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<div class="title">SimpleSetup.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/control/SimpleSetup.h"</span>
<a name="l00038"></a>00038 <span class="preprocessor">#include "ompl/control/planners/rrt/RRT.h"</span>
<a name="l00039"></a>00039 <span class="preprocessor">#include "ompl/control/planners/kpiece/KPIECE1.h"</span>
<a name="l00040"></a>00040
<a name="l00041"></a><a class="code" href="namespaceompl_1_1control.html#aa8437cb69cc2be3f2184cacfe3720758">00041</a> <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">ompl::base::PlannerPtr</a> <a class="code" href="namespaceompl_1_1control.html#aa8437cb69cc2be3f2184cacfe3720758" title="Given a goal specification, decide on a planner for that goal.">ompl::control::getDefaultPlanner</a>(<span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1GoalPtr.html" title="A boost shared pointer wrapper for ompl::base::Goal.">base::GoalPtr</a> &goal)
<a name="l00042"></a>00042 {
<a name="l00043"></a>00043 <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">base::PlannerPtr</a> planner;
<a name="l00044"></a>00044 <span class="keywordflow">if</span> (!goal)
<a name="l00045"></a>00045 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"Unable to allocate default planner for unspecified goal definition"</span>);
<a name="l00046"></a>00046
<a name="l00047"></a>00047 <a class="code" href="classompl_1_1control_1_1SpaceInformationPtr.html" title="A boost shared pointer wrapper for ompl::control::SpaceInformation.">SpaceInformationPtr</a> si = boost::static_pointer_cast<<a class="code" href="classompl_1_1control_1_1SpaceInformation.html" title="Space information containing necessary information for planning with controls. setup() needs to be ca...">SpaceInformation</a>, <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...">base::SpaceInformation</a>>(goal->getSpaceInformation());
<a name="l00048"></a>00048 <span class="keywordflow">if</span> (si->getStateSpace()->hasDefaultProjection())
<a name="l00049"></a>00049 planner = <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">base::PlannerPtr</a>(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1KPIECE1.html" title="Kinodynamic Planning by Interior-Exterior Cell Exploration.">KPIECE1</a>(si));
<a name="l00050"></a>00050 <span class="keywordflow">else</span>
<a name="l00051"></a>00051 planner = <a class="code" href="classompl_1_1base_1_1PlannerPtr.html" title="A boost shared pointer wrapper for ompl::base::Planner.">base::PlannerPtr</a>(<span class="keyword">new</span> <a class="code" href="classompl_1_1control_1_1RRT.html" title="Rapidly-exploring Random Tree.">RRT</a>(si));
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="keywordflow">return</span> planner;
<a name="l00054"></a>00054 }
<a name="l00055"></a>00055
<a name="l00056"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a6b3e6976af723f42cbbabbe41a51d898">00056</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a6b3e6976af723f42cbbabbe41a51d898" title="This method will create the necessary classes for planning. The solve() method will call this functio...">ompl::control::SimpleSetup::setup</a>(<span class="keywordtype">void</span>)
<a name="l00057"></a>00057 {
<a name="l00058"></a>00058 <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a07e2cf7b8077d90ae8ce4f6c30a49cd0" title="Flag indicating whether the classes needed for planning are set up.">configured_</a>)
<a name="l00059"></a>00059 {
<a name="l00060"></a>00060 <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>)
<a name="l00061"></a>00061 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"No space information defined"</span>);
<a name="l00062"></a>00062
<a name="l00063"></a>00063 <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>->isSetup())
<a name="l00064"></a>00064 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>->setup();
<a name="l00065"></a>00065 <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f" title="The maintained planner instance.">planner_</a>)
<a name="l00066"></a>00066 {
<a name="l00067"></a>00067 <span class="keywordflow">if</span> (<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1cf42df203befd44e0d27ea0fa697191" title="The optional planner allocator.">pa_</a>)
