All Classes Namespaces Functions Variables Typedefs Enumerations Enumerator Friends
src/ompl/control/src/PathControl.cpp
00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2010, Rice University
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 Rice University 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/control/PathControl.h"
00038 #include "ompl/geometric/PathGeometric.h"
00039 #include "ompl/base/samplers/UniformValidStateSampler.h"
00040 #include "ompl/util/Exception.h"
00041 #include "ompl/util/Console.h"
00042 #include <numeric>
00043 #include <cmath>
00044 
00045 ompl::control::PathControl::PathControl(const base::SpaceInformationPtr &si) : base::Path(si)
00046 {
00047     if (!dynamic_cast<const SpaceInformation*>(si_.get()))
00048         throw Exception("Cannot create a path with controls from a space that does not support controls");
00049 }
00050 
00051 ompl::control::PathControl::PathControl(const PathControl &path) : base::Path(path.si_)
00052 {
00053     copyFrom(path);
00054 }
00055 
00056 ompl::geometric::PathGeometric ompl::control::PathControl::asGeometric(void) const
00057 {
00058     PathControl pc(*this);
00059     pc.interpolate();
00060     geometric::PathGeometric pg(si_);
00061     pg.getStates().swap(pc.states_);
00062     return pg;
00063 }
00064 
00065 ompl::control::PathControl& ompl::control::PathControl::operator=(const PathControl& other)
00066 {
00067     freeMemory();
00068     si_ = other.si_;
00069     copyFrom(other);
00070     return *this;
00071 }
00072 
00073 void ompl::control::PathControl::copyFrom(const PathControl& other)
00074 {
00075     states_.resize(other.states_.size());
00076     controls_.resize(other.controls_.size());
00077 
00078     for (unsigned int i = 0 ; i < states_.size() ; ++i)
00079         states_[i] = si_->cloneState(other.states_[i]);
00080 
00081     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00082     for (unsigned int i = 0 ; i < controls_.size() ; ++i)
00083         controls_[i] = si->cloneControl(other.controls_[i]);
00084 
00085     controlDurations_ = other.controlDurations_;
00086 }
00087 
00088 double ompl::control::PathControl::length(void) const
00089 {
00090     return std::accumulate(controlDurations_.begin(), controlDurations_.end(), 0.0);
00091 }
00092 
00093 void ompl::control::PathControl::print(std::ostream &out) const
00094 {
00095     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00096     double res = si->getPropagationStepSize();
00097     out << "Control path with " << states_.size() << " states" << std::endl;
00098     for (unsigned int i = 0 ; i < controls_.size() ; ++i)
00099     {
00100         out << "At state ";
00101         si_->printState(states_[i], out);
00102         out << "  apply control ";
00103         si->printControl(controls_[i], out);
00104         out << "  for " << (int)floor(0.5 + controlDurations_[i]/res) << " steps" << std::endl;
00105     }
00106     out << "Arrive at state ";
00107     si_->printState(states_[controls_.size()], out);
00108     out << std::endl;
00109 }
00110 
00111 void ompl::control::PathControl::interpolate(void)
00112 {
00113     if (states_.size() <= controls_.size())
00114     {
00115         logError("Interpolation not performed.  Number of states in the path should be strictly greater than the number of controls.");
00116         return;
00117     }
00118 
00119     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00120     std::vector<base::State*> newStates;
00121     std::vector<Control*> newControls;
00122     std::vector<double> newControlDurations;
00123 
00124     double res = si->getPropagationStepSize();
00125     for (unsigned int  i = 0 ; i < controls_.size() ; ++i)
00126     {
00127         int steps = (int)floor(0.5 + controlDurations_[i] / res);
00128         assert(steps >= 0);
00129         if (steps <= 1)
00130         {
00131             newStates.push_back(states_[i]);
00132             newControls.push_back(controls_[i]);
00133             newControlDurations.push_back(controlDurations_[i]);
00134             continue;
00135         }
00136         std::vector<base::State*> istates;
00137         si->propagate(states_[i], controls_[i], steps, istates, true);
00138         // last state is already in the non-interpolated path
00139         if (!istates.empty())
00140         {
00141             si_->freeState(istates.back());
00142             istates.pop_back();
00143         }
00144         newStates.push_back(states_[i]);
00145         newStates.insert(newStates.end(), istates.begin(), istates.end());
00146         newControls.push_back(controls_[i]);
