constrained_goal_sampler.cpp

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/* Author: Ioan Sucan */

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

ompl_interface::ConstrainedGoalSampler::ConstrainedGoalSampler(const ModelBasedPlanningContext *pc,
                                                               const kinematic_constraints::KinematicConstraintSetPtr &ks,
                                                               const constraint_samplers::ConstraintSamplerPtr &cs) :
  ob::GoalLazySamples(pc->getOMPLSimpleSetup().getSpaceInformation(), boost::bind(&ConstrainedGoalSampler::sampleUsingConstraintSampler, this, _1, _2), false),
  planning_context_(pc),
  kinematic_constraint_set_(ks),
  constraint_sampler_(cs),
  work_state_(pc->getCompleteInitialRobotState()),
  work_joint_group_state_(work_state_.getJointStateGroup(planning_context_->getGroupName())),
  invalid_sampled_constraints_(0),
  warned_invalid_samples_(false),
  verbose_display_(0)
{
  if (!constraint_sampler_)
    default_sampler_ = si_->allocStateSampler();
  logDebug("Constructed a ConstrainedGoalSampler instance at address %p", this);
  startSampling();
}

bool ompl_interface::ConstrainedGoalSampler::sampleUsingConstraintSampler(const ob::GoalLazySamples *gls, ob::State *newGoal)
{
  //  moveit::Profiler::ScopedBlock sblock("ConstrainedGoalSampler::sampleUsingConstraintSampler");

  unsigned int max_attempts = planning_context_->getMaximumGoalSamplingAttempts();
  unsigned int attempts_so_far = gls->samplingAttemptsCount();

  // terminate after too many attempts
  if (attempts_so_far >= max_attempts)
    return false;

  // terminate after a maximum number of samples
  if (gls->getStateCount() >= planning_context_->getMaximumGoalSamples())
    return false;

  // terminate the sampling thread when a solution has been found
  if (planning_context_->getOMPLSimpleSetup().getProblemDefinition()->hasSolution())
    return false;

  unsigned int max_attempts_div2 = max_attempts/2;
  for (unsigned int a = gls->samplingAttemptsCount() ; a < max_attempts && gls->isSampling() ; ++a)
  {
    bool verbose = false;
    if (gls->getStateCount() == 0 && a >= max_attempts_div2)
      if (verbose_display_ < 1)
      {
    verbose = true;
    verbose_display_++;
      }

    if (constraint_sampler_)
    {
      if (constraint_sampler_->project(work_joint_group_state_, planning_context_->getCompleteInitialRobotState(), planning_context_->getMaximumStateSamplingAttempts()))
      {
        if (kinematic_constraint_set_->decide(work_state_, verbose).satisfied)
        {
          planning_context_->getOMPLStateSpace()->copyToOMPLState(newGoal, work_joint_group_state_);
          if (static_cast<const StateValidityChecker*>(si_->getStateValidityChecker().get())->isValid(newGoal, verbose))
            return true;
        }
    else
    {
      invalid_sampled_constraints_++;
      if (!warned_invalid_samples_ && invalid_sampled_constraints_ >= (attempts_so_far * 8) / 10)
      {
        warned_invalid_samples_ = true;
        logWarn("More than 80%% of the sampled goal states fail to satisfy the constraints imposed on the goal sampler. Is the constrained sampler working correctly?");
      }
    }
      }
    }
    else
    {
      default_sampler_->sampleUniform(newGoal);
      if (static_cast<const StateValidityChecker*>(si_->getStateValidityChecker().get())->isValid(newGoal, verbose))
      {
        planning_context_->getOMPLStateSpace()->copyToRobotState(work_joint_group_state_, newGoal);
        if (kinematic_constraint_set_->decide(work_state_, verbose).satisfied)
          return true;
      }
    }
  }
  return false;
}