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())
{
  if (!constraint_sampler_)
    default_sampler_ = si_->allocStateSampler();
  inv_dim_ = si_->getStateSpace()->getDimension() > 0 ? 1.0 / (double)si_->getStateSpace()->getDimension() : 1.0;
  ROS_DEBUG_NAMED("constrained_valid_state_sampler", "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_state_, state);
    if (constraint_sampler_->project(work_state_, planning_context_->getMaximumStateSamplingAttempts()))
    {
      if (kinematic_constraint_set_->decide(work_state_).satisfied)
      {
        planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_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_state_, planning_context_->getCompleteInitialRobotState(),
                                    planning_context_->getMaximumStateSamplingAttempts()))
    {
      if (kinematic_constraint_set_->decide(work_state_).satisfied)
      {
        planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_state_);
        return true;
      }
    }
  }
  else
  {
    default_sampler_->sampleUniform(state);
    planning_context_->getOMPLStateSpace()->copyToRobotState(work_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_state_, state);
    if (!kinematic_constraint_set_->decide(work_state_).satisfied)
      return false;
  }
  return true;
}