<a name="l00068"></a>00068 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f" title="The maintained planner instance.">planner_</a> = <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1cf42df203befd44e0d27ea0fa697191" title="The optional planner allocator.">pa_</a>(<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ae40aeef5f330422fe81117bf3039df80" title="The created space information.">si_</a>);
<a name="l00069"></a>00069 <span class="keywordflow">else</span>
<a name="l00070"></a>00070 {
<a name="l00071"></a>00071 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a061986be314d1aa6f08c1301cf72c673" title="Interface for console output.">msg_</a>.<a class="code" href="classompl_1_1msg_1_1Interface.html#a545368346a008e4de3ea44ce21daccd5" title="Forward information.">inform</a>(<span class="stringliteral">"No planner specified. Using default."</span>);
<a name="l00072"></a>00072 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f" title="The maintained planner instance.">planner_</a> = <a class="code" href="namespaceompl_1_1control.html#aa8437cb69cc2be3f2184cacfe3720758" title="Given a goal specification, decide on a planner for that goal.">getDefaultPlanner</a>(<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a450d2a8cc1b5a1dc4c2a41d56a8f6565" title="Get the current goal definition.">getGoal</a>());
<a name="l00073"></a>00073 }
<a name="l00074"></a>00074 }
<a name="l00075"></a>00075 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f" title="The maintained planner instance.">planner_</a>->setProblemDefinition(<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a0da5fd5aa172bafe9b3c6ec77ec417bc" title="The created problem definition.">pdef_</a>);
<a name="l00076"></a>00076 <span class="keywordflow">if</span> (!<a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f" title="The maintained planner instance.">planner_</a>->isSetup())
<a name="l00077"></a>00077 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1c65fbeb69b22217bbfdd3ec4d7afb9f" title="The maintained planner instance.">planner_</a>->setup();
<a name="l00078"></a>00078 <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a07e2cf7b8077d90ae8ce4f6c30a49cd0" title="Flag indicating whether the classes needed for planning are set up.">configured_</a> = <span class="keyword">true</span>;
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081
<a name="l00082"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a7f44da72fe96fb4e0326962d2ed6a52c">00082</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a7f44da72fe96fb4e0326962d2ed6a52c" title="Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.">ompl::control::SimpleSetup::clear</a>(<span class="keywordtype">void</span>)
<a name="l00083"></a>00083 {
<a name="l00084"></a>00084 <span class="keywordflow">if</span> (planner_)
<a name="l00085"></a>00085 planner_->clear();
<a name="l00086"></a>00086 <span class="keywordflow">if</span> (pdef_ && pdef_->getGoal())
<a name="l00087"></a>00087 pdef_->getGoal()->clearSolutionPath();
<a name="l00088"></a>00088 }
<a name="l00089"></a>00089
<a name="l00090"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a279efbe5f659a47e1749a3947a1f978e">00090</a> <span class="keywordtype">bool</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a279efbe5f659a47e1749a3947a1f978e" title="Run the planner for a specified amount of time (default is 1 second)">ompl::control::SimpleSetup::solve</a>(<span class="keywordtype">double</span> time)
<a name="l00091"></a>00091 {
<a name="l00092"></a>00092 setup();
<a name="l00093"></a>00093 <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="l00094"></a>00094 <span class="keywordtype">bool</span> result = planner_->solve(time);
<a name="l00095"></a>00095 planTime_ = <a class="code" href="namespaceompl_1_1time.html#acac374ab4374adb207edb38cedb7fbb1" title="Return the time duration representing a given number of seconds.">time::seconds</a>(<a class="code" href="namespaceompl_1_1time.html#a1413ad6c9709d0699343679b291b9c1d" title="Get the current time point.">time::now</a>() - start);
