RigidBodyPlanningWithControls.cpp

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/* Author: Ioan Sucan */

#include <ompl/control/SpaceInformation.h>
#include <ompl/base/GoalState.h>
#include <ompl/base/spaces/SE2StateSpace.h>
#include <ompl/control/spaces/RealVectorControlSpace.h>
#include <ompl/control/planners/kpiece/KPIECE1.h>
#include <ompl/control/planners/rrt/RRT.h>
#include <ompl/control/SimpleSetup.h>
#include <ompl/config.h>
#include <iostream>

namespace ob = ompl::base;
namespace oc = ompl::control;

bool isStateValid(const oc::SpaceInformation *si, const ob::State *state)
{
    //    ob::ScopedState<ob::SE2StateSpace>
    // cast the abstract state type to the type we expect
    const ob::SE2StateSpace::StateType *se2state = state->as<ob::SE2StateSpace::StateType>();

    // extract the first component of the state and cast it to what we expect
    const ob::RealVectorStateSpace::StateType *pos = se2state->as<ob::RealVectorStateSpace::StateType>(0);

    // extract the second component of the state and cast it to what we expect
    const ob::SO2StateSpace::StateType *rot = se2state->as<ob::SO2StateSpace::StateType>(1);

    // check validity of state defined by pos & rot


    // return a value that is always true but uses the two variables we define, so we avoid compiler warnings
    return si->satisfiesBounds(state) && (void*)rot != (void*)pos;
}

void propagate(const ob::State *start, const oc::Control *control, const double duration, ob::State *result)
{
    const ob::SE2StateSpace::StateType *se2state = start->as<ob::SE2StateSpace::StateType>();
    const ob::RealVectorStateSpace::StateType *pos = se2state->as<ob::RealVectorStateSpace::StateType>(0);
    const ob::SO2StateSpace::StateType *rot = se2state->as<ob::SO2StateSpace::StateType>(1);
    const oc::RealVectorControlSpace::ControlType *rctrl = control->as<oc::RealVectorControlSpace::ControlType>();

    result->as<ob::SE2StateSpace::StateType>()->as<ob::RealVectorStateSpace::StateType>(0)->values[0] =
        (*pos)[0] + (*rctrl)[0] * duration * cos(rot->value);

    result->as<ob::SE2StateSpace::StateType>()->as<ob::RealVectorStateSpace::StateType>(0)->values[1] =
        (*pos)[1] + (*rctrl)[0] * duration * sin(rot->value);

    result->as<ob::SE2StateSpace::StateType>()->as<ob::SO2StateSpace::StateType>(1)->value =
        rot->value + (*rctrl)[1];
}

void plan(void)
{

    // construct the state space we are planning in
    ob::StateSpacePtr space(new ob::SE2StateSpace());

    // set the bounds for the R^2 part of SE(2)
    ob::RealVectorBounds bounds(2);
    bounds.setLow(-1);
    bounds.setHigh(1);

    space->as<ob::SE2StateSpace>()->setBounds(bounds);

    // create a control space
    oc::ControlSpacePtr cspace(new oc::RealVectorControlSpace(space, 2));

    // set the bounds for the control space
    ob::RealVectorBounds cbounds(2);
    cbounds.setLow(-0.3);
    cbounds.setHigh(0.3);

    cspace->as<oc::RealVectorControlSpace>()->setBounds(cbounds);

    // set the state propagation routine
    cspace->setPropagationFunction(boost::bind(&propagate, _1, _2, _3, _4));

    // construct an instance of  space information from this control space
    oc::SpaceInformationPtr si(new oc::SpaceInformation(space, cspace));

    // set state validity checking for this space
    si->setStateValidityChecker(boost::bind(&isStateValid, si.get(),  _1));

    // create a start state
    ob::ScopedState<ob::SE2StateSpace> start(space);
    start->setX(-0.5);
    start->setY(0.0);
    start->setYaw(0.0);

    // create a goal state
    ob::ScopedState<ob::SE2StateSpace> goal(start);
    goal->setX(0.5);

    // create a problem instance
    ob::ProblemDefinitionPtr pdef(new ob::ProblemDefinition(si));

    // set the start and goal states
    pdef->setStartAndGoalStates(start, goal, 0.1);

    // create a planner for the defined space
    ob::PlannerPtr planner(new oc::KPIECE1(si));

    // set the problem we are trying to solve for the planner
    planner->setProblemDefinition(pdef);

    // perform setup steps for the planner
    planner->setup();


    // print the settings for this space
    si->printSettings(std::cout);

    // print the problem settings
    pdef->print(std::cout);

    // attempt to solve the problem within one second of planning time
    bool solved = planner->solve(10.0);

    if (solved)
    {
        // get the goal representation from the problem definition (not the same as the goal state)
        // and inquire about the found path
        ob::PathPtr path = pdef->getGoal()->getSolutionPath();
        std::cout << "Found solution:" << std::endl;

        // print the path to screen
        path->print(std::cout);
    }
    else
        std::cout << "No solution found" << std::endl;
}


void planWithSimpleSetup(void)
{
    // construct the state space we are planning in
    ob::StateSpacePtr space(new ob::SE2StateSpace());

    // set the bounds for the R^2 part of SE(2)
    ob::RealVectorBounds bounds(2);
    bounds.setLow(-1);
    bounds.setHigh(1);

    space->as<ob::SE2StateSpace>()->setBounds(bounds);

    // create a control space
    oc::ControlSpacePtr cspace(new oc::RealVectorControlSpace(space, 2));

    // set the bounds for the control space
    ob::RealVectorBounds cbounds(2);
    cbounds.setLow(-0.3);
    cbounds.setHigh(0.3);

    cspace->as<oc::RealVectorControlSpace>()->setBounds(cbounds);

    // set the state propagation routine
    cspace->setPropagationFunction(boost::bind(&propagate, _1, _2, _3, _4));

    // define a simple setup class
    oc::SimpleSetup ss(cspace);

    // set state validity checking for this space
    ss.setStateValidityChecker(boost::bind(&isStateValid, ss.getSpaceInformation().get(), _1));

    // create a start state
    ob::ScopedState<ob::SE2StateSpace> start(space);
    start->setX(-0.5);
    start->setY(0.0);
    start->setYaw(0.0);

    // create a  goal state; use the hard way to set the elements
    ob::ScopedState<ob::SE2StateSpace> goal(space);
    (*goal)[0]->as<ob::RealVectorStateSpace::StateType>()->values[0] = 0.0;
    (*goal)[0]->as<ob::RealVectorStateSpace::StateType>()->values[1] = 0.5;
    (*goal)[1]->as<ob::SO2StateSpace::StateType>()->value = 0.0;


    // set the start and goal states
    ss.setStartAndGoalStates(start, goal, 0.05);

    // attempt to solve the problem within one second of planning time
    bool solved = ss.solve(10.0);

    if (solved)
    {
        std::cout << "Found solution:" << std::endl;
        // print the path to screen

        ss.getSolutionPath().asGeometric().print(std::cout);
    }
    else
        std::cout << "No solution found" << std::endl;
}

int main(int, char **)
{
    std::cout << "ompl version: " << OMPL_VERSION << std::endl;

    plan();

    std::cout << std::endl << std::endl;

    planWithSimpleSetup();

    return 0;
}

---

ompl
Author(s): Ioan Sucan/isucan@rice.edu, Mark Moll/mmoll@rice.edu, Lydia Kavraki/kavraki@rice.edu
autogenerated on Fri Jan 11 09:33:20 2013