demos/HypercubeBenchmark.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: Bryant Gipson, Mark Moll */ 00036 00037 #include <ompl/base/spaces/RealVectorStateSpace.h> 00038 #include <ompl/geometric/planners/rrt/RRT.h> 00039 #include <ompl/geometric/planners/kpiece/KPIECE1.h> 00040 #include <ompl/geometric/planners/est/EST.h> 00041 #include <ompl/geometric/planners/prm/PRM.h> 00042 #include <ompl/geometric/planners/stride/STRIDE.h> 00043 #include <ompl/tools/benchmark/Benchmark.h> 00044 00045 #include <boost/math/constants/constants.hpp> 00046 #include <boost/format.hpp> 00047 #include <fstream> 00048 00049 unsigned ndim = 6; 00050 const double edgeWidth = 0.1; 00051 00052 // Only states near some edges of a hypercube are valid. The valid edges form a 00053 // narrow passage from (0,...,0) to (1,...,1). A state s is valid if there exists 00054 // a k s.t. (a) 0<=s[k]<=1, (b) for all i<k s[i]<=edgeWidth, and (c) for all i>k 00055 // s[i]>=1-edgewidth. 00056 bool isStateValid(const ompl::base::State *state) 00057 { 00058 const ompl::base::RealVectorStateSpace::StateType *s 00059 = static_cast<const ompl::base::RealVectorStateSpace::StateType*>(state); 00060 bool foundMaxDim = false; 00061 00062 for (int i = ndim - 1; i >= 0; i--) 00063 if (!foundMaxDim) 00064 { 00065 if ((*s)[i] > edgeWidth) 00066 foundMaxDim = true; 00067 } 00068 else if ((*s)[i] < (1. - edgeWidth)) 00069 return false; 00070 return true; 00071 } 00072 00073 void addPlanner(ompl::tools::Benchmark& benchmark, ompl::base::PlannerPtr planner, double range) 00074 { 00075 ompl::base::ParamSet& params = planner->params(); 00076 if (params.hasParam(std::string("range"))) 00077 params.setParam(std::string("range"), boost::lexical_cast<std::string>(range)); 00078 benchmark.addPlanner(planner); 00079 } 00080 00081 int main(int argc, char **argv) 00082 { 00083 if(argc > 1) 00084 ndim = boost::lexical_cast<size_t>(argv[1]); 00085 00086 double range = edgeWidth * 0.5; 00087 ompl::base::StateSpacePtr space(new ompl::base::RealVectorStateSpace(ndim)); 00088 ompl::base::RealVectorBounds bounds(ndim); 00089 ompl::geometric::SimpleSetup ss(space); 00090 ompl::base::ScopedState<> start(space), goal(space); 00091 00092 bounds.setLow(0.); 00093 bounds.setHigh(1.); 00094 space->as<ompl::base::RealVectorStateSpace>()->setBounds(bounds); 00095 ss.setStateValidityChecker(&isStateValid); 00096 ss.getSpaceInformation()->setStateValidityCheckingResolution(0.001); 00097 for(unsigned int i = 0; i < ndim; ++i) 00098 { 00099 start[i] = 0.; 00100 goal[i] = 1.; 00101 } 00102 ss.setStartAndGoalStates(start, goal); 00103 00104 // by default, use the Benchmark class 00105 double runtime_limit = 1000, memory_limit = 4096; 00106 int run_count = 20; 00107 ompl::tools::Benchmark::Request request(runtime_limit, memory_limit, run_count); 00108 ompl::tools::Benchmark b(ss, "HyperCube"); 00109 00110 addPlanner(b, ompl::base::PlannerPtr(new ompl::geometric::STRIDE(ss.getSpaceInformation())), range); 00111 addPlanner(b, ompl::base::PlannerPtr(new ompl::geometric::EST(ss.getSpaceInformation())), range); 00112 addPlanner(b, ompl::base::PlannerPtr(new ompl::geometric::KPIECE1(ss.getSpaceInformation())), range); 00113 addPlanner(b, ompl::base::PlannerPtr(new ompl::geometric::RRT(ss.getSpaceInformation())), range); 00114 addPlanner(b, ompl::base::PlannerPtr(new ompl::geometric::PRM(ss.getSpaceInformation())), range); 00115 b.benchmark(request); 00116 b.saveResultsToFile(boost::str(boost::format("hypercube_%i.log") % ndim).c_str()); 00117 00118 exit(0); 00119 }