demos/Koules/Koules.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: Beck Chen, Mark Moll */ 00036 00066 #include "KoulesConfig.h" 00067 #include "KoulesSetup.h" 00068 #include "KoulesStateSpace.h" 00069 #include <ompl/tools/benchmark/Benchmark.h> 00070 #include <ompl/config.h> 00071 #include <boost/program_options.hpp> 00072 #include <boost/format.hpp> 00073 #include <fstream> 00074 00075 namespace ob = ompl::base; 00076 namespace oc = ompl::control; 00077 namespace ot = ompl::tools; 00078 namespace po = boost::program_options; 00079 00080 void writeParams(std::ostream& out) 00081 { 00082 out << sideLength << ' ' << shipRadius << ' ' << kouleRadius << ' ' << ' ' 00083 << propagationStepSize << ' ' << shipAcceleration << ' ' << shipRotVel << ' ' 00084 << shipDelta << ' ' << shipEps << std::endl; 00085 } 00086 00087 void plan(KoulesSetup& ks, double maxTime, const std::string& outputFile) 00088 { 00089 if (ks.solve(maxTime)) 00090 { 00091 std::ofstream out(outputFile.c_str()); 00092 oc::PathControl path(ks.getSolutionPath()); 00093 path.interpolate(); 00094 if (!path.check()) 00095 OMPL_ERROR("Path is invalid"); 00096 writeParams(out); 00097 path.printAsMatrix(out); 00098 if (!ks.haveExactSolutionPath()) 00099 OMPL_INFORM("Solution is approximate. Distance to actual goal is %g", 00100 ks.getProblemDefinition()->getSolutionDifference()); 00101 OMPL_INFORM("Output saved in %s", outputFile.c_str()); 00102 } 00103 00104 #if 0 00105 // Get the planner data, save the ship's (x,y) coordinates to one file and 00106 // the edge information to another file. This can be used for debugging 00107 // purposes; plotting the tree of states might give you some idea of 00108 // a planner's strategy. 00109 ob::PlannerData pd(ks.getSpaceInformation()); 00110 ks.getPlannerData(pd); 00111 std::ofstream vertexFile((outputFile + "-vertices").c_str()), edgeFile((outputFile + "-edges").c_str()); 00112 double* coords; 00113 unsigned numVerts = pd.numVertices(); 00114 std::vector<unsigned int> edgeList; 00115 00116 for (unsigned int i = 0; i < numVerts; ++i) 00117 { 00118 coords = pd.getVertex(i).getState()->as<KoulesStateSpace::StateType>()->values; 00119 vertexFile << coords[0] << ' ' << coords[1] << '\n'; 00120 00121 pd.getEdges(i, edgeList); 00122 for (unsigned int j = 0; j < edgeList.size(); ++j) 00123 edgeFile << i << ' ' << edgeList[j] << '\n'; 00124 } 00125 #endif 00126 } 00127 00128 00129 void benchmark(KoulesSetup& ks, ot::Benchmark::Request request, 00130 const std::string& plannerName, const std::string& outputFile) 00131 { 00132 // Create a benchmark class 00133 ompl::tools::Benchmark b(ks, "Koules experiment"); 00134 // Add the planner to evaluate 00135 b.addPlanner(ks.getConfiguredPlannerInstance(plannerName)); 00136 // Start benchmark 00137 b.benchmark(request); 00138 // Save the results 00139 b.saveResultsToFile(outputFile.c_str()); 00140 OMPL_INFORM("Output saved in %s", outputFile.c_str()); 00141 } 00142 00143 int main(int argc, char **argv) 00144 { 00145 try 00146 { 00147 unsigned int numKoules, numRuns; 00148 double maxTime, kouleVel; 00149 std::string plannerName, outputFile; 00150 po::options_description desc("Options"); 00151 desc.add_options() 00152 ("help", "show help message") 00153 ("plan", "solve the game of koules") 00154 ("benchmark", "benchmark the game of koules") 00155 ("numkoules", po::value<unsigned int>(&numKoules)->default_value(3), 00156 "start from <numkoules> koules") 00157 ("maxtime", po::value<double>(&maxTime)->default_value(10.), 00158 "time limit in seconds") 00159 ("output", po::value<std::string>(&outputFile), "output file name") 00160 ("numruns", po::value<unsigned int>(&numRuns)->default_value(10), 00161 "number of runs for each planner in benchmarking mode") 00162 ("planner", po::value<std::string>(&plannerName)->default_value("kpiece"), 00163 "planning algorithm to use (pdst, kpiece, rrt, or est)") 00164 ("velocity", po::value<double>(&kouleVel)->default_value(0.), 00165 "initial velocity of each koule") 00166 ; 00167 00168 po::variables_map vm; 00169 po::store(po::parse_command_line(argc, argv, desc, 00170 po::command_line_style::unix_style ^ po::command_line_style::allow_short), vm); 00171 po::notify(vm); 00172 00173 KoulesSetup ks(numKoules, plannerName, kouleVel); 00174 if (vm.count("help") || argc == 1) 00175 { 00176 std::cout << "Solve the games of Koules.\nSelect one of these two options:\n" 00177 << "\"--plan\", or \"--benchmark\"\n\n" << desc << "\n"; 00178 return 1; 00179 } 00180 00181 if (outputFile.size() == 0) 00182 { 00183 std::string prefix(vm.count("plan") ? "koules_" : "koulesBenchmark_"); 00184 outputFile = boost::str(boost::format("%1%%2%_%3%_%4%.dat") 00185 % prefix % numKoules % plannerName % maxTime); 00186 } 00187 if (vm.count("plan")) 00188 plan(ks, maxTime, outputFile); 00189 else if (vm.count("benchmark")) 00190 benchmark(ks, ot::Benchmark::Request(maxTime, 10000.0, numRuns), 00191 plannerName, outputFile); 00192 } 00193 catch(std::exception& e) { 00194 std::cerr << "Error: " << e.what() << "\n"; 00195 return 1; 00196 } 00197 catch(...) { 00198 std::cerr << "Exception of unknown type!\n"; 00199 } 00200 00201 return 0; 00202 }