demos/Point2DPlanning.py
00001 #!/usr/bin/env python 00002 00003 ###################################################################### 00004 # Software License Agreement (BSD License) 00005 # 00006 # Copyright (c) 2010, Rice University 00007 # All rights reserved. 00008 # 00009 # Redistribution and use in source and binary forms, with or without 00010 # modification, are permitted provided that the following conditions 00011 # are met: 00012 # 00013 # * Redistributions of source code must retain the above copyright 00014 # notice, this list of conditions and the following disclaimer. 00015 # * Redistributions in binary form must reproduce the above 00016 # copyright notice, this list of conditions and the following 00017 # disclaimer in the documentation and/or other materials provided 00018 # with the distribution. 00019 # * Neither the name of the Rice University nor the names of its 00020 # contributors may be used to endorse or promote products derived 00021 # from this software without specific prior written permission. 00022 # 00023 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00024 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00025 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00026 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00027 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00028 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00029 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES 00030 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00031 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00032 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00033 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00034 # POSSIBILITY OF SUCH DAMAGE. 00035 ###################################################################### 00036 00037 # Author: Ioan Sucan, Mark Moll 00038 00039 try: 00040 from ompl import util as ou 00041 from ompl import base as ob 00042 from ompl import geometric as og 00043 except: 00044 # if the ompl module is not in the PYTHONPATH assume it is installed in a 00045 # subdirectory of the parent directory called "py-bindings." 00046 from os.path import abspath, dirname, join 00047 import sys 00048 sys.path.insert(0, join(dirname(dirname(abspath(__file__))),'py-bindings')) 00049 from ompl import util as ou 00050 from ompl import base as ob 00051 from ompl import geometric as og 00052 from functools import partial 00053 00054 class Plane2DEnvironment: 00055 def __init__(self, ppm_file): 00056 self.ppm_ = ou.PPM() 00057 self.ppm_.loadFile(ppm_file) 00058 space = ob.RealVectorStateSpace() 00059 space.addDimension(0.0, self.ppm_.getWidth()) 00060 space.addDimension(0.0, self.ppm_.getHeight()) 00061 self.maxWidth_ = self.ppm_.getWidth() - 1 00062 self.maxHeight_ = self.ppm_.getHeight() - 1 00063 self.ss_ = og.SimpleSetup(space) 00064 00065 # set state validity checking for this space 00066 self.ss_.setStateValidityChecker(ob.StateValidityCheckerFn( 00067 partial(Plane2DEnvironment.isStateValid, self))) 00068 space.setup() 00069 self.ss_.getSpaceInformation().setStateValidityCheckingResolution(1.0 / space.getMaximumExtent()) 00070 # self.ss_.setPlanner(og.RRTConnect(self.ss_.getSpaceInformation())) 00071 00072 def plan(self, start_row, start_col, goal_row, goal_col): 00073 if not self.ss_: 00074 return false 00075 start = ob.State(self.ss_.getStateSpace()) 00076 start()[0] = start_row 00077 start()[1] = start_col 00078 goal = ob.State(self.ss_.getStateSpace()) 00079 goal()[0] = goal_row 00080 goal()[1] = goal_col 00081 self.ss_.setStartAndGoalStates(start, goal) 00082 # generate a few solutions; all will be added to the goal 00083 for i in range(10): 00084 if self.ss_.getPlanner(): 00085 self.ss_.getPlanner().clear() 00086 self.ss_.solve() 00087 ns = self.ss_.getProblemDefinition().getSolutionCount() 00088 print("Found %d solutions" % ns) 00089 if self.ss_.haveSolutionPath(): 00090 self.ss_.simplifySolution() 00091 p = self.ss_.getSolutionPath() 00092 ps = og.PathSimplifier(self.ss_.getSpaceInformation()) 00093 ps.simplifyMax(p) 00094 ps.smoothBSpline(p) 00095 return True 00096 else: 00097 return False 00098 00099 def recordSolution(self): 00100 if not self.ss_ or not self.ss_.haveSolutionPath(): 00101 return 00102 p = self.ss_.getSolutionPath() 00103 p.interpolate() 00104 for i in range(p.getStateCount()): 00105 w = min(self.maxWidth_, int(p.getState(i)[0])) 00106 h = min(self.maxHeight_, int(p.getState(i)[1])) 00107 c = self.ppm_.getPixel(h, w) 00108 c.red = 255 00109 c.green = 0 00110 c.blue = 0 00111 00112 def save(self, filename): 00113 if not self.ss_: 00114 return 00115 self.ppm_.saveFile(filename) 00116 00117 def isStateValid(self, state): 00118 w = min(int(state[0]), self.maxWidth_) 00119 h = min(int(state[1]), self.maxHeight_) 00120 00121 c = self.ppm_.getPixel(h, w) 00122 return c.red > 127 and c.green > 127 and c.blue > 127 00123 00124 00125 if __name__ == "__main__": 00126 fname = join(join(join(join(dirname(dirname(abspath(__file__))), 00127 'tests'), 'resources'), 'ppm'), 'floor.ppm') 00128 env = Plane2DEnvironment(fname) 00129 00130 if env.plan(0, 0, 777, 1265): 00131 env.recordSolution() 00132 env.save("result_demo.ppm")