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<div class="title">GAIK.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) 2008, Willow Garage, Inc.</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 Willow Garage 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/geometric/ik/GAIK.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/util/Time.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <algorithm></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <limits></span>
<a name="l00042"></a>00042
<a name="l00043"></a><a class="code" href="classompl_1_1geometric_1_1GAIK.html#ab6bd5e917a6e185ffa976b844d2fc326">00043</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1geometric_1_1GAIK.html#ab6bd5e917a6e185ffa976b844d2fc326" title="Find a state that fits the request.">ompl::geometric::GAIK::solve</a>(<span class="keywordtype">double</span> solveTime, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalRegion.html" title="Definition of a goal region.">base::GoalRegion</a> &goal, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *result, <span class="keyword">const</span> std::vector<base::State*> &hint)
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keywordflow">if</span> (maxDistance_ < std::numeric_limits<double>::epsilon())
<a name="l00046"></a>00046 {
<a name="l00047"></a>00047 maxDistance_ = si_->getMaximumExtent() / 5.0;
<a name="l00048"></a>00048 msg_.<a class="code" href="classompl_1_1msg_1_1Interface.html#a545368346a008e4de3ea44ce21daccd5" title="Forward information.">inform</a>(<span class="stringliteral">"The maximum distance for sampling around states is assumed to be %f"</span>, maxDistance_);
<a name="l00049"></a>00049 }
<a name="l00050"></a>00050
<a name="l00051"></a>00051 <span class="keywordflow">if</span> (poolSize_ < 1)
<a name="l00052"></a>00052 {
<a name="l00053"></a>00053 msg_.<a class="code" href="classompl_1_1msg_1_1Interface.html#ab9c7d9a3fd8a6358e6d8e27c73a52575" title="Forward an error.">error</a>(<span class="stringliteral">"Pool size too small"</span>);
<a name="l00054"></a>00054 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00055"></a>00055 }
<a name="l00056"></a>00056
<a name="l00057"></a>00057 <a class="code" href="namespaceompl_1_1time.html#a9f28e947d7e95cfa5f0790ccdb7f0953" title="Representation of a point in time.">time::point</a> endTime = <a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() + <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(solveTime);
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxPoolSize = poolSize_ + poolMutation_ + poolRandom_;
<a name="l00060"></a>00060 std::vector<Individual> pool(maxPoolSize);
<a name="l00061"></a>00061 IndividualSort gs;
<a name="l00062"></a>00062 <span class="keywordtype">bool</span> solved = <span class="keyword">false</span>;
<a name="l00063"></a>00063 <span class="keywordtype">int</span> solution = -1;
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <a class="code" href="classompl_1_1base_1_1StateSamplerPtr.html" title="A boost shared pointer wrapper for ompl::base::StateSampler.">base::StateSamplerPtr</a> sampler = si_->allocStateSampler();
<a name="l00066"></a>00066
<a name="l00067"></a>00067 <span class="comment">// add hint states</span>
<a name="l00068"></a>00068 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nh = std::min<unsigned int>(maxPoolSize, hint.size());
<a name="l00069"></a>00069 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < nh ; ++i)
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 pool[i].state = si_->cloneState(hint[i]);
<a name="l00072"></a>00072 si_->enforceBounds(pool[i].state);
<a name="l00073"></a>00073 pool[i].valid = valid(pool[i].state);
<a name="l00074"></a>00074 <span class="keywordflow">if</span> (goal.<a class="code" href="classompl_1_1base_1_1GoalRegion.html#a63180f3c2e53eb6feedae905cb858f39" title="Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.">isSatisfied</a>(pool[i].state, &(pool[i].distance)))
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 <span class="keywordflow">if</span> (pool[i].valid)
<a name="l00077"></a>00077 {
<a name="l00078"></a>00078 solved = <span class="keyword">true</span>;
<a name="l00079"></a>00079 solution = i;
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081 }
<a name="l00082"></a>00082 }
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="comment">// add states near the hint states</span>
<a name="l00085"></a>00085 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nh2 = nh * 2;
<a name="l00086"></a>00086 <span class="keywordflow">if</span> (nh2 < maxPoolSize)
<a name="l00087"></a>00087 {
<a name="l00088"></a>00088 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = nh ; i < nh2 ; ++i)
<a name="l00089"></a>00089 {
<a name="l00090"></a>00090 pool[i].state = si_->allocState();
