ompl/geometric/planners/est/src/EST.cpp
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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/est/EST.h" 00038 #include "ompl/base/goals/GoalSampleableRegion.h" 00039 #include "ompl/tools/config/SelfConfig.h" 00040 #include <limits> 00041 #include <cassert> 00042 00043 ompl::geometric::EST::EST(const base::SpaceInformationPtr &si) : base::Planner(si, "EST") 00044 { 00045 specs_.approximateSolutions = true; 00046 specs_.directed = true; 00047 goalBias_ = 0.05; 00048 maxDistance_ = 0.0; 00049 lastGoalMotion_ = NULL; 00050 00051 Planner::declareParam<double>("range", this, &EST::setRange, &EST::getRange, "0.:1.:10000."); 00052 Planner::declareParam<double>("goal_bias", this, &EST::setGoalBias, &EST::getGoalBias, "0.:.05:1."); 00053 } 00054 00055 ompl::geometric::EST::~EST() 00056 { 00057 freeMemory(); 00058 } 00059 00060 void ompl::geometric::EST::setup() 00061 { 00062 Planner::setup(); 00063 tools::SelfConfig sc(si_, getName()); 00064 sc.configureProjectionEvaluator(projectionEvaluator_); 00065 sc.configurePlannerRange(maxDistance_); 00066 00067 tree_.grid.setDimension(projectionEvaluator_->getDimension()); 00068 } 00069 00070 void ompl::geometric::EST::clear() 00071 { 00072 Planner::clear(); 00073 sampler_.reset(); 00074 freeMemory(); 00075 tree_.grid.clear(); 00076 tree_.size = 0; 00077 pdf_.clear(); 00078 lastGoalMotion_ = NULL; 00079 } 00080 00081 void ompl::geometric::EST::freeMemory() 00082 { 00083 for (Grid<MotionInfo>::iterator it = tree_.grid.begin(); it != tree_.grid.end() ; ++it) 00084 { 00085 for (unsigned int i = 0 ; i < it->second->data.size() ; ++i) 00086 { 00087 if (it->second->data[i]->state) 00088 si_->freeState(it->second->data[i]->state); 00089 delete it->second->data[i]; 00090 } 00091 } 00092 } 00093 00094 ompl::base::PlannerStatus ompl::geometric::EST::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 addMotion(motion); 00105 } 00106 00107 if (tree_.grid.size() == 0) 00108 { 00109 OMPL_ERROR("%s: There are no valid initial states!", getName().c_str()); 00110 return base::PlannerStatus::INVALID_START; 00111 } 00112 00113 if (!sampler_) 00114 sampler_ = si_->allocValidStateSampler(); 00115 00116 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), tree_.size); 00117 00118 Motion *solution = NULL; 00119 Motion *approxsol = NULL; 00120 double approxdif = std::numeric_limits<double>::infinity(); 00121 base::State *xstate = si_->allocState(); 00122 00123 while (ptc == false) 00124 { 00125 /* Decide on a state to expand from */ 00126 Motion *existing = selectMotion(); 00127 assert(existing); 00128 00129 /* sample random state (with goal biasing) */ 00130 if (goal_s && rng_.uniform01() < goalBias_ && goal_s->canSample()) 00131 goal_s->sampleGoal(xstate); 00132 else 00133 if (!sampler_->sampleNear(xstate, existing->state, maxDistance_)) 00134 continue; 00135 00136 if (si_->checkMotion(existing->state, xstate)) 00137 { 00138 /* create a motion */ 00139 Motion *motion = new Motion(si_); 00140 si_->copyState(motion->state, xstate); 00141 motion->parent = existing; 00142 00143 addMotion(motion); 00144 double dist = 0.0; 00145 bool solved = goal->isSatisfied(motion->state, &dist); 00146 if (solved) 00147 { 00148 approxdif = dist; 00149 solution = motion; 00150 break; 00151 } 00152 if (dist < approxdif) 00153 { 00154 approxdif = dist; 00155 approxsol = motion; 00156 } 00157 } 00158 } 00159 00160 bool solved = false; 00161 bool approximate = false; 00162 if (solution == NULL) 00163 { 00164 solution = approxsol; 00165 approximate = true; 00166 } 00167 00168 if (solution != NULL) 00169 { 00170 lastGoalMotion_ = solution; 00171 00172 /* construct the solution path */ 00173 std::vector<Motion*> mpath; 00174 while (solution != NULL) 00175 { 00176 mpath.push_back(solution); 00177 solution = solution->parent; 00178 } 00179 00180 /* set the solution path */ 00181 PathGeometric *path = new PathGeometric(si_); 00182 for (int i = mpath.size() - 1 ; i >= 0 ; --i) 00183 path->append(mpath[i]->state); 00184 pdef_->addSolutionPath(base::PathPtr(path), approximate, approxdif, getName()); 00185 solved = true; 00186 } 00187 00188 si_->freeState(xstate); 00189 00190 OMPL_INFORM("%s: Created %u states in %u cells", getName().c_str(), tree_.size, tree_.grid.size()); 00191 00192 return base::PlannerStatus(solved, approximate); 00193 } 00194 00195 ompl::geometric::EST::Motion* ompl::geometric::EST::selectMotion() 00196 { 00197 GridCell* cell = pdf_.sample(rng_.uniform01()); 00198 return cell && !cell->data.empty() ? cell->data[rng_.uniformInt(0, cell->data.size() - 1)] : NULL; 00199 } 00200 00201 void ompl::geometric::EST::addMotion(Motion *motion) 00202 { 00203 Grid<MotionInfo>::Coord coord; 00204 projectionEvaluator_->computeCoordinates(motion->state, coord); 00205 GridCell* cell = tree_.grid.getCell(coord); 00206 if (cell) 00207 { 00208 cell->data.push_back(motion); 00209 pdf_.update(cell->data.elem_, 1.0/cell->data.size()); 00210 } 00211 else 00212 { 00213 cell = tree_.grid.createCell(coord); 00214 cell->data.push_back(motion); 00215 tree_.grid.add(cell); 00216 cell->data.elem_ = pdf_.add(cell, 1.0); 00217 } 00218 tree_.size++; 00219 } 00220 00221 void ompl::geometric::EST::getPlannerData(base::PlannerData &data) const 00222 { 00223 Planner::getPlannerData(data); 00224 00225 std::vector<MotionInfo> motions; 00226 tree_.grid.getContent(motions); 00227 00228 if (lastGoalMotion_) 00229 data.addGoalVertex(base::PlannerDataVertex(lastGoalMotion_->state)); 00230 00231 for (unsigned int i = 0 ; i < motions.size() ; ++i) 00232 for (unsigned int j = 0 ; j < motions[i].size() ; ++j) 00233 { 00234 if (motions[i][j]->parent == NULL) 00235 data.addStartVertex(base::PlannerDataVertex(motions[i][j]->state)); 00236 else 00237 data.addEdge(base::PlannerDataVertex(motions[i][j]->parent->state), 00238 base::PlannerDataVertex(motions[i][j]->state)); 00239 } 00240 }