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<div class="title">RigidBodyPlanningWithIK.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/base/spaces/SE3StateSpace.h></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <ompl/geometric/SimpleSetup.h></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <ompl/base/GoalLazySamples.h></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <ompl/geometric/ik/GAIK.h></span>
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="preprocessor">#include <ompl/config.h></span>
<a name="l00043"></a>00043 <span class="preprocessor">#include <iostream></span>
<a name="l00044"></a>00044
<a name="l00045"></a>00045 <span class="keyword">namespace </span>ob = ompl::base;
<a name="l00046"></a>00046 <span class="keyword">namespace </span>og = ompl::geometric;
<a name="l00047"></a>00047
<a name="l00049"></a>00049 <span class="comment">// describe an arbitrary representation of a goal region in SE(3)</span>
<a name="l00050"></a>00050 <span class="keyword">class </span>MyGoalRegion : <span class="keyword">public</span> ob::GoalRegion
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="keyword">public</span>:
<a name="l00053"></a>00053
<a name="l00054"></a>00054 MyGoalRegion(<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.">ob::SpaceInformationPtr</a> &si) : ob::GoalRegion(si)
<a name="l00055"></a>00055 {
<a name="l00056"></a>00056 setThreshold(1e-2);
<a name="l00057"></a>00057 }
<a name="l00058"></a>00058
<a name="l00059"></a>00059 <span class="keyword">virtual</span> <span class="keywordtype">double</span> distanceGoal(<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)<span class="keyword"> const</span>
<a name="l00060"></a>00060 <span class="keyword"> </span>{
<a name="l00061"></a>00061 <span class="comment">// goal region is given by states where x + y = z and orientation is close to identity</span>
<a name="l00062"></a>00062 <span class="keywordtype">double</span> d = fabs(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_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE3StateSpace::StateType</a>>()->getX()
<a name="l00063"></a>00063 + 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_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE3StateSpace::StateType</a>>()->getY()
<a name="l00064"></a>00064 - 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_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE3StateSpace::StateType</a>>()->getZ())
<a name="l00065"></a>00065 + fabs(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_1CompoundStateSpace.html#af12997f7c56f7263fb78be7444b838e5" title="Define the type of state allocated by this state space.">ob::SE3StateSpace::StateType</a>>()->rotation().w - 1.0);
<a name="l00066"></a>00066 <span class="keywordflow">return</span> d;
<a name="l00067"></a>00067 }
<a name="l00068"></a>00068
<a name="l00069"></a>00069 };
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <span class="comment">// Goal regions such as the one above cannot be sampled, so</span>
<a name="l00072"></a>00072 <span class="comment">// bi-directional trees cannot be used for solving. However, we can</span>
<a name="l00073"></a>00073 <span class="comment">// transform such goal regions into ones that can be sampled. The</span>
<a name="l00074"></a>00074 <span class="comment">// caveat is that it should be possible to find states in this region</span>
<a name="l00075"></a>00075 <span class="comment">// with some other algorithm. Genetic algorithms that essentially</span>
<a name="l00076"></a>00076 <span class="comment">// perform inverse kinematics in the general sense can be used:</span>
<a name="l00077"></a>00077
<a name="l00078"></a>00078 <span class="keywordtype">bool</span> regionSamplingWithGAIK(<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.">ob::SpaceInformationPtr</a> &si, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalRegion.html" title="Definition of a goal region.">ob::GoalRegion</a> *region, <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html" title="Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner.">ob::GoalLazySamples</a> *gls, <a class="code" href="classompl_1_1base_1_1State.html" title="Definition of an abstract state.">ob::State</a> *result)
<a name="l00079"></a>00079 {
<a name="l00080"></a>00080 <a class="code" href="classompl_1_1geometric_1_1GAIK.html" title="Inverse Kinematics with Genetic Algorithms.">og::GAIK</a> g(si);
<a name="l00081"></a>00081 <span class="keywordtype">bool</span> cont = g.solve(1.0, *region, result);
<a name="l00082"></a>00082
<a name="l00083"></a>00083 <span class="keywordflow">if</span> (cont)
<a name="l00084"></a>00084 {
<a name="l00085"></a>00085 std::cout << <span class="stringliteral">"Found goal state: "</span> << std::endl;
<a name="l00086"></a>00086 si->printState(result);
<a name="l00087"></a>00087 }
<a name="l00088"></a>00088
<a name="l00089"></a>00089 <span class="comment">// we continue sampling while we are able to find solutions, we have found not more than 2 previous solutions and we have not yet solved the problem</span>
<a name="l00090"></a>00090 <span class="keywordflow">return</span> cont && gls-><a class="code" href="classompl_1_1base_1_1GoalStates.html#a6c4f7e4a9b7648db8bde7ffe8ee8e7dc" title="Return the maximum number of samples that can be asked for before repeating.">maxSampleCount</a>() < 3 && !gls-><a class="code" href="classompl_1_1base_1_1Goal.html#a9a6e44d33f848108d0beeb1cf7a6c1ad" title="Returns true if a solution path has been found (could be approximate)">isAchieved</a>();
