goal_union.cpp
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34 
35 /* Author: Ioan Sucan */
36 
38 #include <ompl/base/goals/GoalLazySamples.h>
39 
40 namespace
41 {
42 ompl::base::SpaceInformationPtr getGoalsSI(const std::vector<ompl::base::GoalPtr>& goals)
43 {
44  if (goals.empty())
45  return ompl::base::SpaceInformationPtr();
46  for (std::size_t i = 0; i < goals.size(); ++i)
47  if (!goals[i]->hasType(ompl::base::GOAL_SAMPLEABLE_REGION))
48  throw ompl::Exception("Multiplexed goals must be instances of GoalSampleableRegion");
49  for (std::size_t i = 1; i < goals.size(); ++i)
50  if (goals[i]->getSpaceInformation() != goals[0]->getSpaceInformation())
51  throw ompl::Exception("The instance of SpaceInformation must be the same among the goals to be considered");
52  return goals[0]->getSpaceInformation();
53 }
54 }
55 
56 ompl_interface::GoalSampleableRegionMux::GoalSampleableRegionMux(const std::vector<ompl::base::GoalPtr>& goals)
57  : ompl::base::GoalSampleableRegion(getGoalsSI(goals)), goals_(goals), gindex_(0)
58 {
59 }
60 
62 {
63  for (std::size_t i = 0; i < goals_.size(); ++i)
64  if (goals_[i]->hasType(ompl::base::GOAL_LAZY_SAMPLES))
65  static_cast<ompl::base::GoalLazySamples*>(goals_[i].get())->startSampling();
66 }
67 
69 {
70  for (std::size_t i = 0; i < goals_.size(); ++i)
71  if (goals_[i]->hasType(ompl::base::GOAL_LAZY_SAMPLES))
72  static_cast<ompl::base::GoalLazySamples*>(goals_[i].get())->stopSampling();
73 }
74 
75 void ompl_interface::GoalSampleableRegionMux::sampleGoal(ompl::base::State* st) const
76 {
77  for (std::size_t i = 0; i < goals_.size(); ++i)
78  {
79  if (goals_[gindex_]->as<ompl::base::GoalSampleableRegion>()->maxSampleCount() > 0)
80  {
81  goals_[gindex_]->as<ompl::base::GoalSampleableRegion>()->sampleGoal(st);
82  return;
83  }
84  gindex_ = (gindex_ + 1) % goals_.size();
85  }
86  throw ompl::Exception("There are no states to sample");
87 }
88 
90 {
91  unsigned int sc = 0;
92  for (std::size_t i = 0; i < goals_.size(); ++i)
93  sc += goals_[i]->as<GoalSampleableRegion>()->maxSampleCount();
94  return sc;
95 }
96 
98 {
99  for (std::size_t i = 0; i < goals_.size(); ++i)
100  if (goals_[i]->as<ompl::base::GoalSampleableRegion>()->canSample())
101  return true;
102  return false;
103 }
104 
106 {
107  for (std::size_t i = 0; i < goals_.size(); ++i)
108  if (goals_[i]->as<ompl::base::GoalSampleableRegion>()->couldSample())
109  return true;
110  return false;
111 }
112 
113 bool ompl_interface::GoalSampleableRegionMux::isSatisfied(const ompl::base::State* st, double* distance) const
114 {
115  for (std::size_t i = 0; i < goals_.size(); ++i)
116  if (goals_[i]->isSatisfied(st, distance))
117  return true;
118  return false;
119 }
120 
121 double ompl_interface::GoalSampleableRegionMux::distanceGoal(const ompl::base::State* st) const
122 {
123  double min_d = std::numeric_limits<double>::infinity();
124  for (std::size_t i = 0; i < goals_.size(); ++i)
125  {
126  double d = goals_[i]->as<ompl::base::GoalRegion>()->distanceGoal(st);
127  if (d < min_d)
128  min_d = d;
129  }
130  return min_d;
131 }
132 
134 {
135  out << "MultiGoal [" << std::endl;
136  for (std::size_t i = 0; i < goals_.size(); ++i)
137  goals_[i]->print(out);
138  out << "]" << std::endl;
139 }
d
std::vector< ompl::base::GoalPtr > goals_
Definition: goal_union.h:81
virtual bool canSample() const
Query if sampler can find any sample.
Definition: goal_union.cpp:97
virtual bool isSatisfied(const ompl::base::State *st, double *distance) const
Is the goal satisfied for this state (given a distance)
Definition: goal_union.cpp:113
virtual bool couldSample() const
Query if sampler could find a sample in the future.
Definition: goal_union.cpp:105
virtual void sampleGoal(ompl::base::State *st) const
Sample a goal.
Definition: goal_union.cpp:75
virtual void print(std::ostream &out=std::cout) const
Pretty print goal information.
Definition: goal_union.cpp:133
GoalSampleableRegionMux(const std::vector< ompl::base::GoalPtr > &goals)
Constructor.
Definition: goal_union.cpp:56
virtual unsigned int maxSampleCount() const
Get the max sample count.
Definition: goal_union.cpp:89
virtual double distanceGoal(const ompl::base::State *st) const
Find the distance of this state from the goal.
Definition: goal_union.cpp:121
void stopSampling()
If there are any member lazy samplers, stop them.
Definition: goal_union.cpp:68
void startSampling()
If there are any member lazy samplers, start them.
Definition: goal_union.cpp:61


ompl
Author(s): Ioan Sucan
autogenerated on Wed Jul 18 2018 02:49:14