ompl/extensions/opende/src/OpenDESimpleSetup.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/extensions/opende/OpenDESimpleSetup.h"
00038 #include "ompl/util/Exception.h"
00039 #include <boost/thread.hpp>
00040 
00041 ompl::control::OpenDESimpleSetup::OpenDESimpleSetup(const ControlSpacePtr &space) : SimpleSetup(space)
00042 {
00043     if (!dynamic_cast<OpenDEControlSpace*>(space.get()))
00044         throw Exception("OpenDE Control Space needed for OpenDE Simple Setup");
00045     useEnvParams();
00046 }
00047 
00048 ompl::control::OpenDESimpleSetup::OpenDESimpleSetup(const base::StateSpacePtr &space) :
00049     SimpleSetup(ControlSpacePtr(new OpenDEControlSpace(space)))
00050 {
00051     useEnvParams();
00052 }
00053 
00054 ompl::control::OpenDESimpleSetup::OpenDESimpleSetup(const OpenDEEnvironmentPtr &env) :
00055     SimpleSetup(ControlSpacePtr(new OpenDEControlSpace(base::StateSpacePtr(new OpenDEStateSpace(env)))))
00056 {
00057     useEnvParams();
00058 }
00059 
00060 void ompl::control::OpenDESimpleSetup::useEnvParams()
00061 {
00062     si_->setPropagationStepSize(getStateSpace()->as<OpenDEStateSpace>()->getEnvironment()->stepSize_);
00063     si_->setMinMaxControlDuration(getStateSpace()->as<OpenDEStateSpace>()->getEnvironment()->minControlSteps_,
00064                                   getStateSpace()->as<OpenDEStateSpace>()->getEnvironment()->maxControlSteps_);
00065     si_->setStatePropagator(StatePropagatorPtr(new OpenDEStatePropagator(si_)));
00066 }
00067 
00068 ompl::base::ScopedState<ompl::control::OpenDEStateSpace> ompl::control::OpenDESimpleSetup::getCurrentState() const
00069 {
00070     base::ScopedState<OpenDEStateSpace> current(getStateSpace());
00071     getStateSpace()->as<OpenDEStateSpace>()->readState(current.get());
00072     return current;
00073 }
00074 
00075 void ompl::control::OpenDESimpleSetup::setCurrentState(const base::State *state)
00076 {
00077     getStateSpace()->as<OpenDEStateSpace>()->writeState(state);
00078 }
00079 
00080 void ompl::control::OpenDESimpleSetup::setCurrentState(const base::ScopedState<> &state)
00081 {
00082     getStateSpace()->as<OpenDEStateSpace>()->writeState(state.get());
00083 }
00084 
00085 void ompl::control::OpenDESimpleSetup::setup()
00086 {
00087     if (!si_->getStateValidityChecker())
00088     {
00089         OMPL_INFORM("Using default state validity checker for OpenDE");
00090         si_->setStateValidityChecker(base::StateValidityCheckerPtr(new OpenDEStateValidityChecker(si_)));
00091     }
00092     if (pdef_->getStartStateCount() == 0)
00093     {
00094         OMPL_INFORM("Using the initial state of OpenDE as the starting state for the planner");
00095         pdef_->addStartState(getCurrentState());
00096     }
00097     SimpleSetup::setup();
00098 }
00099 
00100 void ompl::control::OpenDESimpleSetup::playSolutionPath(double timeFactor) const
00101 {
00102     if (haveSolutionPath())
00103         playPath(pdef_->getSolutionPath(), timeFactor);
00104 }
00105 
00106 void ompl::control::OpenDESimpleSetup::playPath(const base::PathPtr &path, double timeFactor) const
00107 {
00108     bool ctl = false;
00109     if (dynamic_cast<PathControl*>(path.get()))
00110         ctl = true;
00111     else
00112         if (!dynamic_cast<geometric::PathGeometric*>(path.get()))
00113             throw Exception("Unknown type of path");
00114 
00115     const geometric::PathGeometric &pg = ctl ?
00116         static_cast<PathControl*>(path.get())->asGeometric() : *static_cast<geometric::PathGeometric*>(path.get());
00117 
00118     if (pg.getStateCount() > 0)
00119     {
00120         OMPL_DEBUG("Playing through %u states (%0.3f seconds)", (unsigned int)pg.getStateCount(),
00121                    timeFactor * si_->getPropagationStepSize() * (double)(pg.getStateCount() - 1));
00122         time::duration d = time::seconds(timeFactor * si_->getPropagationStepSize());
00123         getStateSpace()->as<OpenDEStateSpace>()->writeState(pg.getState(0));
00124         for (unsigned int i = 1 ; i < pg.getStateCount() ; ++i)
00125         {
00126             boost::this_thread::sleep(d);
00127             getStateSpace()->as<OpenDEStateSpace>()->writeState(pg.getState(i));
00128         }
00129     }
00130 }
00131 
00132 ompl::base::PathPtr ompl::control::OpenDESimpleSetup::simulateControl(const double *control, unsigned int steps) const
00133 {
00134     Control *c = si_->allocControl();
00135     memcpy(c->as<OpenDEControlSpace::ControlType>()->values, control, sizeof(double) * getControlSpace()->getDimension());
00136     base::PathPtr path = simulateControl(c, steps);
00137     si_->freeControl(c);
00138     return path;
00139 }
00140 
00141 ompl::base::PathPtr ompl::control::OpenDESimpleSetup::simulateControl(const Control *control, unsigned int steps) const
00142 {
00143     PathControl *p = new PathControl(si_);
00144 
00145     base::State *s0 = si_->allocState();
00146     getStateSpace()->as<OpenDEStateSpace>()->readState(s0);
00147     p->getStates().push_back(s0);
00148 
00149     base::State *s1 = si_->allocState();
00150     si_->propagate(s0, control, steps, s1);
00151     p->getStates().push_back(s1);
00152 
00153     p->getControls().push_back(si_->cloneControl(control));
00154     p->getControlDurations().push_back(steps);
00155     return base::PathPtr(p);
00156 }
00157 
00158 ompl::base::PathPtr ompl::control::OpenDESimpleSetup::simulate(unsigned int steps) const
00159 {
00160     Control *c = si_->allocControl();
00161     si_->nullControl(c);
00162     base::PathPtr path = simulateControl(c, steps);
00163     si_->freeControl(c);
00164     return path;
00165 }
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