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#include <ompl/control/SpaceInformation.h>
#include <ompl/base/goals/GoalState.h>
#include <ompl/base/spaces/SE2StateSpace.h>
#include <ompl/control/spaces/RealVectorControlSpace.h>
#include <ompl/control/planners/kpiece/KPIECE1.h>
#include <ompl/control/planners/rrt/RRT.h>
#include <ompl/control/planners/est/EST.h>
#include <ompl/control/planners/syclop/SyclopRRT.h>
#include <ompl/control/planners/syclop/SyclopEST.h>
#include <ompl/control/SimpleSetup.h>
#include <ompl/config.h>
#include <ompl/extensions/triangle/TriangularDecomposition.h>
#include <iostream>
namespace ob = ompl::base;
namespace oc = ompl::control;
// a decomposition is only needed for SyclopRRT and SyclopEST
class MyTriangularDecomposition : public oc::TriangularDecomposition
{
public:
MyTriangularDecomposition(const ob::RealVectorBounds& bounds)
: oc::TriangularDecomposition(2, bounds, createObstacles())
{
}
virtual void project(const ob::State* s, std::vector<double>& coord) const
{
coord.resize(2);
coord[0] = s->as<ob::SE2StateSpace::StateType>()->getX();
coord[1] = s->as<ob::SE2StateSpace::StateType>()->getY();
}
virtual void sampleFullState(const ob::StateSamplerPtr& sampler, const std::vector<double>& coord, ob::State* s) const
{
sampler->sampleUniform(s);
s->as<ob::SE2StateSpace::StateType>()->setXY(coord[0], coord[1]);
}
std::vector<Polygon> createObstacles()
{
std::vector<Polygon> obst;
Triangle tri;
tri.pts[0].x = -0.5;
tri.pts[0].y = 0.75;
tri.pts[1].x = -0.75;
tri.pts[1].y = 0.68;
tri.pts[2].x = -0.5;
tri.pts[2].y = 0.5;
obst.push_back(tri);
Polygon rect(4);
rect.pts[0].x = 0.;
rect.pts[0].y = 0.5;
rect.pts[1].x = -0.3;
rect.pts[1].y = 0.;
rect.pts[2].x = 0.;
rect.pts[2].y = -0.5;
rect.pts[3].x = 0.6;
rect.pts[3].y = 0.6;
obst.push_back(rect);
return obst;
}
};
bool triContains(double x, double y, double ax, double ay, double bx, double by, double cx, double cy)
{
if ((x-ax)*(by-ay) - (bx-ax)*(y-ay) > 0.)
return false;
if ((x-bx)*(cy-by) - (cx-bx)*(y-by) > 0.)
return false;
if ((x-cx)*(ay-cy) - (ax-cx)*(y-cy) > 0.)
return false;
return true;
}
bool isStateValid(const oc::SpaceInformation *si, const ob::State *state)
{
// ob::ScopedState<ob::SE2StateSpace>
// cast the abstract state type to the type we expect
const ob::SE2StateSpace::StateType *se2state = state->as<ob::SE2StateSpace::StateType>();
// check validity of state defined by pos & rot
double x = se2state->getX();
double y = se2state->getY();
return si->satisfiesBounds(state) && !triContains(x,y, -0.5,0.75,-0.75,0.68,-0.5,0.5)
&& !triContains(x,y, 0,0.5,-0.3,0,0,-0.5)
&& !triContains(x,y,0,-0.5,0.6,0.6,0,0.5);
}
void propagate(const ob::State *start, const oc::Control *control, const double duration, ob::State *result)
{
const ob::SE2StateSpace::StateType *se2state = start->as<ob::SE2StateSpace::StateType>();
const ob::RealVectorStateSpace::StateType *pos = se2state->as<ob::RealVectorStateSpace::StateType>(0);
const ob::SO2StateSpace::StateType *rot = se2state->as<ob::SO2StateSpace::StateType>(1);
const oc::RealVectorControlSpace::ControlType *rctrl = control->as<oc::RealVectorControlSpace::ControlType>();
result->as<ob::SE2StateSpace::StateType>()->as<ob::RealVectorStateSpace::StateType>(0)->values[0] =
(*pos)[0] + (*rctrl)[0] * duration * cos(rot->value);
result->as<ob::SE2StateSpace::StateType>()->as<ob::RealVectorStateSpace::StateType>(0)->values[1] =
(*pos)[1] + (*rctrl)[0] * duration * sin(rot->value);
result->as<ob::SE2StateSpace::StateType>()->as<ob::SO2StateSpace::StateType>(1)->value =
rot->value + (*rctrl)[1];
}
void plan(void)
{
// construct the state space we are planning in
ob::StateSpacePtr space(new ob::SE2StateSpace());
// set the bounds for the R^2 part of SE(2)
ob::RealVectorBounds bounds(2);
bounds.setLow(-1);
bounds.setHigh(1);
space->as<ob::SE2StateSpace>()->setBounds(bounds);
// create a control space
