ppcpplanner.cpp
Go to the documentation of this file.00001 /* 00002 * Copyright (c) 2009, Maxim Likhachev 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the University of Pennsylvania nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 #include <iostream> 00030 using namespace std; 00031 00032 #include "../../sbpl/headers.h" 00033 00034 00035 //----------------------------------------------------------------------------------------------------- 00036 00037 PPCPPlanner::PPCPPlanner(DiscreteSpaceInformation* environment, int sizeofS, int sizeofH) 00038 { 00039 00040 environment_ = environment; 00041 00042 00043 #ifndef ROS 00044 const char* debug = "debug.txt"; 00045 #endif 00046 fDeb = SBPL_FOPEN(debug, "w"); 00047 if(fDeb == NULL){ 00048 SBPL_ERROR("ERROR: could not open planner debug file\n"); 00049 throw new SBPL_Exception(); 00050 } 00051 00052 pStateSpace = new PPCPStateSpace_t; 00053 00054 //TODO - create and initialize the state-space 00055 00056 } 00057 00058 PPCPPlanner::~PPCPPlanner() 00059 { 00060 if(pStateSpace != NULL){ 00061 //delete the statespace 00062 DeleteStateSpace(pStateSpace); 00063 delete pStateSpace; 00064 pStateSpace = NULL; 00065 } 00066 SBPL_FCLOSE(fDeb); 00067 } 00068 00069 00070 //deallocates memory used by StateSpace 00071 void PPCPPlanner::DeleteStateSpace(PPCPStateSpace_t* pStateSpace) 00072 { 00073 //TODO - fill in 00074 00075 00076 00077 } 00078 00079 //creates (allocates memory) search state space 00080 //does not initialize search statespace 00081 int PPCPPlanner::CreateSearchStateSpace(PPCPStateSpace_t* pStateSpace) 00082 { 00083 00084 //create a heap 00085 pStateSpace->bReinitializeSearchStateSpace = true; 00086 pStateSpace->currentpolicyconfidence = 0; 00087 pStateSpace->GoalState = NULL; 00088 pStateSpace->StartState = NULL; 00089 pStateSpace->iteration = 0; 00090 pStateSpace->searchiteration = 0; 00091 00092 00093 return 1; 00094 } 00095 00096 00097 00098 //-------------------------------------------------------------------------------------------------- 00099 00100 00101 //------------------------------------------------------------------------------------------------- 00102 //setting start state in S 00103 int PPCPPlanner::set_goal(int goal_stateID) 00104 { 00105 //TODO 00106 00107 00108 return 1; 00109 00110 } 00111 00112 //setting goal state in S 00113 int PPCPPlanner::set_start(int start_stateID) 00114 { 00115 00116 //TODO 00117 00118 00119 return 1; 00120 } 00121 00122 00123 00124 void PPCPPlanner::costs_changed(StateChangeQuery const & stateChange) 00125 { 00126 SBPL_PRINTF("planner: costs_changed, state-space reset\n"); 00127 00128 pStateSpace->bReinitializeSearchStateSpace = true; 00129 00130 00131 } 00132 00133 void PPCPPlanner::costs_changed() 00134 { 00135 SBPL_PRINTF("planner: costs_changed, state-space reset\n"); 00136 00137 pStateSpace->bReinitializeSearchStateSpace = true; 00138 00139 } 00140 00141 00142 00143 int PPCPPlanner::force_planning_from_scratch() 00144 { 00145 SBPL_PRINTF("planner: forceplanfromscratch set, state-space reset\n"); 00146 00147 pStateSpace->bReinitializeSearchStateSpace = true; 00148 00149 return 1; 00150 } 00151 00152 00153 int PPCPPlanner::replan(double allocated_time_secs, vector<sbpl_PolicyStatewithBinaryh_t>* SolutionPolicy, float* ExpectedCost, float* ProbofReachGoal) 00154 { 00155 //TODO 00156 00157 00158 return 0; 00159 } 00160 00161 00162 //------------------------------------------------------------------------------------------------- 00163