00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #include "ompl/tools/multiplan/OptimizePlan.h" 00038 #include "ompl/geometric/PathSimplifier.h" 00039 00040 void ompl::tools::OptimizePlan::addPlanner(const base::PlannerPtr &planner) 00041 { 00042 if (planner && planner->getSpaceInformation().get() != getProblemDefinition()->getSpaceInformation().get()) 00043 throw Exception("Planner instance does not match space information"); 00044 planners_.push_back(planner); 00045 } 00046 00047 void ompl::tools::OptimizePlan::addPlannerAllocator(const base::PlannerAllocator &pa) 00048 { 00049 planners_.push_back(pa(getProblemDefinition()->getSpaceInformation())); 00050 } 00051 00052 void ompl::tools::OptimizePlan::clearPlanners(void) 00053 { 00054 planners_.clear(); 00055 } 00056 00057 ompl::base::PlannerStatus ompl::tools::OptimizePlan::solve(double solveTime, unsigned int maxSol, unsigned int nthreads) 00058 { 00059 time::point end = time::now() + time::seconds(solveTime); 00060 unsigned int nt = std::min(nthreads, (unsigned int)planners_.size()); 00061 logDebug("Using %u threads", nt); 00062 00063 base::PlannerStatus result; 00064 unsigned int np = 0; 00065 const base::ProblemDefinitionPtr &pdef = getProblemDefinition(); 00066 const base::GoalPtr &goal = pdef->getGoal(); 00067 pp_.clearHybridizationPaths(); 00068 00069 while (time::now() < end) 00070 { 00071 pp_.clearPlanners(); 00072 for (unsigned int i = 0 ; i < nt ; ++i) 00073 { 00074 planners_[np]->clear(); 00075 pp_.addPlanner(planners_[np]); 00076 np = (np + 1) % planners_.size(); 00077 } 00078 base::PlannerStatus localResult = pp_.solve(std::max(time::seconds(end - time::now()), 0.0), true); 00079 if (localResult) 00080 { 00081 if (result != base::PlannerStatus::EXACT_SOLUTION) 00082 result = localResult; 00083 00084 if (pdef->getSolutionPath()->length() <= goal->getMaximumPathLength()) 00085 { 00086 logDebug("Terminating early since solution path is shorted than the maximum path length"); 00087 break; 00088 } 00089 if (pdef->getSolutionCount() >= maxSol) 00090 { 00091 logDebug("Terminating early since %u solutions were generated", maxSol); 00092 break; 00093 } 00094 } 00095 } 00096 00097 // if we have more time, and we have a geometric path, we try to simplify it 00098 if (time::now() < end && result) 00099 { 00100 geometric::PathGeometric *p = dynamic_cast<geometric::PathGeometric*>(pdef->getSolutionPath().get()); 00101 if (p) 00102 { 00103 geometric::PathSimplifier ps(getProblemDefinition()->getSpaceInformation()); 00104 ps.simplify(*p, std::max(time::seconds(end - time::now()), 0.0)); 00105 } 00106 } 00107 00108 return result; 00109 }