environment_chain3d.h

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/*
 * Copyright (c) 2008, Maxim Likhachev
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
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 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the University of Pennsylvania 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
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#ifndef _ENVIRONMENT_CHAIN3D_H_
#define _ENVIRONMENT_CHAIN3D_H_

#include <time.h>
#include <stdio.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>
#include <fstream>
#include <vector>
#include <string>
#include <list>
#include <algorithm>

#include <sbpl/headers.h>
#include <sbpl_interface/bfs3d/BFS_3D.h>
#include <planning_scene/planning_scene.h>
#include <collision_distance_field/collision_robot_hybrid.h>
#include <collision_distance_field/collision_world_hybrid.h>
#include <sbpl_interface/environment_chain3d_types.h>
#include <moveit_msgs/GetMotionPlan.h>

#include <Eigen/Core>

static const double DEFAULT_INTERPOLATION_DISTANCE=.05;
static const double DEFAULT_JOINT_MOTION_PRIMITIVE_DISTANCE=.2;

namespace sbpl_interface {

struct PlanningStatistics {

  PlanningStatistics() :
    total_expansions_(0),
    coll_checks_(0)
  {
  }

  unsigned int total_expansions_;
  ros::WallDuration total_expansion_time_;
  ros::WallDuration total_coll_check_time_;
  unsigned int coll_checks_;
  ros::WallDuration total_planning_time_;
};

struct PlanningParameters {

  PlanningParameters() :
    use_bfs_(true),
    use_standard_collision_checking_(false),
    attempt_full_shortcut_(true),
    interpolation_distance_(DEFAULT_INTERPOLATION_DISTANCE),
    joint_motion_primitive_distance_(DEFAULT_JOINT_MOTION_PRIMITIVE_DISTANCE)
  {
  }

  bool use_bfs_;
  bool use_standard_collision_checking_;
  bool attempt_full_shortcut_;
  double interpolation_distance_;
  double joint_motion_primitive_distance_;
};

class EnvironmentChain3D: public DiscreteSpaceInformation
{
public:

  EIGEN_MAKE_ALIGNED_OPERATOR_NEW

  EnvironmentChain3D(const planning_scene::PlanningSceneConstPtr& planning_scene);

  ~EnvironmentChain3D();

  //
  // Pure virtual functions from DiscreteSpaceInformation
  //

  virtual bool InitializeEnv(const char* sEnvFile);

  virtual bool InitializeMDPCfg(MDPConfig *MDPCfg);

  virtual int GetFromToHeuristic(int FromStateID, int ToStateID);

  virtual int GetGoalHeuristic(int stateID);

  virtual int GetStartHeuristic(int stateID);

  virtual void GetSuccs(int SourceStateID, vector<int>* SuccIDV, vector<int>* CostV);

  virtual void GetPreds(int TargetStateID, vector<int>* PredIDV, vector<int>* CostV);

  virtual void SetAllActionsandAllOutcomes(CMDPSTATE* state);

  virtual void SetAllPreds(CMDPSTATE* state);

  virtual int SizeofCreatedEnv();

  virtual void PrintState(int stateID, bool bVerbose, FILE* fOut=NULL);

  virtual void PrintEnv_Config(FILE* fOut);

  //
  // Overloaded virtual functions from DiscreteSpaceInformation
  //

  virtual void getExpandedStates(std::vector<std::vector<double> >* ara_states) {};

  virtual bool AreEquivalent(int StateID1, int StateID2);

  bool setupForMotionPlan(const planning_scene::PlanningSceneConstPtr& planning_scene,
                          const moveit_msgs::GetMotionPlan::Request &req,
                          moveit_msgs::GetMotionPlan::Response& res,
                          const PlanningParameters& params);

  const EnvChain3DPlanningData& getPlanningData() const {
    return planning_data_;
  }

  bool populateTrajectoryFromStateIDSequence(const std::vector<int>& state_ids,
                                             trajectory_msgs::JointTrajectory& traj) const;


  const PlanningStatistics& getPlanningStatistics() const {
    return planning_statistics_;
  }

  bool getPlaneBFSMarker(visualization_msgs::Marker& plane_marker,
                         double z_val);


  const Eigen::Affine3d& getGoalPose() const {
    return goal_pose_;
  }

  void attemptShortcut(const trajectory_msgs::JointTrajectory& traj_in,
                       trajectory_msgs::JointTrajectory& traj_out);

protected:

  bool getGridXYZInt(const Eigen::Affine3d& pose,
                     int(&xyz)[3]) const;

