constrained_valid_state_sampler.cpp

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/* Author: Ioan Sucan */

#include <moveit/ompl_interface/detail/constrained_valid_state_sampler.h>
#include <moveit/ompl_interface/model_based_planning_context.h>
#include <moveit/profiler/profiler.h>

ompl_interface::ValidConstrainedSampler::ValidConstrainedSampler(const ModelBasedPlanningContext *pc,
                                                                 const kinematic_constraints::KinematicConstraintSetPtr &ks,
                                                                 const constraint_samplers::ConstraintSamplerPtr &cs) :
  ob::ValidStateSampler(pc->getOMPLSimpleSetup().getSpaceInformation().get()),
  planning_context_(pc), kinematic_constraint_set_(ks), constraint_sampler_(cs), work_state_(pc->getCompleteInitialRobotState()),
  work_joint_group_state_(work_state_.getJointStateGroup(planning_context_->getGroupName()))
{
  if (!constraint_sampler_)
    default_sampler_ = si_->allocStateSampler();
  inv_dim_ = si_->getStateSpace()->getDimension() > 0 ? 1.0 / (double)si_->getStateSpace()->getDimension() : 1.0;
  logDebug("Constructed a ValidConstrainedSampler instance at address %p", this);
}

bool ompl_interface::ValidConstrainedSampler::project(ompl::base::State *state)
{
  if (constraint_sampler_)
  {
    planning_context_->getOMPLStateSpace()->copyToRobotState(work_joint_group_state_, state);
    if (constraint_sampler_->project(work_joint_group_state_, planning_context_->getCompleteInitialRobotState(), planning_context_->getMaximumStateSamplingAttempts()))
    {
      if (kinematic_constraint_set_->decide(work_state_).satisfied)
      {
        planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_joint_group_state_);
        return true;
      }
    }
  }
  return false;
}

bool ompl_interface::ValidConstrainedSampler::sample(ob::State *state)
{
  //  moveit::Profiler::ScopedBlock pblock("ValidConstrainedSampler::sample");
  if (constraint_sampler_)
  {
    if (constraint_sampler_->sample(work_joint_group_state_, planning_context_->getCompleteInitialRobotState(), planning_context_->getMaximumStateSamplingAttempts()))
    {
      if (kinematic_constraint_set_->decide(work_state_).satisfied)
      {
        planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_joint_group_state_);
        return true;
      }
    }
  }
  else
  {
    default_sampler_->sampleUniform(state);
    planning_context_->getOMPLStateSpace()->copyToRobotState(work_joint_group_state_, state);
    if (kinematic_constraint_set_->decide(work_state_).satisfied)
      return true;
  }

  return false;
}

bool ompl_interface::ValidConstrainedSampler::sampleNear(ompl::base::State *state, const ompl::base::State *near, const double distance)
{
  if (!sample(state))
    return false;
  double total_d = si_->distance(state, near);
  if (total_d > distance)
  {
    double dist = pow(rng_.uniform01(), inv_dim_) * distance;
    si_->getStateSpace()->interpolate(near, state, dist / total_d, state);
    planning_context_->getOMPLStateSpace()->copyToRobotState(work_joint_group_state_, state);
    if (!kinematic_constraint_set_->decide(work_state_).satisfied)
      return false;
  }
  return true;
}