<a name="l00096"></a>00096 <span class="keywordflow">if</span> (result)
<a name="l00097"></a>00097 msg_.inform(<span class="stringliteral">"Solution found in %f seconds"</span>, planTime_);
<a name="l00098"></a>00098 <span class="keywordflow">else</span>
<a name="l00099"></a>00099 msg_.inform(<span class="stringliteral">"No solution found after %f seconds"</span>, planTime_);
<a name="l00100"></a>00100 <span class="keywordflow">return</span> result;
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102
<a name="l00103"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#aacd350f0002e3e0ffd608099484eabdb">00103</a> <a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">ompl::control::PathControl</a>& <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#aacd350f0002e3e0ffd608099484eabdb" title="Get the solution path. Throw an exception if no solution is available.">ompl::control::SimpleSetup::getSolutionPath</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00104"></a>00104 <span class="keyword"></span>{
<a name="l00105"></a>00105 <span class="keywordflow">if</span> (pdef_ && pdef_->getGoal())
<a name="l00106"></a>00106 {
<a name="l00107"></a>00107 <span class="keyword">const</span> <a class="code" href="classompl_1_1base_1_1PathPtr.html" title="A boost shared pointer wrapper for ompl::base::Path.">base::PathPtr</a> &p = pdef_->getGoal()->getSolutionPath();
<a name="l00108"></a>00108 <span class="keywordflow">if</span> (p)
<a name="l00109"></a>00109 <span class="keywordflow">return</span> <span class="keyword">static_cast<</span><a class="code" href="classompl_1_1control_1_1PathControl.html" title="Definition of a control path.">PathControl</a>&<span class="keyword">></span>(*p);
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111 <span class="keywordflow">throw</span> <a class="code" href="classompl_1_1Exception.html" title="The exception type for ompl.">Exception</a>(<span class="stringliteral">"No solution path"</span>);
<a name="l00112"></a>00112 }
<a name="l00113"></a>00113
<a name="l00114"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1e627596e3e9fb5894c7e7c28607640e">00114</a> <a class="code" href="classompl_1_1control_1_1PlannerData.html" title="Datatype holding data a planner can expose for debug purposes.">ompl::control::PlannerData</a> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#a1e627596e3e9fb5894c7e7c28607640e" title="Get information about the exploration data structure the motion planner used.">ompl::control::SimpleSetup::getPlannerData</a>(<span class="keywordtype">void</span>)<span class="keyword"> const</span>
<a name="l00115"></a>00115 <span class="keyword"></span>{
<a name="l00116"></a>00116 <a class="code" href="classompl_1_1control_1_1PlannerData.html" title="Datatype holding data a planner can expose for debug purposes.">control::PlannerData</a> pd;
<a name="l00117"></a>00117 <span class="keywordflow">if</span> (planner_)
<a name="l00118"></a>00118 planner_->getPlannerData(pd);
<a name="l00119"></a>00119 <span class="keywordflow">return</span> pd;
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121
<a name="l00122"></a><a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ac215c0aaffc786d112c88f050cbf4164">00122</a> <span class="keywordtype">void</span> <a class="code" href="classompl_1_1control_1_1SimpleSetup.html#ac215c0aaffc786d112c88f050cbf4164" title="Print information about the current setup.">ompl::control::SimpleSetup::print</a>(std::ostream &out)<span class="keyword"> const</span>
<a name="l00123"></a>00123 <span class="keyword"></span>{
<a name="l00124"></a>00124 <span class="keywordflow">if</span> (si_)
<a name="l00125"></a>00125 {
<a name="l00126"></a>00126 si_->printSettings(out);
<a name="l00127"></a>00127 si_->printProperties(out);
<a name="l00128"></a>00128 }
<a name="l00129"></a>00129 <span class="keywordflow">if</span> (pdef_)
<a name="l00130"></a>00130 pdef_->print(out);
<a name="l00131"></a>00131 }
</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>
<div class="gray">Generated on Sun Oct 9 2011 23:04:40 by <a href="http://www.doxygen.org/index.html">doxygen</a> 1.7.4</div>
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