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<div class="title">ODEStatePropagator.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/extensions/ode/ODEStatePropagator.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/extensions/ode/ODEStateSpace.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/extensions/ode/ODEControlSpace.h"</span>
<a name="l00040"></a>00040 <span class="preprocessor">#include "ompl/util/Exception.h"</span>
<a name="l00041"></a>00041 <span class="preprocessor">#include "ompl/util/Console.h"</span>
<a name="l00042"></a>00042
<a name="l00043"></a><a class="code" href="classompl_1_1control_1_1ODEStatePropagator.html#abb81a9eb1b645af56f97cd949101256c">00043</a> <a class="code" href="classompl_1_1control_1_1ODEStatePropagator.html#abb81a9eb1b645af56f97cd949101256c" title="Construct a representation of ODE state propagator. If si->getStateSpace() does not cast to an ODESta...">ompl::control::ODEStatePropagator::ODEStatePropagator</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::control::SpaceInformation.">SpaceInformationPtr</a> &si) : <a class="code" href="classompl_1_1control_1_1StatePropagator.html">StatePropagator</a>(si)
<a name="l00044"></a>00044 {
<a name="l00045"></a>00045 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a> *oss = dynamic_cast<ODEStateSpace*>(si->getStateSpace().get()))
<a name="l00046"></a>00046 <a class="code" href="classompl_1_1control_1_1ODEStatePropagator.html#a34c00224375b95acc7eee4f21e55a3c6" title="The ODE environment this state propagator operates on.">env_</a> = oss->getEnvironment();
<a name="l00047"></a>00047 <span class="keywordflow">else</span>
<a name="l00048"></a>00048 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"ODE State Space needed for ODEStatePropagator"</span>);
<a name="l00049"></a>00049 }
<a name="l00050"></a>00050
<a name="l00052"></a>00052 <span class="keyword">namespace </span>ompl
<a name="l00053"></a>00053 {
<a name="l00054"></a>00054
<a name="l00055"></a>00055 <span class="keyword">struct </span>CallbackParam
<a name="l00056"></a>00056 {
<a name="l00057"></a>00057 <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1ODEEnvironment.html" title="This class contains the ODE constructs OMPL needs to know about when planning.">control::ODEEnvironment</a> *env;
<a name="l00058"></a>00058 <span class="keywordtype">bool</span> collision;
<a name="l00059"></a>00059 };
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="keywordtype">void</span> nearCallback(<span class="keywordtype">void</span> *data, dGeomID o1, dGeomID o2)
<a name="l00062"></a>00062 {
<a name="l00063"></a>00063 dBodyID b1 = dGeomGetBody(o1);
<a name="l00064"></a>00064 dBodyID b2 = dGeomGetBody(o2);
<a name="l00065"></a>00065
<a name="l00066"></a>00066 <span class="keywordflow">if</span> (b1 && b2 && dAreConnectedExcluding(b1, b2, dJointTypeContact)) <span class="keywordflow">return</span>;
<a name="l00067"></a>00067
<a name="l00068"></a>00068 CallbackParam *cp = <span class="keyword">reinterpret_cast<</span>CallbackParam*<span class="keyword">></span>(data);
<a name="l00069"></a>00069
<a name="l00070"></a>00070 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> maxContacts = cp->env->getMaxContacts(o1, o2);
<a name="l00071"></a>00071
<a name="l00072"></a>00072 dContact *contact = (dContact*)alloca(maxContacts * <span class="keyword">sizeof</span>(dContact));
<a name="l00073"></a>00073
<a name="l00074"></a>00074 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0; i < maxContacts; ++i)
<a name="l00075"></a>00075 cp->env->setupContact(o1, o2, contact[i]);
<a name="l00076"></a>00076
<a name="l00077"></a>00077 <span class="keywordflow">if</span> (<span class="keywordtype">int</span> numc = dCollide(o1, o2, maxContacts, &contact[0].geom, <span class="keyword">sizeof</span>(dContact)))
<a name="l00078"></a>00078 {
<a name="l00079"></a>00079 <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i < numc; ++i)
<a name="l00080"></a>00080 {
<a name="l00081"></a>00081 dJointID c = dJointCreateContact(cp->env->world_, cp->env->contactGroup_, contact + i);
<a name="l00082"></a>00082 dJointAttach(c, b1, b2);
<a name="l00083"></a>00083 <span class="keywordtype">bool</span> valid = cp->env->isValidCollision(o1, o2, contact[i]);
<a name="l00084"></a>00084 <span class="keywordflow">if</span> (!valid)
<a name="l00085"></a>00085 cp->collision = <span class="keyword">true</span>;
<a name="l00086"></a>00086 <span class="keywordflow">if</span> (cp->env->verboseContacts_)
<a name="l00087"></a>00087 {
<a name="l00088"></a>00088 <span class="keyword">static</span> <a class="code" href="classompl_1_1msg_1_1Interface.html" title="The piece of code that desires interaction with an action or an output handler should use an instance...">msg::Interface</a> msg;
<a name="l00089"></a>00089 msg.<a class="code" href="classompl_1_1msg_1_1Interface.html#ad690e77cfd4c31b55cd221ed9c8ee94e" title="Forward a debug message.">debug</a>((valid ? <span class="stringliteral">"Valid"</span> : <span class="stringliteral">"Invalid"</span>) + std::string(<span class="stringliteral">" contact between "</span>) +
<a name="l00090"></a>00090 cp->env->getGeomName(o1) + <span class="stringliteral">" and "</span> + cp->env->getGeomName(o2));
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 }
<a name="l00094"></a>00094 }
<a name="l00095"></a>00095 }
<a name="l00097"></a>00097
