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<div class="title">StateSampling.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: Mark Moll */</span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="preprocessor">#include <ompl/base/SpaceInformation.h></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <ompl/base/spaces/SE3StateSpace.h></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <ompl/base/samplers/ObstacleBasedValidStateSampler.h></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <ompl/geometric/planners/rrt/RRTConnect.h></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <ompl/geometric/SimpleSetup.h></span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="preprocessor">#include <ompl/config.h></span>
<a name="l00044"></a>00044 <span class="preprocessor">#include <boost/thread.hpp></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>og = ompl::geometric;
<a name="l00049"></a>00049
<a name="l00051"></a>00051
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="comment">// This is a problem-specific sampler that automatically generates valid</span>
<a name="l00054"></a>00054 <span class="comment">// states; it doesn't need to call SpaceInformation::isValid. This is an</span>
<a name="l00055"></a>00055 <span class="comment">// example of constrained sampling. If you can explicitly describe the set valid</span>
<a name="l00056"></a>00056 <span class="comment">// states and can draw samples from it, then this is typically much more</span>
<a name="l00057"></a>00057 <span class="comment">// efficient than generating random samples from the entire state space and</span>
<a name="l00058"></a>00058 <span class="comment">// checking for validity.</span>
<a name="l00059"></a>00059 <span class="keyword">class </span>MyValidStateSampler : <span class="keyword">public</span> ob::ValidStateSampler
<a name="l00060"></a>00060 {
<a name="l00061"></a>00061 <span class="keyword">public</span>:
<a name="l00062"></a>00062 MyValidStateSampler(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">ob::SpaceInformation</a> *si) : ValidStateSampler(si)
<a name="l00063"></a>00063 {
<a name="l00064"></a>00064 name_ = <span class="stringliteral">"my sampler"</span>;
<a name="l00065"></a>00065 }
<a name="l00066"></a>00066 <span class="comment">// Generate a sample in the valid part of the R^3 state space</span>
<a name="l00067"></a>00067 <span class="comment">// Valid states satisfy the following constraints:</span>
<a name="l00068"></a>00068 <span class="comment">// -1<= x,y,z <=1</span>
<a name="l00069"></a>00069 <span class="comment">// if .25 <= z <= .5, then |x|>.8 and |y|>.8</span>
<a name="l00070"></a>00070 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> sample(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *state)
<a name="l00071"></a>00071 {
<a name="l00072"></a>00072 <span class="keywordtype">double</span>* val = <span class="keyword">static_cast<</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>*<span class="keyword">></span>(state)->values;
<a name="l00073"></a>00073 <span class="keywordtype">double</span> z = rng_.uniformReal(-1,1);
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="keywordflow">if</span> (z>.25 && z<.5)
<a name="l00076"></a>00076 {
<a name="l00077"></a>00077 <span class="keywordtype">double</span> x = rng_.uniformReal(0,1.8), y = rng_.uniformReal(0,.2);
<a name="l00078"></a>00078 <span class="keywordflow">switch</span>(rng_.uniformInt(0,3))
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 <span class="keywordflow">case</span> 0: val[0]=x-1; val[1]=y-1;
<a name="l00081"></a>00081 <span class="keywordflow">case</span> 1: val[0]=x-.8; val[1]=y+.8;
<a name="l00082"></a>00082 <span class="keywordflow">case</span> 2: val[0]=y-1; val[1]=x-1;
<a name="l00083"></a>00083 <span class="keywordflow">case</span> 3: val[0]=y+.8; val[1]=x-.8;
<a name="l00084"></a>00084 }
<a name="l00085"></a>00085 }
<a name="l00086"></a>00086 <span class="keywordflow">else</span>
<a name="l00087"></a>00087 {
<a name="l00088"></a>00088 val[0] = rng_.uniformReal(-1,1);
<a name="l00089"></a>00089 val[1] = rng_.uniformReal(-1,1);
<a name="l00090"></a>00090 }
<a name="l00091"></a>00091 val[2] = z;
<a name="l00092"></a>00092 assert(si_->isValid(state));
<a name="l00093"></a>00093 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00094"></a>00094 }
<a name="l00095"></a>00095 <span class="comment">// We don't need this in the example below.</span>
<a name="l00096"></a>00096 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> sampleNear(<a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *near, <span class="keyword">const</span> <span class="keywordtype">double</span> distance)
<a name="l00097"></a>00097 {