<a name="l00091"></a>00091 sampler->sampleUniformNear(pool[i].state, pool[i % nh].state, maxDistance_);
<a name="l00092"></a>00092 pool[i].valid = valid(pool[i].state);
<a name="l00093"></a>00093 <span class="keywordflow">if</span> (goal.<a class="code" href="classompl_1_1base_1_1GoalRegion.html#a63180f3c2e53eb6feedae905cb858f39" title="Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.">isSatisfied</a>(pool[i].state, &(pool[i].distance)))
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <span class="keywordflow">if</span> (pool[i].valid)
<a name="l00096"></a>00096 {
<a name="l00097"></a>00097 solved = <span class="keyword">true</span>;
<a name="l00098"></a>00098 solution = i;
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100 }
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102 nh = nh2;
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">// add random states</span>
<a name="l00106"></a>00106 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = nh ; i < maxPoolSize ; ++i)
<a name="l00107"></a>00107 {
<a name="l00108"></a>00108 pool[i].state = si_->allocState();
<a name="l00109"></a>00109 sampler->sampleUniform(pool[i].state);
<a name="l00110"></a>00110 pool[i].valid = valid(pool[i].state);
<a name="l00111"></a>00111 <span class="keywordflow">if</span> (goal.<a class="code" href="classompl_1_1base_1_1GoalRegion.html#a63180f3c2e53eb6feedae905cb858f39" title="Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.">isSatisfied</a>(pool[i].state, &(pool[i].distance)))
<a name="l00112"></a>00112 {
<a name="l00113"></a>00113 <span class="keywordflow">if</span> (pool[i].valid)
<a name="l00114"></a>00114 {
<a name="l00115"></a>00115 solved = <span class="keyword">true</span>;
<a name="l00116"></a>00116 solution = i;
<a name="l00117"></a>00117 }
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 }
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="comment">// run the genetic algorithm</span>
<a name="l00122"></a>00122 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> generations = 1;
<a name="l00123"></a>00123 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> mutationsSize = poolSize_ + poolMutation_;
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <span class="keywordflow">while</span> (!solved && <a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() < endTime)
<a name="l00126"></a>00126 {
<a name="l00127"></a>00127 generations++;
<a name="l00128"></a>00128 std::sort(pool.begin(), pool.end(), gs);
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="comment">// add mutations</span>
<a name="l00131"></a>00131 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = poolSize_ ; i < mutationsSize ; ++i)
<a name="l00132"></a>00132 {
<a name="l00133"></a>00133 sampler->sampleUniformNear(pool[i].state, pool[i % poolSize_].state, maxDistance_);
<a name="l00134"></a>00134 pool[i].valid = valid(pool[i].state);
<a name="l00135"></a>00135 <span class="keywordflow">if</span> (goal.<a class="code" href="classompl_1_1base_1_1GoalRegion.html#a63180f3c2e53eb6feedae905cb858f39" title="Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.">isSatisfied</a>(pool[i].state, &(pool[i].distance)))
<a name="l00136"></a>00136 {
<a name="l00137"></a>00137 <span class="keywordflow">if</span> (pool[i].valid)
<a name="l00138"></a>00138 {
<a name="l00139"></a>00139 solved = <span class="keyword">true</span>;
<a name="l00140"></a>00140 solution = i;
<a name="l00141"></a>00141 <span class="keywordflow">break</span>;
<a name="l00142"></a>00142 }
<a name="l00143"></a>00143 }
<a name="l00144"></a>00144 }
<a name="l00145"></a>00145
<a name="l00146"></a>00146 <span class="comment">// add random states</span>
<a name="l00147"></a>00147 <span class="keywordflow">if</span> (!solved)
<a name="l00148"></a>00148 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = mutationsSize ; i < maxPoolSize ; ++i)
<a name="l00149"></a>00149 {
<a name="l00150"></a>00150 sampler->sampleUniform(pool[i].state);
<a name="l00151"></a>00151 pool[i].valid = valid(pool[i].state);
<a name="l00152"></a>00152 <span class="keywordflow">if</span> (goal.<a class="code" href="classompl_1_1base_1_1GoalRegion.html#a63180f3c2e53eb6feedae905cb858f39" title="Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.">isSatisfied</a>(pool[i].state, &(pool[i].distance)))
<a name="l00153"></a>00153 {
<a name="l00154"></a>00154 <span class="keywordflow">if</span> (pool[i].valid)
<a name="l00155"></a>00155 {
<a name="l00156"></a>00156 solved = <span class="keyword">true</span>;
<a name="l00157"></a>00157 solution = i;
<a name="l00158"></a>00158 <span class="keywordflow">break</span>;
<a name="l00159"></a>00159 }
<a name="l00160"></a>00160 }
<a name="l00161"></a>00161 }
<a name="l00162"></a>00162 }
<a name="l00163"></a>00163
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <span class="comment">// fill in solution, if found</span>
