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src/ompl/geometric/planners/rrt/src/pRRT.cpp
00001 /*********************************************************************
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/geometric/planners/rrt/pRRT.h"
00038 #include "ompl/datastructures/NearestNeighborsGNAT.h"
00039 #include "ompl/base/goals/GoalSampleableRegion.h"
00040 #include "ompl/tools/config/SelfConfig.h"
00041 #include <boost/thread/thread.hpp>
00042 #include <limits>
00043 
00044 ompl::geometric::pRRT::pRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "pRRT"),
00045                                                                   samplerArray_(si)
00046 {
00047     specs_.approximateSolutions = true;
00048     specs_.multithreaded = true;
00049     specs_.directed = true;
00050 
00051     setThreadCount(2);
00052     goalBias_ = 0.05;
00053     maxDistance_ = 0.0;
00054     lastGoalMotion_ = NULL;
00055 
00056     Planner::declareParam<double>("range", this, &pRRT::setRange, &pRRT::getRange);
00057     Planner::declareParam<double>("goal_bias", this, &pRRT::setGoalBias, &pRRT::getGoalBias);
00058     Planner::declareParam<unsigned int>("thread_count", this, &pRRT::setThreadCount, &pRRT::getThreadCount);
00059 }
00060 
00061 ompl::geometric::pRRT::~pRRT(void)
00062 {
00063     freeMemory();
00064 }
00065 
00066 void ompl::geometric::pRRT::setup(void)
00067 {
00068     Planner::setup();
00069     tools::SelfConfig sc(si_, getName());
00070     sc.configurePlannerRange(maxDistance_);
00071 
00072     if (!nn_)
00073         nn_.reset(new NearestNeighborsGNAT<Motion*>());
00074     nn_->setDistanceFunction(boost::bind(&pRRT::distanceFunction, this, _1, _2));
00075 }
00076 
00077 void ompl::geometric::pRRT::clear(void)
00078 {
00079     Planner::clear();
00080     samplerArray_.clear();
00081     freeMemory();
00082     if (nn_)
00083         nn_->clear();
00084     lastGoalMotion_ = NULL;
00085 }
00086 
00087 void ompl::geometric::pRRT::freeMemory(void)
00088 {
00089     if (nn_)
00090     {
00091         std::vector<Motion*> motions;
00092         nn_->list(motions);
00093         for (unsigned int i = 0 ; i < motions.size() ; ++i)
00094         {
00095             if (motions[i]->state)
00096                 si_->freeState(motions[i]->state);
00097             delete motions[i];
00098         }
00099     }
00100 }
00101 
00102 void ompl::geometric::pRRT::threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol)
00103 {
00104     checkValidity();
00105     base::Goal                 *goal   = pdef_->getGoal().get();
00106     base::GoalSampleableRegion *goal_s = dynamic_cast<base::GoalSampleableRegion*>(goal);
00107     RNG                         rng;
00108 
00109     Motion *rmotion   = new Motion(si_);
00110     base::State *rstate = rmotion->state;
00111     base::State *xstate = si_->allocState();
00112 
00113     while (sol->solution == NULL && ptc() == false)
00114     {
00115         /* sample random state (with goal biasing) */
00116         if (goal_s && rng.uniform01() < goalBias_ && goal_s->canSample())
00117             goal_s->sampleGoal(rstate);
00118         else
00119             samplerArray_[tid]->sampleUniform(rstate);
00120 
00121         /* find closest state in the tree */
00122         nnLock_.lock();
00123         Motion *nmotion = nn_->nearest(rmotion);
00124         nnLock_.unlock();
00125         base::State *dstate = rstate;
00126 
00127         /* find state to add */
00128         double d = si_->distance(nmotion->state, rstate);
00129         if (d > maxDistance_)
00130         {
00131             si_->getStateSpace()->interpolate(nmotion->state, rstate, maxDistance_ / d, xstate);
00132             dstate = xstate;
00133         }
00134 
00135         if (si_->checkMotion(nmotion->state, dstate))
00136         {
00137             /* create a motion */
00138             Motion *motion = new Motion(si_);
00139             si_->copyState(motion->state, dstate);
00140             motion->parent = nmotion;
00141 
00142             nnLock_.lock();
00143             nn_->add(motion);
00144             nnLock_.unlock();
00145 
00146             double dist = 0.0;
00147             bool solved = goal->isSatisfied(motion->state, &dist);
00148             if (solved)