<a name="l00091"></a>00091 }
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="keywordtype">void</span> planWithIK(<span class="keywordtype">void</span>)
<a name="l00094"></a>00094 {
<a name="l00095"></a>00095 <span class="comment">// construct the state space we are planning in</span>
<a name="l00096"></a>00096 <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_1SE3StateSpace.html" title="A state space representing SE(3)">ob::SE3StateSpace</a>());
<a name="l00097"></a>00097
<a name="l00098"></a>00098 <span class="comment">// set the bounds for the R^3 part of SE(3)</span>
<a name="l00099"></a>00099 <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="l00100"></a>00100 bounds.setLow(-1);
<a name="l00101"></a>00101 bounds.setHigh(1);
<a name="l00102"></a>00102
<a name="l00103"></a>00103 space->as<<a class="code" href="classompl_1_1base_1_1SE3StateSpace.html" title="A state space representing SE(3)">ob::SE3StateSpace</a>>()->setBounds(bounds);
<a name="l00104"></a>00104
<a name="l00105"></a>00105 <span class="comment">// define a simple setup class</span>
<a name="l00106"></a>00106 <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="l00107"></a>00107
<a name="l00108"></a>00108 <span class="comment">// create a random start state</span>
<a name="l00109"></a>00109 <a class="code" href="classompl_1_1base_1_1ScopedState.html" title="Definition of a scoped state.">ob::ScopedState<ob::SE3StateSpace></a> start(space);
<a name="l00110"></a>00110 start->setXYZ(0, 0, 0);
<a name="l00111"></a>00111 start->rotation().setIdentity();
<a name="l00112"></a>00112 ss.addStartState(start);
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="comment">// define our goal region</span>
<a name="l00115"></a>00115 MyGoalRegion region(ss.getSpaceInformation());
<a name="l00116"></a>00116
<a name="l00117"></a>00117 <span class="comment">// bind a sampling function that fills its argument with a sampled state and returns true while it can produce new samples</span>
<a name="l00118"></a>00118 <span class="comment">// we don't need to check if new samples are different from ones previously computed as this is pefromed automatically by GoalLazySamples</span>
<a name="l00119"></a>00119 <a class="code" href="namespaceompl_1_1base.html#a7ed818b17b8281f0dbb11b666a76aaa7" title="Goal sampling function. Returns false when no further calls should be made to it. Fills its second ar...">ob::GoalSamplingFn</a> samplingFunction = boost::bind(&regionSamplingWithGAIK, ss.getSpaceInformation(), &region, _1, _2);
<a name="l00120"></a>00120
<a name="l00121"></a>00121 <span class="comment">// create an instance of GoalLazySamples:</span>
<a name="l00122"></a>00122 <a class="code" href="classompl_1_1base_1_1GoalPtr.html" title="A boost shared pointer wrapper for ompl::base::Goal.">ob::GoalPtr</a> goal(<span class="keyword">new</span> <a class="code" href="classompl_1_1base_1_1GoalLazySamples.html" title="Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner.">ob::GoalLazySamples</a>(ss.getSpaceInformation(), samplingFunction));
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment">// we set a goal that is sampleable, but it in fact corresponds to a region that is not sampleable by default</span>
<a name="l00125"></a>00125 ss.setGoal(goal);
<a name="l00126"></a>00126
<a name="l00127"></a>00127 <span class="comment">// attempt to solve the problem</span>
<a name="l00128"></a>00128 <span class="keywordtype">bool</span> solved = ss.solve(3.0);
<a name="l00129"></a>00129
<a name="l00130"></a>00130 <span class="keywordflow">if</span> (solved)
<a name="l00131"></a>00131 {
<a name="l00132"></a>00132 std::cout << <span class="stringliteral">"Found solution:"</span> << std::endl;
<a name="l00133"></a>00133 <span class="comment">// print the path to screen</span>
<a name="l00134"></a>00134 ss.simplifySolution();
<a name="l00135"></a>00135 ss.getSolutionPath().print(std::cout);
<a name="l00136"></a>00136 }
<a name="l00137"></a>00137 <span class="keywordflow">else</span>
<a name="l00138"></a>00138 std::cout << <span class="stringliteral">"No solution found"</span> << std::endl;
<a name="l00139"></a>00139
<a name="l00140"></a>00140 <span class="comment">// the region variable will now go out of scope. To make sure it is not used in the sampling function any more</span>
<a name="l00141"></a>00141 <span class="comment">// (i.e., the sampling thread was able to terminate), we make sure sampling has terminated</span>
<a name="l00142"></a>00142 goal->as<<a class="code" href="classompl_1_1base_1_1GoalLazySamples.html" title="Definition of a goal region that can be sampled, but the sampling process can be slow. This class allows sampling the happen in a separate thread, and the number of goals may increase, as the planner is running, in a thread-safe manner.">ob::GoalLazySamples</a>>()->stopSampling();
<a name="l00143"></a>00143 }
<a name="l00145"></a>00145
<a name="l00146"></a>00146 <span class="keywordtype">int</span> main(<span class="keywordtype">int</span>, <span class="keywordtype">char</span> **)
<a name="l00147"></a>00147 {
<a name="l00148"></a>00148 std::cout << <span class="stringliteral">"OMPL version: "</span> << OMPL_VERSION << std::endl;
<a name="l00149"></a>00149
<a name="l00150"></a>00150 planWithIK();
<a name="l00151"></a>00151
<a name="l00152"></a>00152 <span class="keywordflow">return</span> 0;
<a name="l00153"></a>00153 }
</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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