {
<a name="l00147"></a>00147 si_->setup();
<a name="l00148"></a>00148 probabilityOfValidState_ = -1.0;
<a name="l00149"></a>00149 averageValidMotionLength_ = -1.0;
<a name="l00150"></a>00150 }
<a name="l00151"></a>00151 }
<a name="l00152"></a>00152
<a name="l00153"></a>00153 base::SpaceInformationPtr si_;
<a name="l00154"></a>00154 <span class="keywordtype">double</span> probabilityOfValidState_;
<a name="l00155"></a>00155 <span class="keywordtype">double</span> averageValidMotionLength_;
<a name="l00156"></a>00156
<a name="l00157"></a>00157 boost::mutex lock_;
<a name="l00158"></a>00158 msg::Interface msg_;
<a name="l00159"></a>00159 };
<a name="l00160"></a>00160 }
<a name="l00161"></a>00161
<a name="l00163"></a>00163
<a name="l00164"></a><a class="code" href="classompl_1_1SelfConfig.html#a19d273dfbfb18c14ae6d9f4eaa71585b">00164</a> <a class="code" href="classompl_1_1SelfConfig.html#a19d273dfbfb18c14ae6d9f4eaa71585b" title="Construct an instance that can configure the space encapsulated by si. Any information printed to the...">ompl::SelfConfig::SelfConfig</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::base::SpaceInformation.">base::SpaceInformationPtr</a> &si, <span class="keyword">const</span> std::string &context) : context_(context)
<a name="l00165"></a>00165 {
<a name="l00166"></a>00166 <span class="keyword">typedef</span> std::map<base::SpaceInformation*, boost::shared_ptr<SelfConfigImpl> > ConfigMap;
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="keyword">static</span> ConfigMap SMAP;
<a name="l00169"></a>00169 <span class="keyword">static</span> boost::mutex LOCK;
<a name="l00170"></a>00170
<a name="l00171"></a>00171 boost::mutex::scoped_lock smLock(LOCK);
<a name="l00172"></a>00172 ConfigMap::const_iterator it = SMAP.find(si.get());
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <span class="keywordflow">if</span> (it != SMAP.end())
<a name="l00175"></a>00175 impl_ = it->second.get();
<a name="l00176"></a>00176 <span class="keywordflow">else</span>
<a name="l00177"></a>00177 {
<a name="l00178"></a>00178 impl_ = <span class="keyword">new</span> SelfConfigImpl(si);
<a name="l00179"></a>00179 SMAP[si.get()].reset(impl_);
<a name="l00180"></a>00180 }
<a name="l00181"></a>00181 }
<a name="l00182"></a>00182
<a name="l00183"></a>00183 <span class="comment">/* ------------------------------------------------------------------------ */</span>
<a name="l00184"></a>00184
<a name="l00185"></a>00185 <span class="preprocessor">#define SET_CONTEXT \</span>
<a name="l00186"></a>00186 <span class="preprocessor"> boost::mutex::scoped_lock iLock(impl_->lock_); \</span>
<a name="l00187"></a>00187 <span class="preprocessor"> impl_->msg_.setPrefix(context_)</span>
<a name="l00188"></a>00188 <span class="preprocessor"></span>
<a name="l00189"></a><a class="code" href="classompl_1_1SelfConfig.html#ac795dd61a5ac2ae25762c76f6444e5bf">00189</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1SelfConfig.html#ac795dd61a5ac2ae25762c76f6444e5bf" title="Get the probability of a sampled state being valid (calls base::SpaceInformation::probabilityOfValidS...">ompl::SelfConfig::getProbabilityOfValidState</a>(<span class="keywordtype">void</span>)
<a name="l00190"></a>00190 {
<a name="l00191"></a>00191 SET_CONTEXT;
<a name="l00192"></a>00192 <span class="keywordflow">return</span> impl_->getProbabilityOfValidState();
<a name="l00193"></a>00193 }
<a name="l00194"></a>00194
<a name="l00195"></a><a class="code" href="classompl_1_1SelfConfig.html#a30838d63015b4e9ddba668a1dc469e92">00195</a> <span class="keywordtype">double</span> <a class="code" href="classompl_1_1SelfConfig.html#a30838d63015b4e9ddba668a1dc469e92" title="Get the probability of a sampled state being valid (calls base::SpaceInformation::averageValidMotionL...">ompl::SelfConfig::getAverageValidMotionLength</a>(<span class="keywordtype">void</span>)
<a name="l00196"></a>00196 {
<a name="l00197"></a>00197 SET_CONTEXT;
<a name="l00198"></a>00198 <span class="keywordflow">return</span> impl_->getAverageValidMotionLength();
<a name="l00199"></a>00199 }
<a name="l00200"></a>00200
<a name="l00201"></a><a class="code" href="classompl_1_1SelfConfig.html#ad2b1dc5899d8fab0744bacab31bc1661">00201</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1SelfConfig.html#ad2b1dc5899d8fab0744bacab31bc1661" title="If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...">ompl::SelfConfig::configureProjectionEvaluator</a>(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluatorPtr.html" title="A boost shared pointer wrapper for ompl::base::ProjectionEvaluator.">base::ProjectionEvaluatorPtr</a> &proj)
<a name="l00202"></a>00202 {
<a name="l00203"></a>00203 SET_CONTEXT;
<a name="l00204"></a>00204 <span class="keywordflow">return</span> impl_->configureProjectionEvaluator(proj);
<a name="l00205"></a>00205 }
<a name="l00206"></a>00206
<a name="l00207"></a><a class="code" href="classompl_1_1SelfConfig.html#a780bebbba8fd7a867baa0db333211028">00207</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1SelfConfig.html#a780bebbba8fd7a867baa0db333211028" title="Instances of base::ValidStateSampler need a number of attempts to be specified -- the maximum number ...">ompl::SelfConfig::configureValidStateSamplingAttempts</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &attempts)
<a name="l00208"></a>00208 {
<a name="l00209"></a>00209 SET_CONTEXT;
<a name="l00210"></a>00210 impl_->configureValidStateSamplingAttempts(attempts);
<a name="l00211"></a>00211 }
<a name="l00212"></a>00212
<a name="l00213"></a><a class="code" href="classompl_1_1SelfConfig.html#a86d0c4b1dc9a9a25bd53a6820a6b973c">00213</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1SelfConfig.html#a86d0c4b1dc9a9a25bd53a6820a6b973c" title="Compute what a good length for motion segments is.">ompl::SelfConfig::configurePlannerRange</a>(<span class="keywordtype">double</span> &range)
<a name="l00214"></a>00214 {
<a name="l00215"></a>00215 SET_CONTEXT;
<a name="l00216"></a>00216 impl_->configurePlannerRange(range);
<a name="l00217"></a>00217 }
<a name="l00218"></a>00218
<a name="l00219"></a><a class="code" href="classompl_1_1SelfConfig.html#a933249c323c888005f0bbea7d8e8a668">00219</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1SelfConfig.html#a933249c323c888005f0bbea7d8e8a668" title="Print the computed configuration parameters.">ompl::SelfConfig::print</a>(std::ostream &out)<span class="keyword"> const</span>
<a name="l00220"></a>00220 <span class="keyword"></span>{
<a name="l00221"></a>00221 SET_CONTEXT;
<a name="l00222"></a>00222 impl_->print(out);
<a name="l00223"></a>00223 }
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