00149             {
00150                 sol->lock.lock();
00151                 sol->approxdif = dist;
00152                 sol->solution = motion;
00153                 sol->lock.unlock();
00154                 break;
00155             }
00156             if (dist < sol->approxdif)
00157             {
00158                 sol->lock.lock();
00159                 if (dist < sol->approxdif)
00160                 {
00161                     sol->approxdif = dist;
00162                     sol->approxsol = motion;
00163                 }
00164                 sol->lock.unlock();
00165             }
00166         }
00167     }
00168 
00169     si_->freeState(xstate);
00170     if (rmotion->state)
00171         si_->freeState(rmotion->state);
00172     delete rmotion;
00173 }
00174 
00175 ompl::base::PlannerStatus ompl::geometric::pRRT::solve(const base::PlannerTerminationCondition &ptc)
00176 {
00177     base::GoalRegion *goal = dynamic_cast<base::GoalRegion*>(pdef_->getGoal().get());
00178 
00179     if (!goal)
00180     {
00181         logError("Goal undefined");
00182         return base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE;
00183     }
00184 
00185     samplerArray_.resize(threadCount_);
00186 
00187     while (const base::State *st = pis_.nextStart())
00188     {
00189         Motion *motion = new Motion(si_);
00190         si_->copyState(motion->state, st);
00191         nn_->add(motion);
00192     }
00193 
00194     if (nn_->size() == 0)
00195     {
00196         logError("There are no valid initial states!");
00197         return base::PlannerStatus::INVALID_START;
00198     }
00199 
00200     logInform("Starting with %u states", nn_->size());
00201 
00202     SolutionInfo sol;
00203     sol.solution = NULL;
00204     sol.approxsol = NULL;
00205     sol.approxdif = std::numeric_limits<double>::infinity();
00206 
00207     std::vector<boost::thread*> th(threadCount_);
00208     for (unsigned int i = 0 ; i < threadCount_ ; ++i)
00209         th[i] = new boost::thread(boost::bind(&pRRT::threadSolve, this, i, ptc, &sol));
00210     for (unsigned int i = 0 ; i < threadCount_ ; ++i)
00211     {
00212         th[i]->join();
00213         delete th[i];
00214     }
00215 
00216     bool solved = false;
00217     bool approximate = false;
00218     if (sol.solution == NULL)
00219     {
00220         sol.solution = sol.approxsol;
00221         approximate = true;
00222     }
00223 
00224     if (sol.solution != NULL)
00225     {
00226         lastGoalMotion_ = sol.solution;
00227 
00228         /* construct the solution path */
00229         std::vector<Motion*> mpath;
00230         while (sol.solution != NULL)
00231         {
00232             mpath.push_back(sol.solution);
00233             sol.solution = sol.solution->parent;
00234         }
00235 
00236         /* set the solution path */
00237         PathGeometric *path = new PathGeometric(si_);
00238            for (int i = mpath.size() - 1 ; i >= 0 ; --i)
00239             path->append(mpath[i]->state);
00240 
00241         pdef_->addSolutionPath(base::PathPtr(path), approximate, sol.approxdif);
00242         solved = true;
00243     }
00244 
00245     logInform("Created %u states", nn_->size());
00246 
00247     return base::PlannerStatus(solved, approximate);
00248 }
00249 
00250 void ompl::geometric::pRRT::getPlannerData(base::PlannerData &data) const
00251 {
00252     Planner::getPlannerData(data);
00253 
00254     std::vector<Motion*> motions;
00255     if (nn_)
00256         nn_->list(motions);
00257 
00258     if (lastGoalMotion_)
00259         data.addGoalVertex(base::PlannerDataVertex(lastGoalMotion_->state));
00260 
00261     for (unsigned int i = 0 ; i < motions.size() ; ++i)
00262     {
00263         if (motions[i]->parent == NULL)
00264             data.addStartVertex(base::PlannerDataVertex(motions[i]->state));
00265         else
00266             data.addEdge(base::PlannerDataVertex(motions[i]->parent->state),
00267                          base::PlannerDataVertex(motions[i]->state));
00268     }
00269 }
00270 
00271 void ompl::geometric::pRRT::setThreadCount(unsigned int nthreads)
00272 {
00273     assert(nthreads > 0);
00274     threadCount_ = nthreads;
00275 }
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