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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, 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: Ioan Sucan, James D. Marble */
ompl::base::PlannerStatus PRM_wrapper::default_solve(const ompl::base::PlannerTerminationCondition& ptc)
{
using namespace ompl;
checkValidity();
static const unsigned int MAX_RANDOM_BOUNCE_STEPS = 5;
base::GoalSampleableRegion *goal = dynamic_cast<base::GoalSampleableRegion*>(pdef_->getGoal().get());
if (!goal)
{
OMPL_ERROR("Goal undefined or unknown type of goal");
return base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE;
}
// Add the valid start states as milestones
while (const base::State *st = pis_.nextStart())
startM_.push_back(addMilestone(si_->cloneState(st)));
if (startM_.size() == 0)
{
OMPL_ERROR("There are no valid initial states!");
return base::PlannerStatus::INVALID_START;
}
if (!goal->couldSample())
{
OMPL_ERROR("Insufficient states in sampleable goal region");
return base::PlannerStatus::INVALID_GOAL;
}
// Ensure there is at least one valid goal state
if (goal->maxSampleCount() > goalM_.size() || goalM_.empty())
{
const base::State *st = goalM_.empty() ? pis_.nextGoal(ptc) : pis_.nextGoal();
if (st)
goalM_.push_back(addMilestone(si_->cloneState(st)));
if (goalM_.empty())
{
OMPL_ERROR("Unable to find any valid goal states");
return base::PlannerStatus::INVALID_GOAL;
}
}
if (!sampler_)
sampler_ = si_->allocValidStateSampler();
if (!simpleSampler_)
simpleSampler_ = si_->allocStateSampler();
unsigned int nrStartStates = boost::num_vertices(g_);
OMPL_INFORM("Starting with %u states", nrStartStates);
std::vector<base::State*> xstates(MAX_RANDOM_BOUNCE_STEPS);
si_->allocStates(xstates);
bool grow = true;
// Reset addedSolution_ member
addedSolution_ = false;
base::PathPtr sln;
sln.reset();
double roadmap_build_time = 0.05;
while (ptc == false && !addedSolution_)
{
// Check for any new goal states
if (goal->maxSampleCount() > goalM_.size())
{
const base::State *st = pis_.nextGoal();
if (st)
goalM_.push_back(addMilestone(si_->cloneState(st)));
}
// maintain a 2:1 ratio for growing/expansion of roadmap
// call growRoadmap() twice as long for every call of expandRoadmap()
if (grow)
ompl::geometric::PRM::growRoadmap(base::plannerOrTerminationCondition(ptc, base::timedPlannerTerminationCondition(2.0*roadmap_build_time)), xstates[0]);
else
ompl::geometric::PRM::expandRoadmap(base::plannerOrTerminationCondition(ptc, base::timedPlannerTerminationCondition(roadmap_build_time)), xstates);
grow = !grow;
// Check for a solution
addedSolution_ = haveSolution (startM_, goalM_, sln);
}
OMPL_INFORM("Created %u states", boost::num_vertices(g_) - nrStartStates);
if (sln)
{
if(addedSolution_)
pdef_->addSolutionPath (sln);
else
// the solution is exact, but not as short as we'd like it to be
pdef_->addSolutionPath (sln, true, 0.0);
}
si_->freeStates(xstates);
// Return true if any solution was found.
return sln ? (addedSolution_ ? base::PlannerStatus::EXACT_SOLUTION : base::PlannerStatus::APPROXIMATE_SOLUTION) : base::PlannerStatus::TIMEOUT;
}
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