ompl/geometric/planners/rrt/src/LazyRRT.cpp
00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, 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/geometric/planners/rrt/LazyRRT.h" 00038 #include "ompl/base/goals/GoalSampleableRegion.h" 00039 #include "ompl/tools/config/SelfConfig.h" 00040 #include <cassert> 00041 00042 ompl::geometric::LazyRRT::LazyRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "LazyRRT") 00043 { 00044 specs_.directed = true; 00045 goalBias_ = 0.05; 00046 maxDistance_ = 0.0; 00047 lastGoalMotion_ = NULL; 00048 00049 Planner::declareParam<double>("range", this, &LazyRRT::setRange, &LazyRRT::getRange, "0.:1.:10000."); 00050 Planner::declareParam<double>("goal_bias", this, &LazyRRT::setGoalBias, &LazyRRT::getGoalBias, "0.:.05:1."); 00051 } 00052 00053 ompl::geometric::LazyRRT::~LazyRRT() 00054 { 00055 freeMemory(); 00056 } 00057 00058 void ompl::geometric::LazyRRT::setup() 00059 { 00060 Planner::setup(); 00061 tools::SelfConfig sc(si_, getName()); 00062 sc.configurePlannerRange(maxDistance_); 00063 00064 if (!nn_) 00065 nn_.reset(tools::SelfConfig::getDefaultNearestNeighbors<Motion*>(si_->getStateSpace())); 00066 nn_->setDistanceFunction(boost::bind(&LazyRRT::distanceFunction, this, _1, _2)); 00067 } 00068 00069 void ompl::geometric::LazyRRT::clear() 00070 { 00071 Planner::clear(); 00072 sampler_.reset(); 00073 freeMemory(); 00074 if (nn_) 00075 nn_->clear(); 00076 lastGoalMotion_ = NULL; 00077 } 00078 00079 void ompl::geometric::LazyRRT::freeMemory() 00080 { 00081 if (nn_) 00082 { 00083 std::vector<Motion*> motions; 00084 nn_->list(motions); 00085 for (unsigned int i = 0 ; i < motions.size() ; ++i) 00086 { 00087 if (motions[i]->state) 00088 si_->freeState(motions[i]->state); 00089 delete motions[i]; 00090 } 00091 } 00092 } 00093 00094 ompl::base::PlannerStatus ompl::geometric::LazyRRT::solve(const base::PlannerTerminationCondition &ptc) 00095 { 00096 checkValidity(); 00097 base::Goal *goal = pdef_->getGoal().get(); 00098 base::GoalSampleableRegion *goal_s = dynamic_cast<base::GoalSampleableRegion*>(goal); 00099 00100 while (const base::State *st = pis_.nextStart()) 00101 { 00102 Motion *motion = new Motion(si_); 00103 si_->copyState(motion->state, st); 00104 motion->valid = true; 00105 nn_->add(motion); 00106 } 00107 00108 if (nn_->size() == 0) 00109 { 00110 OMPL_ERROR("%s: There are no valid initial states!", getName().c_str()); 00111 return base::PlannerStatus::INVALID_START; 00112 } 00113 00114 if (!sampler_) 00115 sampler_ = si_->allocStateSampler(); 00116 00117 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size()); 00118 00119 Motion *solution = NULL; 00120 double distsol = -1.0; 00121 Motion *rmotion = new Motion(si_); 00122 base::State *rstate = rmotion->state; 00123 base::State *xstate = si_->allocState(); 00124 00125 bool solutionFound = false; 00126 00127 while (ptc == false && !solutionFound) 00128 { 00129 /* sample random state (with goal biasing) */ 00130 if (goal_s && rng_.uniform01() < goalBias_ && goal_s->canSample()) 00131 goal_s->sampleGoal(rstate); 00132 else 00133 sampler_->sampleUniform(rstate); 00134 00135 /* find closest state in the tree */ 00136 Motion *nmotion = nn_->nearest(rmotion); 00137 assert(nmotion != rmotion); 00138 base::State *dstate = rstate; 00139 00140 /* find state to add */ 00141 double d = si_->distance(nmotion->state, rstate); 00142 if (d > maxDistance_) 00143 { 00144 si_->getStateSpace()->interpolate(nmotion->state, rstate, maxDistance_ / d, xstate); 00145 dstate = xstate; 00146 } 00147 00148 /* create a motion */ 00149 Motion *motion = new Motion(si_); 00150 si_->copyState(motion->state, dstate); 00151 motion->parent = nmotion; 00152 nmotion->children.push_back(motion); 00153 nn_->add(motion); 00154 00155 double dist = 0.0; 00156 if (goal->isSatisfied(motion->state, &dist)) 00157 { 00158 distsol = dist; 00159 solution = motion; 00160 solutionFound = true; 00161 lastGoalMotion_ = solution; 00162 00163 // Check that the solution is valid: 00164 // construct the solution path 00165 std::vector<Motion*> mpath; 00166 while (solution != NULL) 00167 { 00168 mpath.push_back(solution); 00169 solution = solution->parent; 00170 } 00171 00172 // check each segment along the path for validity 00173 for (int i = mpath.size() - 1 ; i >= 0 && solutionFound; --i) 00174 if (!mpath[i]->valid) 00175 { 00176 if (si_->checkMotion(mpath[i]->parent->state, mpath[i]->state)) 00177 mpath[i]->valid = true; 00178 else 00179 { 00180 removeMotion(mpath[i]); 00181 solutionFound = false; 00182 lastGoalMotion_ = NULL; 00183 } 00184 } 00185 00186 if (solutionFound) 00187 { 00188 // set the solution path 00189 PathGeometric *path = new PathGeometric(si_); 00190 for (int i = mpath.size() - 1 ; i >= 0 ; --i) 00191 path->append(mpath[i]->state); 00192 00193 pdef_->addSolutionPath(base::PathPtr(path), false, distsol, getName()); 00194 } 00195 } 00196 } 00197 00198 si_->freeState(xstate); 00199 si_->freeState(rstate); 00200 delete rmotion; 00201 00202 OMPL_INFORM("%s: Created %u states", getName().c_str(), nn_->size()); 00203 00204 return solutionFound ? base::PlannerStatus::EXACT_SOLUTION : base::PlannerStatus::TIMEOUT; 00205 } 00206 00207 void ompl::geometric::LazyRRT::removeMotion(Motion *motion) 00208 { 00209 nn_->remove(motion); 00210 00211 /* remove self from parent list */ 00212 00213 if (motion->parent) 00214 { 00215 for (unsigned int i = 0 ; i < motion->parent->children.size() ; ++i) 00216 if (motion->parent->children[i] == motion) 00217 { 00218 motion->parent->children.erase(motion->parent->children.begin() + i); 00219 break; 00220 } 00221 } 00222 00223 /* remove children */ 00224 for (unsigned int i = 0 ; i < motion->children.size() ; ++i) 00225 { 00226 motion->children[i]->parent = NULL; 00227 removeMotion(motion->children[i]); 00228 } 00229 00230 if (motion->state) 00231 si_->freeState(motion->state); 00232 delete motion; 00233 } 00234 00235 void ompl::geometric::LazyRRT::getPlannerData(base::PlannerData &data) const 00236 { 00237 Planner::getPlannerData(data); 00238 00239 std::vector<Motion*> motions; 00240 if (nn_) 00241 nn_->list(motions); 00242 00243 if (lastGoalMotion_) 00244 data.addGoalVertex(base::PlannerDataVertex(lastGoalMotion_->state, 1)); 00245 00246 for (unsigned int i = 0 ; i < motions.size() ; ++i) 00247 { 00248 if (motions[i]->parent == NULL) 00249 data.addStartVertex(base::PlannerDataVertex(motions[i]->state)); 00250 else 00251 data.addEdge(base::PlannerDataVertex(motions[i]->parent ? motions[i]->parent->state : NULL), 00252 base::PlannerDataVertex(motions[i]->state)); 00253 00254 data.tagState(motions[i]->state, motions[i]->valid ? 1 : 0); 00255 } 00256 }