<a name="l00098"></a><a class="code" href="classompl_1_1control_1_1ODEStatePropagator.html#a1bc9b3fab2758857581c8e04059f3acc">00098</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1ODEStatePropagator.html#a1bc9b3fab2758857581c8e04059f3acc" title="Propagate from a state, given a control, for some specified amount of time (the amount of time can al...">ompl::control::ODEStatePropagator::propagate</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">base::State</a> *state, <span class="keyword">const</span> <a class="code" href="classompl_1_1control_1_1Control.html" title="Definition of an abstract control.">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.">base::State</a> *result)<span class="keyword"> const</span>
<a name="l00099"></a>00099 <span class="keyword"></span>{
<a name="l00100"></a>00100 env_->mutex_.lock();
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="comment">// place the ODE world at the start state</span>
<a name="l00103"></a>00103 si_->getStateSpace()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()->writeState(state);
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">// apply the controls</span>
<a name="l00106"></a>00106 env_->applyControl(control-><a class="code" href="classompl_1_1control_1_1Control.html#a53552cde1fbdd3fcdcfe8ed1f96579c8" title="Cast this instance to a desired type.">as</a><<a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html" title="The definition of a control in Rn">RealVectorControlSpace::ControlType</a>>()-><a class="code" href="classompl_1_1control_1_1RealVectorControlSpace_1_1ControlType.html#a86ad53793fd0661faf0732f1cc5de9bd" title="An array of length n, representing the value of the control.">values</a>);
<a name="l00107"></a>00107
<a name="l00108"></a>00108 <span class="comment">// created contacts as needed</span>
<a name="l00109"></a>00109 CallbackParam cp = { env_.get(), <span class="keyword">false</span> };
<a name="l00110"></a>00110 <span class="keywordflow">for</span> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i = 0 ; i < env_->collisionSpaces_.size() ; ++i)
<a name="l00111"></a>00111 dSpaceCollide(env_->collisionSpaces_[i], &cp, &nearCallback);
<a name="l00112"></a>00112
<a name="l00113"></a>00113 <span class="comment">// propagate one step forward</span>
<a name="l00114"></a>00114 dWorldQuickStep(env_->world_, (<span class="keyword">const</span> dReal)duration);
<a name="l00115"></a>00115
<a name="l00116"></a>00116 <span class="comment">// remove created contacts</span>
<a name="l00117"></a>00117 dJointGroupEmpty(env_->contactGroup_);
<a name="l00118"></a>00118
<a name="l00119"></a>00119 <span class="comment">// read the final state from the ODE world</span>
<a name="l00120"></a>00120 si_->getStateSpace()->as<<a class="code" href="classompl_1_1control_1_1ODEStateSpace.html" title="State space representing ODE states.">ODEStateSpace</a>>()->readState(result);
<a name="l00121"></a>00121
<a name="l00122"></a>00122 env_->mutex_.unlock();
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment">// update the collision flag for the start state, if needed</span>
<a name="l00125"></a>00125 <span class="keywordflow">if</span> (!(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_1control_1_1ODEStateSpace_1_1StateType.html" title="ODE State. This is a compound state that allows accessing the properties of the bodies the state spac...">ODEStateSpace::StateType</a>>()-><a class="code" href="classompl_1_1control_1_1ODEStateSpace_1_1StateType.html#a1ba5dfafa14052fd4a9ee317cddcd596" title="Flag containing information about state validity.">collision</a> & (1 << <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fdaed833e9de7ff11ae0e1913a2c23222f4" title="Index of bit in StateType::collision indicating whether it is known if a state is in collision or not...">ODEStateSpace::STATE_COLLISION_KNOWN_BIT</a>)))
<a name="l00126"></a>00126 {
<a name="l00127"></a>00127 <span class="keywordflow">if</span> (cp.collision)
<a name="l00128"></a>00128 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_1control_1_1ODEStateSpace_1_1StateType.html" title="ODE State. This is a compound state that allows accessing the properties of the bodies the state spac...">ODEStateSpace::StateType</a>>()->collision &= (1 << <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fdaa73ce13533ae4274372087653cc91c99" title="Index of bit in StateType::collision indicating whether a state is in collision or not...">ODEStateSpace::STATE_COLLISION_VALUE_BIT</a>);
<a name="l00129"></a>00129 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_1control_1_1ODEStateSpace_1_1StateType.html" title="ODE State. This is a compound state that allows accessing the properties of the bodies the state spac...">ODEStateSpace::StateType</a>>()->collision &= (1 << <a class="code" href="classompl_1_1control_1_1ODEStateSpace.html#ab075415388f31633522d44a5418029fdaed833e9de7ff11ae0e1913a2c23222f4" title="Index of bit in StateType::collision indicating whether it is known if a state is in collision or not...">ODEStateSpace::STATE_COLLISION_KNOWN_BIT</a>);
<a name="l00130"></a>00130 }
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00133"></a><a class="code" href="classompl_1_1control_1_1ODEStatePropagator.html#ac269902d1aee0368a2af8c20950cbc5a">00133</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1ODEStatePropagator.html#ac269902d1aee0368a2af8c20950cbc5a" title="Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...">ompl::control::ODEStatePropagator::canPropagateBackward</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00134"></a>00134 <span class="keyword"></span>{
<a name="l00135"></a>00135 <span class="keywordflow">return</span> <span class="keyword">false</span>;
<a name="l00136"></a>00136 }
</pre></div></div>
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<a href="http://www.kavrakilab.org">Physical and Biological Computing Group</a> •
<a href="http://www.cs.rice.edu">Department of Computer Science</a> •
<a href="http://www.rice.edu">Rice University</a><br>
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