  void getMotionPrimitives(const std::string& group);

  planning_scene::PlanningSceneConstPtr planning_scene_;

  double angle_discretization_;
  BFS_3D *bfs_;

  std::vector<boost::shared_ptr<JointMotionWrapper> > joint_motion_wrappers_;
  std::vector<boost::shared_ptr<JointMotionPrimitive> > possible_actions_;
  planning_models::RobotState *state_;
  const collision_detection::CollisionWorldHybrid* hy_world_;
  const collision_detection::CollisionRobotHybrid* hy_robot_;
  planning_models::RobotState *::JointStateGroup* joint_state_group_;
  boost::shared_ptr<collision_detection::GroupStateRepresentation> gsr_;
  //boost::shared_ptr<kinematics::KinematicsBase> kinematics_solver_;
  const planning_models::RobotState *::LinkState* tip_link_state_;
  EnvChain3DPlanningData planning_data_;
  kinematic_constraints::KinematicConstraintSet goal_constraint_set_;
  kinematic_constraints::KinematicConstraintSet path_constraint_set_;
  std::string planning_group_;
  Eigen::Affine3d goal_pose_;
  PlanningStatistics planning_statistics_;
  PlanningParameters planning_parameters_;
  int maximum_distance_for_motion_;

  planning_models::RobotState *interpolation_state_1_;
  planning_models::RobotState *interpolation_state_2_;
  planning_models::RobotState *interpolation_state_temp_;
  planning_models::RobotState *::JointStateGroup* interpolation_joint_state_group_1_;
  planning_models::RobotState *::JointStateGroup* interpolation_joint_state_group_2_;
  planning_models::RobotState *::JointStateGroup* interpolation_joint_state_group_temp_;
  std::map<int, std::map<int, std::vector<std::vector<double> > > > generated_interpolations_map_;

  void setMotionPrimitives(const std::string& group_name);
  void determineMaximumEndEffectorTravel();

  void convertCoordToJointAngles(const std::vector<int> &coord, std::vector<double> &angles);
  void convertJointAnglesToCoord(const std::vector<double> &angle, std::vector<int> &coord);

  int calculateCost(EnvChain3DHashEntry* HashEntry1, EnvChain3DHashEntry* HashEntry2);
  int getBFSCostToGoal(int x, int y, int z) const;
  int getEndEffectorHeuristic(int FromStateID, int ToStateID);

  double getJointDistanceDoubleSum(const std::vector<double>& angles1,
                                   const std::vector<double>& angles2) const;

  int getJointDistanceIntegerSum(const std::vector<double>& angles1,
                                 const std::vector<double>& angles2,
                                 double delta) const;

  int getJointDistanceIntegerMax(const std::vector<double>& angles1,
                                 const std::vector<double>& angles2,
                                 double delta) const;

  // double getJointDistanceMax(const std::vector<double>& angles1,
  //                            const std::vector<double>& angles2);


  bool interpolateAndCollisionCheck(const std::vector<double> angles1,
                                    const std::vector<double> angles2,
                                    std::vector<std::vector<double> >& state_values);

  inline double getEuclideanDistance(double x1, double y1, double z1, double x2, double y2, double z2) const
  {
    return sqrt((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) + (z1-z2)*(z1-z2));
  }

  //temp
  double closest_to_goal_;
};

//angles are counterclockwise from 0 to 360 in radians, 0 is the center of bin 0, ...
inline void EnvironmentChain3D::convertCoordToJointAngles(const std::vector<int> &coord, std::vector<double> &angles)
{
  angles.resize(coord.size());
  for(size_t i = 0; i < coord.size(); i++)
    angles[i] = coord[i]*angle_discretization_;
}

inline void EnvironmentChain3D::convertJointAnglesToCoord(const std::vector<double> &angle, std::vector<int> &coord)
{
  coord.resize(angle.size());
  for(unsigned int i = 0; i < angle.size(); i++)
  {
    //NOTE: Added 3/1/09
    double pos_angle = angle[i];
    if(pos_angle < 0.0)
      pos_angle += 2*M_PI;

    coord[i] = (int)((pos_angle + angle_discretization_*0.5)/angle_discretization_);
  }
}

// inline double EnvironmentChain3D::getEuclideanDistance(double x1, double y1, double z1, double x2, double y2, double z2) const
// {
//   return sqrt((x1-x2)*(x1-x2) + (y1-y2)*(y1-y2) + (z1-z2)*(z1-z2));
// }

} //namespace

#endif