demos/CForestCircleGridBenchmark.cpp
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00034 
00035 /* Author: Javier V. Gomez, Mark Moll */
00036 
00037 #include <ompl/base/spaces/DubinsStateSpace.h>
00038 #include <ompl/base/spaces/ReedsSheppStateSpace.h>
00039 #include <ompl/geometric/planners/rrt/RRTstar.h>
00040 #include <ompl/geometric/planners/cforest/CForest.h>
00041 #include <ompl/base/objectives/PathLengthOptimizationObjective.h>
00042 #include <ompl/geometric/SimpleSetup.h>
00043 #include <ompl/tools/benchmark/Benchmark.h>
00044 #include <boost/program_options.hpp>
00045 
00046 namespace ob = ompl::base;
00047 namespace og = ompl::geometric;
00048 namespace ot = ompl::tools;
00049 namespace po = boost::program_options;
00050 
00051 ompl::base::OptimizationObjectivePtr getPathLengthObjective(const ompl::base::SpaceInformationPtr& si)
00052 {
00053     return ompl::base::OptimizationObjectivePtr(new ompl::base::PathLengthOptimizationObjective(si));
00054 }
00055 
00056 bool isStateValid(double radiusSquared, const ob::State *state)
00057 {
00058     const ob::SE2StateSpace::StateType *s = state->as<ob::SE2StateSpace::StateType>();
00059     double x=s->getX(), y=s->getY();
00060     x = std::abs(x - std::floor(x));
00061     y = std::abs(y - std::floor(y));
00062     x = std::min(x, 1. - x);
00063     y = std::min(y, 1. - y);
00064     return x*x + y*y > radiusSquared;
00065 }
00066 
00067 int main(int argc, char **argv)
00068 {
00069     int distance, gridLimit, runCount;
00070     double obstacleRadius, turningRadius, runtimeLimit;
00071 
00072     ob::StateSpacePtr space(new ob::SE2StateSpace());
00073 
00074     po::options_description desc("Options");
00075 
00076     desc.add_options()
00077         ("help", "show help message")
00078         ("dubins", "use Dubins state space")
00079         ("dubinssym", "use symmetrized Dubins state space")
00080         ("reedsshepp", "use Reeds-Shepp state space")
00081         ("distance", po::value<int>(&distance)->default_value(3), "integer grid distance between start and goal")
00082         ("obstacle-radius", po::value<double>(&obstacleRadius)->default_value(.25), "radius of obstacles")
00083         ("turning-radius", po::value<double>(&turningRadius)->default_value(.5), "turning radius of robot (ignored for default point robot)")
00084         ("grid-limit", po::value<int>(&gridLimit)->default_value(10), "size of the grid")
00085         ("runtime-limit", po::value<double>(&runtimeLimit)->default_value(2), "time limit for every test")
00086         ("run-count", po::value<int>(&runCount)->default_value(100), "number of times to run each planner")
00087     ;
00088 
00089     po::variables_map vm;
00090     po::store(po::parse_command_line(argc, argv, desc), vm);
00091     po::notify(vm);
00092 
00093     if (vm.count("help"))
00094     {
00095         std::cout << desc << "\n";
00096         return 1;
00097     }
00098 
00099     if (vm.count("dubins"))
00100         space = ob::StateSpacePtr(new ob::DubinsStateSpace(turningRadius));
00101     if (vm.count("dubinssym"))
00102         space = ob::StateSpacePtr(new ob::DubinsStateSpace(turningRadius, true));
00103     if (vm.count("reedsshepp"))
00104         space = ob::StateSpacePtr(new ob::ReedsSheppStateSpace(turningRadius));
00105 
00106     // set the bounds for the R^2 part of SE(2)
00107     ob::RealVectorBounds bounds(2);
00108     bounds.setLow(-.5 * gridLimit);
00109     bounds.setHigh(.5 * gridLimit);
00110     space->as<ob::SE2StateSpace>()->setBounds(bounds);
00111 
00112     // define a simple setup class
00113     og::SimpleSetup ss(space);
00114 
00115     // set state validity checking for this space
00116     ss.setStateValidityChecker(boost::bind(&isStateValid, obstacleRadius*obstacleRadius, _1));
00117 
00118     // define start & goal states
00119     ob::ScopedState<ob::SE2StateSpace> start(space), goal(space);
00120     start->setXY(0., 0.5);
00121     start->setYaw(0.);
00122     goal->setXY(0., (double)distance + .5);
00123     goal->setYaw(0);
00124     ss.setStartAndGoalStates(start, goal);
00125 
00126     // setting collision checking resolution to 0.05 (absolute)
00127     ss.getSpaceInformation()->setStateValidityCheckingResolution(0.05 / gridLimit);
00128     ss.getProblemDefinition()->setOptimizationObjective(getPathLengthObjective(ss.getSpaceInformation()));
00129 
00130     // by default, use the Benchmark class
00131     double memoryLimit = 4096;
00132     ot::Benchmark::Request request(runtimeLimit, memoryLimit, runCount);
00133     ot::Benchmark b(ss, "CircleGrid");
00134 
00135     b.addPlanner(ob::PlannerPtr(new og::RRTstar(ss.getSpaceInformation())));
00136     b.addPlanner(ob::PlannerPtr(new og::CForest(ss.getSpaceInformation())));
00137     b.benchmark(request);
00138     b.saveResultsToFile("circleGrid.log");
00139 
00140     exit(0);
00141 }
00142 
00143 
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