ompl/geometric/planners/rrt/src/pRRT.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/rrt/pRRT.h" 00038 #include "ompl/base/goals/GoalSampleableRegion.h" 00039 #include "ompl/tools/config/SelfConfig.h" 00040 #include <boost/thread/thread.hpp> 00041 #include <limits> 00042 00043 ompl::geometric::pRRT::pRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "pRRT"), 00044 samplerArray_(si) 00045 { 00046 specs_.approximateSolutions = true; 00047 specs_.multithreaded = true; 00048 specs_.directed = true; 00049 00050 setThreadCount(2); 00051 goalBias_ = 0.05; 00052 maxDistance_ = 0.0; 00053 lastGoalMotion_ = NULL; 00054 00055 Planner::declareParam<double>("range", this, &pRRT::setRange, &pRRT::getRange, "0.:1.:10000."); 00056 Planner::declareParam<double>("goal_bias", this, &pRRT::setGoalBias, &pRRT::getGoalBias, "0.:.05:1."); 00057 Planner::declareParam<unsigned int>("thread_count", this, &pRRT::setThreadCount, &pRRT::getThreadCount, "1:64"); 00058 } 00059 00060 ompl::geometric::pRRT::~pRRT() 00061 { 00062 freeMemory(); 00063 } 00064 00065 void ompl::geometric::pRRT::setup() 00066 { 00067 Planner::setup(); 00068 tools::SelfConfig sc(si_, getName()); 00069 sc.configurePlannerRange(maxDistance_); 00070 00071 if (!nn_) 00072 nn_.reset(tools::SelfConfig::getDefaultNearestNeighbors<Motion*>(si_->getStateSpace())); 00073 nn_->setDistanceFunction(boost::bind(&pRRT::distanceFunction, this, _1, _2)); 00074 } 00075 00076 void ompl::geometric::pRRT::clear() 00077 { 00078 Planner::clear(); 00079 samplerArray_.clear(); 00080 freeMemory(); 00081 if (nn_) 00082 nn_->clear(); 00083 lastGoalMotion_ = NULL; 00084 } 00085 00086 void ompl::geometric::pRRT::freeMemory() 00087 { 00088 if (nn_) 00089 { 00090 std::vector<Motion*> motions; 00091 nn_->list(motions); 00092 for (unsigned int i = 0 ; i < motions.size() ; ++i) 00093 { 00094 if (motions[i]->state) 00095 si_->freeState(motions[i]->state); 00096 delete motions[i]; 00097 } 00098 } 00099 } 00100 00101 void ompl::geometric::pRRT::threadSolve(unsigned int tid, const base::PlannerTerminationCondition &ptc, SolutionInfo *sol) 00102 { 00103 base::Goal *goal = pdef_->getGoal().get(); 00104 base::GoalSampleableRegion *goal_s = dynamic_cast<base::GoalSampleableRegion*>(goal); 00105 RNG rng; 00106 00107 Motion *rmotion = new Motion(si_); 00108 base::State *rstate = rmotion->state; 00109 base::State *xstate = si_->allocState(); 00110 00111 while (sol->solution == NULL && ptc == false) 00112 { 00113 /* sample random state (with goal biasing) */ 00114 if (goal_s && rng.uniform01() < goalBias_ && goal_s->canSample()) 00115 goal_s->sampleGoal(rstate); 00116 else 00117 samplerArray_[tid]->sampleUniform(rstate); 00118 00119 /* find closest state in the tree */ 00120 nnLock_.lock(); 00121 Motion *nmotion = nn_->nearest(rmotion); 00122 nnLock_.unlock(); 00123 base::State *dstate = rstate; 00124 00125 /* find state to add */ 00126 double d = si_->distance(nmotion->state, rstate); 00127 if (d > maxDistance_) 00128 { 00129 si_->getStateSpace()->interpolate(nmotion->state, rstate, maxDistance_ / d, xstate); 00130 dstate = xstate; 00131 } 00132 00133 if (si_->checkMotion(nmotion->state, dstate)) 00134 { 00135 /* create a motion */ 00136 Motion *motion = new Motion(si_); 00137 si_->copyState(motion->state, dstate); 00138 motion->parent = nmotion; 00139 00140 nnLock_.lock(); 00141 nn_->add(motion); 00142 nnLock_.unlock(); 00143 00144 double dist = 0.0; 00145 bool solved = goal->isSatisfied(motion->state, &dist); 00146 if (solved) 00147 { 00148 sol->lock.lock(); 00149 