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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2015, 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, Dave Coleman, Ioan Sucan */
#include <ompl/base/spaces/RealVectorStateSpace.h>
#include <ompl/tools/thunder/Thunder.h>
#include <ompl/tools/lightning/Lightning.h>
#include <ompl/util/PPM.h>
#include <ompl/config.h>
#include <../tests/resources/config.h>
#include <boost/filesystem.hpp>
#include <iostream>
namespace ob = ompl::base;
namespace og = ompl::geometric;
namespace ot = ompl::tools;
class Plane2DEnvironment
{
public:
Plane2DEnvironment(const char *ppm_file, bool useThunder = true)
{
bool ok = false;
try
{
ppm_.loadFile(ppm_file);
ok = true;
}
catch(ompl::Exception &ex)
{
OMPL_ERROR("Unable to load %s.\n%s", ppm_file, ex.what());
}
if (ok)
{
ob::RealVectorStateSpace *space = new ob::RealVectorStateSpace();
space->addDimension(0.0, ppm_.getWidth());
space->addDimension(0.0, ppm_.getHeight());
maxWidth_ = ppm_.getWidth() - 1;
maxHeight_ = ppm_.getHeight() - 1;
if (useThunder)
{
expPlanner_.reset(new ot::Thunder(ob::StateSpacePtr(space)));
expPlanner_->setFilePath("thunder.db");
}
else
{
expPlanner_.reset(new ot::Lightning(ob::StateSpacePtr(space)));
expPlanner_->setFilePath("lightning.db");
}
// set state validity checking for this space
expPlanner_->setStateValidityChecker(boost::bind(&Plane2DEnvironment::isStateValid, this, _1));
space->setup();
expPlanner_->getSpaceInformation()->setStateValidityCheckingResolution(1.0 / space->getMaximumExtent());
vss_ = expPlanner_->getSpaceInformation()->allocValidStateSampler();
// DTC
//experience_setup_->setPlanner(ob::PlannerPtr(new og::RRTConnect( si_ )));
// Set the repair planner
// boost::shared_ptr<og::RRTConnect> repair_planner( new og::RRTConnect( si_ ) );
// experience_setup_->setRepairPlanner(ob::PlannerPtr( repair_planner ));
}
}
~Plane2DEnvironment()
{
expPlanner_->save();
}
bool plan()
{
std::cout << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
std::cout << "-------------------------------------------------------" << std::endl;
if (!expPlanner_)
{
OMPL_ERROR("Simple setup not loaded");
return false;
}
expPlanner_->clear();
ob::ScopedState<> start(expPlanner_->getStateSpace());
vss_->sample(start.get());
ob::ScopedState<> goal(expPlanner_->getStateSpace());
vss_->sample(goal.get());
expPlanner_->setStartAndGoalStates(start, goal);
bool solved = expPlanner_->solve(10.);
if (solved)
OMPL_INFORM("Found solution in %g seconds",
expPlanner_->getLastPlanComputationTime());
else
OMPL_INFORM("No solution found");
expPlanner_->doPostProcessing();
return false;
}
private:
bool isStateValid(const ob::State *state) const
{
const int w = std::min((int)state->as<ob::RealVectorStateSpace::StateType>()->values[0], maxWidth_);
const int h = std::min((int)state->as<ob::RealVectorStateSpace::StateType>()->values[1], maxHeight_);
const ompl::PPM::Color &c = ppm_.getPixel(h, w);
return c.red > 127 && c.green > 127 && c.blue > 127;
}
ot::ExperienceSetupPtr expPlanner_;
ob::ValidStateSamplerPtr vss_;
int maxWidth_;
int maxHeight_;
ompl::PPM ppm_;
};
int main(int argc, char *argv[])
{
std::cout << "OMPL version: " << OMPL_VERSION << std::endl;
boost::filesystem::path path(TEST_RESOURCES_DIR);
Plane2DEnvironment env((path / "ppm" / "floor.ppm").string().c_str(), argc==1);
for (unsigned int i = 0; i < 100; ++i)
env.plan();
return 0;
}
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