1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
|
#!/usr/bin/env python
######################################################################
# Software License Agreement (BSD License)
#
# Copyright (c) 2010, Rice University
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Rice University nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
######################################################################
# Author: Mark Moll
from math import sin, cos, tan
from functools import partial
try:
from ompl import base as ob
from ompl import control as oc
from ompl import geometric as og
except:
# if the ompl module is not in the PYTHONPATH assume it is installed in a
# subdirectory of the parent directory called "py-bindings."
from os.path import abspath, dirname, join
import sys
sys.path.insert(0, join(dirname(dirname(abspath(__file__))),'py-bindings'))
from ompl import base as ob
from ompl import control as oc
from ompl import geometric as og
def kinematicCarODE(q, u, qdot):
theta = q[2];
carLength = 0.2;
qdot[0] = u[0] * cos(theta)
qdot[1] = u[0] * sin(theta)
qdot[2] = u[0] * tan(u[1]) / carLength
def isStateValid(spaceInformation, state):
# perform collision checking or check if other constraints are
# satisfied
return spaceInformation.satisfiesBounds(state)
def plan():
# construct the state space we are planning in
space = ob.SE2StateSpace()
# set the bounds for the R^2 part of SE(2)
bounds = ob.RealVectorBounds(2)
bounds.setLow(-1)
bounds.setHigh(1)
space.setBounds(bounds)
# create a control space
cspace = oc.RealVectorControlSpace(space, 2)
# set the bounds for the control space
cbounds = ob.RealVectorBounds(2)
cbounds.setLow(-.3)
cbounds.setHigh(.3)
cspace.setBounds(cbounds)
# define a simple setup class
ss = oc.SimpleSetup(cspace)
validityChecker = ob.StateValidityCheckerFn(partial(isStateValid, ss.getSpaceInformation()))
ss.setStateValidityChecker(validityChecker)
ode = oc.ODE(kinematicCarODE)
odeSolver = oc.ODEBasicSolver(ss.getSpaceInformation(), ode)
propagator = oc.ODESolver.getStatePropagator(odeSolver)
ss.setStatePropagator(propagator)
# create a start state
start = ob.State(space)
start().setX(-0.5);
start().setY(0.0);
start().setYaw(0.0);
# create a goal state
goal = ob.State(space);
goal().setX(0.0);
goal().setY(0.5);
goal().setYaw(0.0);
# set the start and goal states
ss.setStartAndGoalStates(start, goal, 0.05)
# attempt to solve the problem
solved = ss.solve(120.0)
if solved:
# print the path to screen
print("Found solution:\n%s" % ss.getSolutionPath().asGeometric().printAsMatrix())
if __name__ == "__main__":
plan()
|