00147         newControlDurations.push_back(res);
00148         for (int j = 1 ; j < steps; ++j)
00149         {
00150             newControls.push_back(si->cloneControl(controls_[i]));
00151             newControlDurations.push_back(res);
00152         }
00153     }
00154     newStates.push_back(states_[controls_.size()]);
00155     states_.swap(newStates);
00156     controls_.swap(newControls);
00157     controlDurations_.swap(newControlDurations);
00158 }
00159 
00160 bool ompl::control::PathControl::check(void) const
00161 {
00162     if (controls_.empty())
00163     {
00164         if (states_.size() == 1)
00165             return si_->isValid(states_[0]);
00166         else
00167             return false;
00168     }
00169 
00170     bool valid = true;
00171     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00172     double res = si->getPropagationStepSize();
00173     base::State *dummy = si_->allocState();
00174     for (unsigned int  i = 0 ; valid && i < controls_.size() ; ++i)
00175     {
00176         unsigned int steps = (unsigned int)floor(0.5 + controlDurations_[i] / res);
00177         if (!si->isValid(states_[i]) || si->propagateWhileValid(states_[i], controls_[i], steps, dummy) != steps)
00178             valid = false;
00179     }
00180     si_->freeState(dummy);
00181 
00182     return valid;
00183 }
00184 
00185 void ompl::control::PathControl::append(const base::State *state)
00186 {
00187     states_.push_back(si_->cloneState(state));
00188 }
00189 
00190 void ompl::control::PathControl::append(const base::State *state, const Control *control, double duration)
00191 {
00192     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00193     states_.push_back(si->cloneState(state));
00194     controls_.push_back(si->cloneControl(control));
00195     controlDurations_.push_back(duration);
00196 }
00197 
00198 void ompl::control::PathControl::random(void)
00199 {
00200     freeMemory();
00201     states_.resize(2);
00202     controlDurations_.resize(1);
00203     controls_.resize(1);
00204 
00205     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00206     states_[0] = si->allocState();
00207     states_[1] = si->allocState();
00208     controls_[0] = si->allocControl();
00209 
00210     base::StateSamplerPtr ss = si->allocStateSampler();
00211     ss->sampleUniform(states_[0]);
00212     ControlSamplerPtr cs = si->allocControlSampler();
00213     cs->sample(controls_[0], states_[0]);
00214     unsigned int steps = cs->sampleStepCount(si->getMinControlDuration(), si->getMaxControlDuration());
00215     controlDurations_[0] = steps * si->getPropagationStepSize();
00216     si->propagate(states_[0], controls_[0], steps, states_[1]);
00217 }
00218 
00219 bool ompl::control::PathControl::randomValid(unsigned int attempts)
00220 {
00221     freeMemory();
00222     states_.resize(2);
00223     controlDurations_.resize(1);
00224     controls_.resize(1);
00225 
00226     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00227     states_[0] = si->allocState();
00228     states_[1] = si->allocState();
00229     controls_[0] = si->allocControl();
00230 
00231     ControlSamplerPtr cs = si->allocControlSampler();
00232     base::UniformValidStateSampler *uvss = new base::UniformValidStateSampler(si);
00233     uvss->setNrAttempts(attempts);
00234     bool ok = false;
00235     for (unsigned int i = 0 ; i < attempts ; ++i)
00236         if (uvss->sample(states_[0]))
00237         {
00238             cs->sample(controls_[0], states_[0]);
00239             unsigned int steps = cs->sampleStepCount(si->getMinControlDuration(), si->getMaxControlDuration());
00240             controlDurations_[0] = steps * si->getPropagationStepSize();
00241             if (si->propagateWhileValid(states_[0], controls_[0], steps, states_[1]) == steps)
00242             {
00243                 ok = true;
00244                 break;
00245             }
00246         }
00247     delete uvss;
00248 
00249     if (!ok)
00250     {
00251         freeMemory();
00252         states_.clear();
00253         controls_.clear();
00254         controlDurations_.clear();
00255     }
00256     return ok;
00257 }
00258 
00259 void ompl::control::PathControl::freeMemory(void)
00260 {
00261     for (unsigned int i = 0 ; i < states_.size() ; ++i)
00262         si_->freeState(states_[i]);
00263     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00264     for (unsigned int i = 0 ; i < controls_.size() ; ++i)
00265         si->freeControl(controls_[i]);
00266 }
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Defines