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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
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* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#define BOOST_TEST_MODULE "GeometricPlanningIK"
#include <boost/test/unit_test.hpp>
#include "2DmapSetup.h"
#include <iostream>
#include "ompl/geometric/GeneticSearch.h"
#include "ompl/util/Time.h"
#include "../../BoostTestTeamCityReporter.h"
using namespace ompl;
BOOST_AUTO_TEST_CASE(SimpleIK)
{
msg::setLogLevel(msg::LOG_ERROR);
/* load environment */
Environment2D env;
boost::filesystem::path path(TEST_RESOURCES_DIR);
path = path / "env1.txt";
loadEnvironment(path.string().c_str(), env);
if (env.width * env.height == 0)
{
BOOST_FAIL( "The environment has a 0 dimension. Cannot continue" );
}
/* instantiate space information */
base::SpaceInformationPtr si = geometric::spaceInformation2DMap(env);
/* set the goal state; the memory for this is automatically cleaned by SpaceInformation */
base::GoalState goal(si);
base::ScopedState<base::RealVectorStateSpace> gstate(si);
gstate->values[0] = env.goal.first;
gstate->values[1] = env.goal.second;
goal.setState(gstate);
goal.setThreshold(0.1);
geometric::GeneticSearch gaik(si);
gaik.setRange(5.0);
base::ScopedState<base::RealVectorStateSpace> found(si);
double time = 0.0;
const int N = 100;
for (int i = 0 ; i < N ; ++i)
{
ompl::time::point startTime = ompl::time::now();
bool solved = gaik.solve(1.0, goal, found.get());
ompl::time::duration elapsed = ompl::time::now() - startTime;
time += ompl::time::seconds(elapsed);
BOOST_CHECK(solved);
BOOST_CHECK(si->distance(found.get(), gstate.get()) < goal.getThreshold());
}
time = time / (double)N;
BOOST_CHECK(time < 0.01);
}
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