<a name="l00098"></a>00098 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">ompl::Exception</a>(<span class="stringliteral">"MyValidStateSampler::sampleNear"</span>, <span class="stringliteral">"not implemented"</span>);
<a name="l00099"></a>00099 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101 <span class="keyword">protected</span>:
<a name="l00102"></a>00102 <a class="code" href="classompl_1_1RNG.html" title="Random number generation. An instance of this class cannot be used by multiple threads at once (membe...">ompl::RNG</a> rng_;
<a name="l00103"></a>00103 };
<a name="l00104"></a>00104
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">// this function is needed, even when we can write a sampler like the one</span>
<a name="l00108"></a>00108 <span class="comment">// above, because we need to check path segments for validity</span>
<a name="l00109"></a>00109 <span class="keywordtype">bool</span> isStateValid(<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="l00110"></a>00110 {
<a name="l00111"></a>00111 <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 = *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_1StateSpace.html#aa995357fedb73879bc7f0bb946db76d1" title="Define the type of state allocated by this space.">ob::RealVectorStateSpace::StateType</a>>();
<a name="l00112"></a>00112 <span class="comment">// Let's pretend that the validity check is computationally relatively</span>
<a name="l00113"></a>00113 <span class="comment">// expensive to emphasize the benefit of explicitly generating valid</span>
<a name="l00114"></a>00114 <span class="comment">// samples</span>
<a name="l00115"></a>00115 boost::this_thread::sleep(<a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">ompl::time::seconds</a>(.001));
<a name="l00116"></a>00116 <span class="comment">// Valid states satisfy the following constraints:</span>
<a name="l00117"></a>00117 <span class="comment">// -1<= x,y,z <=1</span>
<a name="l00118"></a>00118 <span class="comment">// if .25 <= z <= .5, then |x|>.8 and |y|>.8</span>
<a name="l00119"></a>00119 <span class="keywordflow">return</span> !(fabs(pos[0]<.8) && fabs(pos[1]<.8) && pos[2]>.25 && pos[2]<.5);
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121
<a name="l00122"></a>00122 <span class="comment">// return an obstacle-based sampler</span>
<a name="l00123"></a>00123 <a class="code" href="classompl_1_1base_1_1ValidStateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::ValidStateSampler.">ob::ValidStateSamplerPtr</a> allocOBValidStateSampler(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">ob::SpaceInformation</a> *si)
<a name="l00124"></a>00124 {
<a name="l00125"></a>00125 <span class="comment">// we can perform any additional setup / configuration of a sampler here,</span>
<a name="l00126"></a>00126 <span class="comment">// but there is nothing to tweak in case of the ObstacleBasedValidStateSampler.</span>
<a name="l00127"></a>00127 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ValidStateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::ValidStateSampler.">ob::ValidStateSamplerPtr</a>(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1ObstacleBasedValidStateSampler.html" title="Generate valid samples using the Bridge Test.">ob::ObstacleBasedValidStateSampler</a>(si));
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="comment">// return an instance of my sampler</span>
<a name="l00131"></a>00131 <a class="code" href="classompl_1_1base_1_1ValidStateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::ValidStateSampler.">ob::ValidStateSamplerPtr</a> allocMyValidStateSampler(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1SpaceInformation.html" title="The base class for space information. This contains all the information about the space planning is d...">ob::SpaceInformation</a> *si)
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 <span class="keywordflow">return</span> <a class="code" href="classompl_1_1base_1_1ValidStateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::ValidStateSampler.">ob::ValidStateSamplerPtr</a>(<span class="keyword">new</span> MyValidStateSampler(si));
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135
<a name="l00136"></a>00136
<a name="l00137"></a>00137 <span class="keywordtype">void</span> plan(<span class="keywordtype">int</span> samplerIndex)
<a name="l00138"></a>00138 {
<a name="l00139"></a>00139 <span class="comment">// construct the state space we are planning in</span>
<a name="l00140"></a>00140 <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_1RealVectorStateSpace.html" title="A state space representing Rn. The distance function is the L2 norm.">ob::RealVectorStateSpace</a>(3));