oc::ControlSpacePtr cspace(new oc::RealVectorControlSpace(space, 2));
// set the bounds for the control space
ob::RealVectorBounds cbounds(2);
cbounds.setLow(-0.3);
cbounds.setHigh(0.3);
cspace->as<oc::RealVectorControlSpace>()->setBounds(cbounds);
// construct an instance of space information from this control space
oc::SpaceInformationPtr si(new oc::SpaceInformation(space, cspace));
// set state validity checking for this space
si->setStateValidityChecker(boost::bind(&isStateValid, si.get(), _1));
// set the state propagation routine
si->setStatePropagator(boost::bind(&propagate, _1, _2, _3, _4));
// create a start state
ob::ScopedState<ob::SE2StateSpace> start(space);
start->setX(-0.5);
start->setY(0.0);
start->setYaw(0.0);
// create a goal state
ob::ScopedState<ob::SE2StateSpace> goal(start);
goal->setX(0.5);
// create a problem instance
ob::ProblemDefinitionPtr pdef(new ob::ProblemDefinition(si));
// set the start and goal states
pdef->setStartAndGoalStates(start, goal, 0.1);
// create a planner for the defined space
oc::TriangularDecomposition* td = new MyTriangularDecomposition(bounds);
oc::DecompositionPtr decomp(td);
ob::PlannerPtr planner(new oc::SyclopEST(si, decomp));
//ob::PlannerPtr planner(new oc::SyclopRRT(si, decomp));
// set the problem we are trying to solve for the planner
planner->setProblemDefinition(pdef);
// perform setup steps for the planner
planner->setup();
// print the settings for this space
si->printSettings(std::cout);
// print the problem settings
pdef->print(std::cout);
// attempt to solve the problem within one second of planning time
ob::PlannerStatus solved = planner->solve(10.0);
if (solved)
{
// get the goal representation from the problem definition (not the same as the goal state)
// and inquire about the found path
ob::PathPtr path = pdef->getSolutionPath();
std::cout << "Found solution:" << std::endl;
// print the path to screen
path->print(std::cout);
}
else
std::cout << "No solution found" << std::endl;
}
void planWithSimpleSetup(void)
{
// construct the state space we are planning in
ob::StateSpacePtr space(new ob::SE2StateSpace());
// set the bounds for the R^2 part of SE(2)
ob::RealVectorBounds bounds(2);
bounds.setLow(-1);
bounds.setHigh(1);
space->as<ob::SE2StateSpace>()->setBounds(bounds);
// create a control space
oc::ControlSpacePtr cspace(new oc::RealVectorControlSpace(space, 2));
// set the bounds for the control space
ob::RealVectorBounds cbounds(2);
cbounds.setLow(-0.3);
cbounds.setHigh(0.3);
cspace->as<oc::RealVectorControlSpace>()->setBounds(cbounds);
// define a simple setup class
oc::SimpleSetup ss(cspace);
// set the state propagation routine
ss.setStatePropagator(boost::bind(&propagate, _1, _2, _3, _4));
// set state validity checking for this space
ss.setStateValidityChecker(boost::bind(&isStateValid, ss.getSpaceInformation().get(), _1));
// create a start state
ob::ScopedState<ob::SE2StateSpace> start(space);
start->setX(-0.5);
start->setY(0.0);
start->setYaw(0.0);
// create a goal state; use the hard way to set the elements
ob::ScopedState<ob::SE2StateSpace> goal(space);
(*goal)[0]->as<ob::RealVectorStateSpace::StateType>()->values[0] = 0.0;
(*goal)[0]->as<ob::RealVectorStateSpace::StateType>()->values[1] = 0.5;
(*goal)[1]->as<ob::SO2StateSpace::StateType>()->value = 0.0;
// set the start and goal states
ss.setStartAndGoalStates(start, goal, 0.05);
// attempt to solve the problem within one second of planning time
ob::PlannerStatus solved = ss.solve(10.0);
if (solved)
{
std::cout << "Found solution:" << std::endl;
// print the path to screen
ss.getSolutionPath().asGeometric().print(std::cout);
}
else
std::cout << "No solution found" << std::endl;
}
int main(int, char **)
{
std::cout << "OMPL version: " << OMPL_VERSION << std::endl;
plan();
std::cout << std::endl << std::endl;
//planWithSimpleSetup();
return 0;
}
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