<a name="l00166"></a>00166 msg_.<a class="code" href="classompl_1_1msg_1_1Interface.html#a545368346a008e4de3ea44ce21daccd5" title="Forward information.">inform</a>(<span class="stringliteral">"Ran for %u generations"</span>, generations);
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="keywordflow">if</span> (solved)
<a name="l00169"></a>00169 {
<a name="l00170"></a>00170 <span class="comment">// set the solution</span>
<a name="l00171"></a>00171 si_->copyState(result, pool[solution].state);
<a name="l00172"></a>00172
<a name="l00173"></a>00173 <span class="comment">// try to improve the solution</span>
<a name="l00174"></a>00174 tryToImprove(goal, result, pool[solution].distance);
<a name="l00175"></a>00175
<a name="l00176"></a>00176 <span class="comment">// if improving the state made it invalid, revert</span>
<a name="l00177"></a>00177 <span class="keywordflow">if</span> (!valid(result))
<a name="l00178"></a>00178 si_->copyState(result, pool[solution].state);
<a name="l00179"></a>00179 }
<a name="l00180"></a>00180 <span class="keywordflow">else</span>
<a name="l00181"></a>00181 {
<a name="l00182"></a>00182 <span class="comment">/* one last attempt to find a solution */</span>
<a name="l00183"></a>00183 std::sort(pool.begin(), pool.end(), gs);
<a name="l00184"></a>00184 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < 5 ; ++i)
<a name="l00185"></a>00185 {
<a name="l00186"></a>00186 <span class="comment">// get a valid state that is closer to the goal</span>
<a name="l00187"></a>00187 <span class="keywordflow">if</span> (pool[i].valid)
<a name="l00188"></a>00188 {
<a name="l00189"></a>00189 <span class="comment">// set the solution</span>
<a name="l00190"></a>00190 si_->copyState(result, pool[i].state);
<a name="l00191"></a>00191
<a name="l00192"></a>00192 <span class="comment">// try to improve the state</span>
<a name="l00193"></a>00193 tryToImprove(goal, result, pool[i].distance);
<a name="l00194"></a>00194
<a name="l00195"></a>00195 <span class="comment">// if the improvement made the state no longer valid, revert to previous one</span>
<a name="l00196"></a>00196 <span class="keywordflow">if</span> (!valid(result))
<a name="l00197"></a>00197 si_->copyState(result, pool[i].state);
<a name="l00198"></a>00198 <span class="keywordflow">else</span>
<a name="l00199"></a>00199 solved = goal.<a class="code" href="classompl_1_1base_1_1GoalRegion.html#a63180f3c2e53eb6feedae905cb858f39" title="Equivalent to calling isSatisfied(const State *, double *) with a NULL second argument.">isSatisfied</a>(result);
<a name="l00200"></a>00200 <span class="keywordflow">if</span> (solved)
<a name="l00201"></a>00201 <span class="keywordflow">break</span>;
<a name="l00202"></a>00202 }
<a name="l00203"></a>00203 }
<a name="l00204"></a>00204 }
<a name="l00205"></a>00205
<a name="l00206"></a>00206 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < maxPoolSize ; ++i)
<a name="l00207"></a>00207 si_->freeState(pool[i].state);
<a name="l00208"></a>00208
<a name="l00209"></a>00209 <span class="keywordflow">return</span> solved;
<a name="l00210"></a>00210 }
<a name="l00211"></a>00211
<a name="l00212"></a>00212 <span class="keywordtype">bool</span> ompl::geometric::GAIK::tryToImprove(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalRegion.html" title="Definition of a goal region.">base::GoalRegion</a> &goal, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keywordtype">double</span> distance)
<a name="l00213"></a>00213 {
<a name="l00214"></a>00214 msg_.debug(<span class="stringliteral">"Distance to goal before improvement: %g"</span>, distance);
<a name="l00215"></a>00215 <a class="code" href="namespaceompl_1_1time.html#a9f28e947d7e95cfa5f0790ccdb7f0953" title="Representation of a point in time.">time::point</a> start = <a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>();
<a name="l00216"></a>00216 <span class="keywordtype">double</span> dist = si_->getMaximumExtent() / 10.0;
<a name="l00217"></a>00217 hcik_.tryToImprove(goal, state, dist, &distance);
<a name="l00218"></a>00218 hcik_.tryToImprove(goal, state, dist / 3.0, &distance);
<a name="l00219"></a>00219 hcik_.tryToImprove(goal, state, dist / 10.0, &distance);
<a name="l00220"></a>00220 msg_.debug(<span class="stringliteral">"Improvement took %u ms"</span>, (<a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() - start).total_milliseconds());
<a name="l00221"></a>00221 msg_.debug(<span class="stringliteral">"Distance to goal after improvement: %g"</span>, distance);
<a name="l00222"></a>00222 <span class="keywordflow">return</span> <span class="keyword">true</span>;
<a name="l00223"></a>00223 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
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<a href="http://www.rice.edu">Rice University</a><br>
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