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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2014, 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: Javier V. Gomez, Mark Moll */
#include <ompl/base/spaces/DubinsStateSpace.h>
#include <ompl/base/spaces/ReedsSheppStateSpace.h>
#include <ompl/geometric/planners/rrt/RRTstar.h>
#include <ompl/geometric/planners/cforest/CForest.h>
#include <ompl/base/objectives/PathLengthOptimizationObjective.h>
#include <ompl/geometric/SimpleSetup.h>
#include <ompl/tools/benchmark/Benchmark.h>
#include <boost/program_options.hpp>
namespace ob = ompl::base;
namespace og = ompl::geometric;
namespace ot = ompl::tools;
namespace po = boost::program_options;
ompl::base::OptimizationObjectivePtr getPathLengthObjective(const ompl::base::SpaceInformationPtr& si)
{
return ompl::base::OptimizationObjectivePtr(new ompl::base::PathLengthOptimizationObjective(si));
}
bool isStateValid(double radiusSquared, const ob::State *state)
{
const ob::SE2StateSpace::StateType *s = state->as<ob::SE2StateSpace::StateType>();
double x=s->getX(), y=s->getY();
x = std::abs(x - std::floor(x));
y = std::abs(y - std::floor(y));
x = std::min(x, 1. - x);
y = std::min(y, 1. - y);
return x*x + y*y > radiusSquared;
}
int main(int argc, char **argv)
{
int distance, gridLimit, runCount;
double obstacleRadius, turningRadius, runtimeLimit;
ob::StateSpacePtr space(new ob::SE2StateSpace());
po::options_description desc("Options");
desc.add_options()
("help", "show help message")
("dubins", "use Dubins state space")
("dubinssym", "use symmetrized Dubins state space")
("reedsshepp", "use Reeds-Shepp state space")
("distance", po::value<int>(&distance)->default_value(3), "integer grid distance between start and goal")
("obstacle-radius", po::value<double>(&obstacleRadius)->default_value(.25), "radius of obstacles")
("turning-radius", po::value<double>(&turningRadius)->default_value(.5), "turning radius of robot (ignored for default point robot)")
("grid-limit", po::value<int>(&gridLimit)->default_value(10), "size of the grid")
("runtime-limit", po::value<double>(&runtimeLimit)->default_value(2), "time limit for every test")
("run-count", po::value<int>(&runCount)->default_value(100), "number of times to run each planner")
;
po::variables_map vm;
po::store(po::parse_command_line(argc, argv, desc), vm);
po::notify(vm);
if (vm.count("help"))
{
std::cout << desc << "\n";
return 1;
}
if (vm.count("dubins"))
space = ob::StateSpacePtr(new ob::DubinsStateSpace(turningRadius));
if (vm.count("dubinssym"))
space = ob::StateSpacePtr(new ob::DubinsStateSpace(turningRadius, true));
if (vm.count("reedsshepp"))
space = ob::StateSpacePtr(new ob::ReedsSheppStateSpace(turningRadius));
// set the bounds for the R^2 part of SE(2)
ob::RealVectorBounds bounds(2);
bounds.setLow(-.5 * gridLimit);
bounds.setHigh(.5 * gridLimit);
space->as<ob::SE2StateSpace>()->setBounds(bounds);
// define a simple setup class
og::SimpleSetup ss(space);
// set state validity checking for this space
ss.setStateValidityChecker(boost::bind(&isStateValid, obstacleRadius*obstacleRadius, _1));
// define start & goal states
ob::ScopedState<ob::SE2StateSpace> start(space), goal(space);
start->setXY(0., 0.5);
start->setYaw(0.);
goal->setXY(0., (double)distance + .5);
goal->setYaw(0);
ss.setStartAndGoalStates(start, goal);
// setting collision checking resolution to 0.05 (absolute)
ss.getSpaceInformation()->setStateValidityCheckingResolution(0.05 / gridLimit);
ss.getProblemDefinition()->setOptimizationObjective(getPathLengthObjective(ss.getSpaceInformation()));
// by default, use the Benchmark class
double memoryLimit = 4096;
ot::Benchmark::Request request(runtimeLimit, memoryLimit, runCount);
ot::Benchmark b(ss, "CircleGrid");
b.addPlanner(ob::PlannerPtr(new og::RRTstar(ss.getSpaceInformation())));
b.addPlanner(ob::PlannerPtr(new og::CForest(ss.getSpaceInformation())));
b.benchmark(request);
b.saveResultsToFile("circleGrid.log");
exit(0);
}
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