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/*********************************************************************
* 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: Ioan Sucan */
#ifndef OMPL_TEST_2DMAP_SETUP_
#define OMPL_TEST_2DMAP_SETUP_
#include <boost/filesystem.hpp>
#include "ompl/base/SpaceInformation.h"
#include "ompl/base/ProblemDefinition.h"
#include "ompl/base/ScopedState.h"
#include "ompl/base/goals/GoalState.h"
#include "ompl/geometric/SimpleSetup.h"
#include "ompl/base/spaces/RealVectorStateSpace.h"
#include "../../resources/config.h"
#include "../../resources/environment2D.h"
namespace ompl
{
namespace geometric
{
/** \brief Define a two-dimensional state space with an updated distance definition (Manhattan distance) */
class StateSpace2DMap : public base::RealVectorStateSpace
{
public:
StateSpace2DMap(void) : base::RealVectorStateSpace(2)
{
}
virtual double distance(const base::State *state1, const base::State *state2) const
{
double dx = state1->as<base::RealVectorStateSpace::StateType>()->values[0] -
state2->as<base::RealVectorStateSpace::StateType>()->values[0];
double dy = state1->as<base::RealVectorStateSpace::StateType>()->values[1] -
state2->as<base::RealVectorStateSpace::StateType>()->values[1];
return sqrt(dx * dx + dy * dy);
}
};
/** \brief Declare a class used in validating states. Such a class
definition is needed for any use of a kinematic planner */
class StateValidityChecker2DMap : public base::StateValidityChecker
{
public:
StateValidityChecker2DMap(const base::SpaceInformationPtr &si, const std::vector< std::vector<int> > &grid) :
base::StateValidityChecker(si), grid_(grid)
{
}
virtual bool isValid(const base::State *state) const
{
/* planning is done in a continuous space, but our collision space representation is discrete */
int x = (int)(state->as<base::RealVectorStateSpace::StateType>()->values[0]);
int y = (int)(state->as<base::RealVectorStateSpace::StateType>()->values[1]);
return grid_[x][y] == 0; // 0 means valid state
}
protected:
/** \brief Map of environment */
std::vector< std::vector<int> > grid_;
};
/** \brief Given a description of the environment, construct a complete planning context */
class SimpleSetup2DMap : public SimpleSetup
{
public:
SimpleSetup2DMap(const std::string &fileName) : SimpleSetup(base::StateSpacePtr(new StateSpace2DMap()))
{
loadTestFile(fileName);
}
SimpleSetup2DMap(const Environment2D &env) : SimpleSetup(base::StateSpacePtr(new StateSpace2DMap())), env_(env)
{
configure2DMap();
}
/** \brief Load a test file */
void loadTestFile(const std::string &testFile)
{
/* load environment */
boost::filesystem::path path(TEST_RESOURCES_DIR);
path = path / testFile;
loadEnvironment(path.string().c_str(), env_);
configure2DMap();
}
protected:
/** \brief Set the bounds and the state validity checker */
void configure2DMap(void)
{
base::RealVectorBounds sbounds(2);
// dimension 0 (x) spans between [0, width)
// dimension 1 (y) spans between [0, height)
// since sampling is continuous and we round down, we allow values until just under the max limit
// the resolution is 1.0 since we check cells only
sbounds.low[0] = 0.0;
sbounds.high[0] = (double)env_.width - 0.000000001;
sbounds.low[1] = 0.0;
sbounds.high[1] = (double)env_.height - 0.000000001;
getStateSpace()->as<StateSpace2DMap>()->setBounds(sbounds);
getSpaceInformation()->setStateValidityCheckingResolution(0.016);
setStateValidityChecker(base::StateValidityCheckerPtr(new StateValidityChecker2DMap(getSpaceInformation(), env_.grid)));
/* set the initial state; the memory for this is automatically cleaned by SpaceInformation */
base::ScopedState<base::RealVectorStateSpace> state(getStateSpace());
state->values[0] = env_.start.first;
state->values[1] = env_.start.second;
setStartState(state);
/* set the goal state; the memory for this is automatically cleaned by SpaceInformation */
base::GoalState *goal = new base::GoalState(getSpaceInformation());
base::ScopedState<base::RealVectorStateSpace> gstate(getStateSpace());
gstate->values[0] = env_.goal.first;
gstate->values[1] = env_.goal.second;
goal->setState(gstate);
goal->setThreshold(1e-3); // this basically means 0, but we want to account for numerical instabilities
setGoal(base::GoalPtr(goal));
// we could have used setGoalState() as well
}
/** \brief Representation of environment */
Environment2D env_;
};
/** \brief Construct an instance of space information (done automatically when using SimpleSetup) */
static base::SpaceInformationPtr spaceInformation2DMap(const Environment2D &env)
{
base::RealVectorStateSpace *sSpace = new StateSpace2DMap();
base::RealVectorBounds sbounds(2);
// dimension 0 (x) spans between [0, width)
// dimension 1 (y) spans between [0, height)
// since sampling is continuous and we round down, we allow values until just under the max limit
// the resolution is 1.0 since we check cells only
sbounds.low[0] = 0.0;
sbounds.high[0] = (double)env.width - 0.000000001;
sbounds.low[1] = 0.0;
sbounds.high[1] = (double)env.height - 0.000000001;
sSpace->setBounds(sbounds);
base::StateSpacePtr sSpacePtr(sSpace);
base::SpaceInformationPtr si(new base::SpaceInformation(sSpacePtr));
si->setStateValidityCheckingResolution(0.016);
si->setStateValidityChecker(base::StateValidityCheckerPtr(new StateValidityChecker2DMap(si, env.grid)));
si->setup();
return si;
}
/** \brief Construct a problem definition (done automatically when using SimpleSetup) */
static base::ProblemDefinitionPtr problemDefinition2DMap(const base::SpaceInformationPtr &si, const Environment2D &env)
{
base::ProblemDefinitionPtr pdef(new base::ProblemDefinition(si));
/* set the initial state; the memory for this is automatically cleaned by SpaceInformation */
base::ScopedState<base::RealVectorStateSpace> state(si);
state->values[0] = env.start.first;
state->values[1] = env.start.second;
pdef->addStartState(state);
/* set the goal state; the memory for this is automatically cleaned by SpaceInformation */
base::GoalState *goal = new base::GoalState(si);
base::ScopedState<base::RealVectorStateSpace> gstate(si);
gstate->values[0] = env.goal.first;
gstate->values[1] = env.goal.second;
goal->setState(gstate);
goal->setThreshold(1e-3); // this is basically 0, but we want to account for numerical instabilities
pdef->setGoal(base::GoalPtr(goal));
return pdef;
}
}
}
#endif
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