sol->approxdif = dist; 00150 sol->solution = motion; 00151 sol->lock.unlock(); 00152 break; 00153 } 00154 if (dist < sol->approxdif) 00155 { 00156 sol->lock.lock(); 00157 if (dist < sol->approxdif) 00158 { 00159 sol->approxdif = dist; 00160 sol->approxsol = motion; 00161 } 00162 sol->lock.unlock(); 00163 } 00164 } 00165 } 00166 00167 si_->freeState(xstate); 00168 if (rmotion->state) 00169 si_->freeState(rmotion->state); 00170 delete rmotion; 00171 } 00172 00173 ompl::base::PlannerStatus ompl::geometric::pRRT::solve(const base::PlannerTerminationCondition &ptc) 00174 { 00175 checkValidity(); 00176 00177 base::GoalRegion *goal = dynamic_cast<base::GoalRegion*>(pdef_->getGoal().get()); 00178 00179 if (!goal) 00180 { 00181 OMPL_ERROR("%s: Unknow type of goal", getName().c_str()); 00182 return base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE; 00183 } 00184 00185 samplerArray_.resize(threadCount_); 00186 00187 while (const base::State *st = pis_.nextStart()) 00188 { 00189 Motion *motion = new Motion(si_); 00190 si_->copyState(motion->state, st); 00191 nn_->add(motion); 00192 } 00193 00194 if (nn_->size() == 0) 00195 { 00196 OMPL_ERROR("%s: There are no valid initial states!", getName().c_str()); 00197 return base::PlannerStatus::INVALID_START; 00198 } 00199 00200 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size()); 00201 00202 SolutionInfo sol; 00203 sol.solution = NULL; 00204 sol.approxsol = NULL; 00205 sol.approxdif = std::numeric_limits<double>::infinity(); 00206 00207 std::vector<boost::thread*> th(threadCount_); 00208 for (unsigned int i = 0 ; i < threadCount_ ; ++i) 00209 th[i] = new boost::thread(boost::bind(&pRRT::threadSolve, this, i, ptc, &sol)); 00210 for (unsigned int i = 0 ; i < threadCount_ ; ++i) 00211 { 00212 th[i]->join(); 00213 delete th[i]; 00214 } 00215 00216 bool solved = false; 00217 bool approximate = false; 00218 if (sol.solution == NULL) 00219 { 00220 sol.solution = sol.approxsol; 00221 approximate = true; 00222 } 00223 00224 if (sol.solution != NULL) 00225 { 00226 lastGoalMotion_ = sol.solution; 00227 00228 /* construct the solution path */ 00229 std::vector<Motion*> mpath; 00230 while (sol.solution != NULL) 00231 { 00232 mpath.push_back(sol.solution); 00233 sol.solution = sol.solution->parent; 00234 } 00235 00236 /* set the solution path */ 00237 PathGeometric *path = new PathGeometric(si_); 00238 for (int i = mpath.size() - 1 ; i >= 0 ; --i) 00239 path->append(mpath[i]->state); 00240 00241 pdef_->addSolutionPath(base::PathPtr(path), approximate, sol.approxdif, getName()); 00242 solved = true; 00243 } 00244 00245 OMPL_INFORM("%s: Created %u states", getName().c_str(), nn_->size()); 00246 00247 return base::PlannerStatus(solved, approximate); 00248 } 00249 00250 void ompl::geometric::pRRT::getPlannerData(base::PlannerData &data) const 00251 { 00252 Planner::getPlannerData(data); 00253 00254 std::vector<Motion*> motions; 00255 if (nn_) 00256 nn_->list(motions); 00257 00258 if (lastGoalMotion_) 00259 data.addGoalVertex(base::PlannerDataVertex(lastGoalMotion_->state)); 00260 00261 for (unsigned int i = 0 ; i < motions.size() ; ++i) 00262 { 00263 if (motions[i]->parent == NULL) 00264 data.addStartVertex(base::PlannerDataVertex(motions[i]->state)); 00265 else 00266 data.addEdge(base::PlannerDataVertex(motions[i]->parent->state), 00267 base::PlannerDataVertex(motions[i]->state)); 00268 } 00269 } 00270 00271 void ompl::geometric::pRRT::setThreadCount(unsigned int nthreads) 00272 { 00273 assert(nthreads > 0); 00274 threadCount_ = nthreads; 00275 }