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="comment">// set the bounds</span>
<a name="l00143"></a>00143 <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html" title="The lower and upper bounds for an Rn space.">ob::RealVectorBounds</a> bounds(3);
<a name="l00144"></a>00144 bounds.setLow(-1);
<a name="l00145"></a>00145 bounds.setHigh(1);
<a name="l00146"></a>00146 space->as<<a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html" title="A state space representing Rn. The distance function is the L2 norm.">ob::RealVectorStateSpace</a>>()->setBounds(bounds);
<a name="l00147"></a>00147
<a name="l00148"></a>00148 <span class="comment">// define a simple setup class</span>
<a name="l00149"></a>00149 <a class="code" href="classompl_1_1geometric_1_1SimpleSetup.html" title="Create the set of classes typically needed to solve a geometric problem.">og::SimpleSetup</a> ss(space);
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="comment">// set state validity checking for this space</span>
<a name="l00152"></a>00152 ss.setStateValidityChecker(boost::bind(&isStateValid, _1));
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <span class="comment">// create a start state</span>
<a name="l00155"></a>00155 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<></a> start(space);
<a name="l00156"></a>00156 start[0] = start[1] = start[2] = 0;
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="comment">// create a goal state</span>
<a name="l00159"></a>00159 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<></a> goal(space);
<a name="l00160"></a>00160 goal[0] = goal[1] = 0.;
<a name="l00161"></a>00161 goal[2] = 1;
<a name="l00162"></a>00162
<a name="l00163"></a>00163 <span class="comment">// set the start and goal states</span>
<a name="l00164"></a>00164 ss.setStartAndGoalStates(start, goal);
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <span class="comment">// set sampler (optional; the default is uniform sampling)</span>
<a name="l00167"></a>00167 <span class="keywordflow">if</span> (samplerIndex==1)
<a name="l00168"></a>00168 <span class="comment">// use obstacle-based sampling</span>
<a name="l00169"></a>00169 ss.getSpaceInformation()->setValidStateSamplerAllocator(allocOBValidStateSampler);
<a name="l00170"></a>00170 <span class="keywordflow">else</span> <span class="keywordflow">if</span> (samplerIndex==2)
<a name="l00171"></a>00171 <span class="comment">// use my sampler</span>
<a name="l00172"></a>00172 ss.getSpaceInformation()->setValidStateSamplerAllocator(allocMyValidStateSampler);
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <span class="comment">// set the planner (optional)</span>
<a name="l00175"></a>00175 <span class="comment">// create a planner for the defined space</span>
<a name="l00176"></a>00176 <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_1geometric_1_1RRTConnect.html" title="RRT-Connect (RRTConnect)">og::RRTConnect</a>(ss.getSpaceInformation()));
<a name="l00177"></a>00177 ss.setPlanner(planner);
<a name="l00178"></a>00178
<a name="l00179"></a>00179 <span class="comment">// attempt to solve the problem within ten seconds of planning time</span>
<a name="l00180"></a>00180 <span class="keywordtype">bool</span> solved = ss.solve(10.0);
<a name="l00181"></a>00181 <span class="keywordflow">if</span> (solved)
<a name="l00182"></a>00182 {
<a name="l00183"></a>00183 std::cout << <span class="stringliteral">"Found solution:"</span> << std::endl;
<a name="l00184"></a>00184 <span class="comment">// print the path to screen</span>
<a name="l00185"></a>00185 ss.simplifySolution();
<a name="l00186"></a>00186 ss.getSolutionPath().print(std::cout);
<a name="l00187"></a>00187 }
<a name="l00188"></a>00188 <span class="keywordflow">else</span>
<a name="l00189"></a>00189 std::cout << <span class="stringliteral">"No solution found"</span> << std::endl;
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191
<a name="l00192"></a>00192 <span class="keywordtype">int</span> main(<span class="keywordtype">int</span>, <span class="keywordtype">char</span> **)
<a name="l00193"></a>00193 {
<a name="l00194"></a>00194 std::cout << <span class="stringliteral">"Using default uniform sampler:"</span> << std::endl;
<a name="l00195"></a>00195 plan(0);
<a name="l00196"></a>00196 std::cout << <span class="stringliteral">"\nUsing obstacle-based sampler:"</span> << std::endl;
<a name="l00197"></a>00197 plan(1);
<a name="l00198"></a>00198 std::cout << <span class="stringliteral">"\nUsing my sampler:"</span> << std::endl;
<a name="l00199"></a>00199 plan(2);
<a name="l00200"></a>00200
<a name="l00201"></a>00201 <span class="keywordflow">return</span> 0;
<a name="l00202"></a>00202 }
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