planning_environment: planning_environment: collision_operations

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00035  *  \author E. Gil Jones
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00037 
00038 #include <ros/ros.h>
00039 
00040 #include <map>
00041 #include <string>
00042 #include <vector>
00043 #include <fstream>
00044 
00045 #include <planning_environment/models/collision_models.h>
00046 #include <yaml-cpp/yaml.h>
00047 
00048 namespace planning_environment 
00049 {
00050 
00051 class CollisionOperationsGenerator {
00052 
00053 public:
00054 
00055   enum DisableType {
00056     ADJACENT,
00057     ALWAYS,
00058     DEFAULT,
00059     OFTEN,
00060     OCCASIONALLY,
00061     NEVER
00062   };
00063 
00064   enum SamplingSafety
00065   {
00066     VerySafe,
00067     Safe,
00068     Normal,
00069     Fast,
00070     VeryFast
00071   };
00072 
00073   CollisionOperationsGenerator(CollisionModels* cm);
00074   
00075   typedef std::pair<std::string, std::string> StringPair;
00076   typedef std::map<std::string, double> CollidingJointValues;
00077 
00078   void generateAdjacentInCollisionPairs(std::vector<StringPair>& adjacent_in_collision_pairs);
00079   
00080   void generateAlwaysInCollisionPairs(std::vector<StringPair>& always_in_collision_pairs,
00081                                       std::vector<CollidingJointValues>& in_collision_joint_values);
00082 
00083   void generateDefaultInCollisionPairs(std::vector<StringPair>& default_in_collision_pairs,
00084                                        std::vector<CollidingJointValues>& in_collision_joint_values);
00085 
00086   void generateOftenInCollisionPairs(std::vector<StringPair>& often_in_collision_pairs,
00087                                      std::vector<double>& collision_percentage,
00088                                      std::vector<CollidingJointValues>& in_collision_joint_values);
00089   
00090   void generateOccasionallyAndNeverInCollisionPairs(std::vector<StringPair>& occasionally_in_collision_pairs,
00091                                                     std::vector<StringPair>& never_in_collision_pairs,
00092                                                     std::vector<double>& collision_percentage,
00093                                                     std::vector<CollidingJointValues>& in_collision_joint_values);
00094   
00095   void enablePairCollisionChecking(const StringPair& pair);  
00096   void disablePairCollisionChecking(const StringPair& pair);
00097   void disablePairCollisionChecking(const std::vector<StringPair>& pair_vec);
00098 
00099   void enableAllCollisions();
00100   void outputYamlStringOfSavedResults(YAML::Emitter& outy, const std::map<DisableType, std::vector<StringPair> >& disable_types);
00101   //void outputFileOfSavedResults();
00102 
00103   void performanceTestSavedResults(std::map<CollisionOperationsGenerator::DisableType, std::vector<CollisionOperationsGenerator::StringPair> >& disable_types);
00104 
00105   void generateSamplingStructures(const std::map<std::string, bool>& add_map);
00106 
00107   inline void setSafety(SamplingSafety safety)
00108   {
00109     switch(safety)
00110     {
00111       case VerySafe:
00112         establish_always_num_ = 5000;
00113         establish_often_num_ = 15000;
00114         establish_often_percentage_ = 0.5;
00115         establish_occasional_num_ = 1000000;
00116         performance_testing_num_ = 5000;
00117         break;
00118 
00119       case Safe:
00120         establish_always_num_ = 10000;
00121         establish_often_num_ = 5000;
00122         establish_often_percentage_ = 0.5;
00123         establish_occasional_num_ = 100000;
00124         performance_testing_num_ = 1000;
00125         break;
00126 
00127       case Normal:
00128         establish_always_num_ = 1000;
00129         establish_often_num_ = 1000;
00130         establish_often_percentage_ = 0.5;
00131         establish_occasional_num_ = 20000;
00132         performance_testing_num_ = 1000;
00133         break;
00134 
00135       case Fast:
00136         establish_always_num_ = 100;
00137         establish_often_num_ = 500;
00138         establish_often_percentage_ = 0.5;
00139         establish_occasional_num_ = 1000;
00140         performance_testing_num_ = 100;
00141         break;
00142 
00143       case VeryFast:
00144         establish_always_num_ = 100;
00145         establish_often_num_ = 100;
00146         establish_often_percentage_ = 0.5;
00147         establish_occasional_num_ = 500;
00148         performance_testing_num_ = 10;
00149         break;
00150     }
00151   }
00152 
00153   unsigned int establish_always_num_;
00154   unsigned int establish_often_num_;
00155   double establish_often_percentage_;
00156   unsigned int establish_occasional_num_;
00157   unsigned int performance_testing_num_;
00158 
00159 protected:
00160 
00161   void accumulateAdjacentLinksRecursive(const planning_models::KinematicModel::LinkModel* parent,
00162                                         std::vector<StringPair>& adjacencies);
00163 
00164   void sampleAndCountCollisions(unsigned int num);
00165 
00166   void buildOutputStructures(unsigned int num, double low_value, double high_value, 
00167                              std::vector<StringPair>& meets_threshold_collision,
00168                              std::vector<double>& collision_percentages, 
00169                              std::vector<CollidingJointValues>& joint_values,
00170                              std::map<std::string, std::map<std::string, double> >& percentage_num);
00171   
00172   void resetCountingMap();
00173 
00174   void generateRandomState(planning_models::KinematicState& state);
00175 
00176   std::map<std::string, std::pair<double, double> > joint_bounds_map_;
00177   std::map<std::string, std::map<std::string, unsigned int> > collision_count_map_;
00178   std::map<std::string, std::map<std::string, CollidingJointValues> > collision_joint_values_;
00179 
00180   planning_environment::CollisionModels* cm_;
00181 
00182 };
00183 }
collision_operations_generator.h
