Point2DPlanning.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include <ompl/base/spaces/RealVectorStateSpace.h>
38 #include <ompl/geometric/SimpleSetup.h>
39 #include <ompl/geometric/planners/rrt/RRTstar.h>
40 #include <ompl/geometric/planners/rrt/RRTConnect.h>
41 #include <ompl/util/PPM.h>
42 
43 #include <ompl/config.h>
44 #include <../tests/resources/config.h>
45 
46 #include <boost/filesystem.hpp>
47 #include <iostream>
48 
49 namespace ob = ompl::base;
50 namespace og = ompl::geometric;
51 
52 class Plane2DEnvironment
53 {
54 public:
55 
56  Plane2DEnvironment(const char *ppm_file)
57  {
58  bool ok = false;
59  try
60  {
61  ppm_.loadFile(ppm_file);
62  ok = true;
63  }
64  catch(ompl::Exception &ex)
65  {
66  OMPL_ERROR("Unable to load %s.\n%s", ppm_file, ex.what());
67  }
68  if (ok)
69  {
71  space->addDimension(0.0, ppm_.getWidth());
72  space->addDimension(0.0, ppm_.getHeight());
73  maxWidth_ = ppm_.getWidth() - 1;
74  maxHeight_ = ppm_.getHeight() - 1;
75  ss_.reset(new og::SimpleSetup(ob::StateSpacePtr(space)));
76 
77  // set state validity checking for this space
78  ss_->setStateValidityChecker(boost::bind(&Plane2DEnvironment::isStateValid, this, _1));
79  space->setup();
80  ss_->getSpaceInformation()->setStateValidityCheckingResolution(1.0 / space->getMaximumExtent());
81  // ss_->setPlanner(ob::PlannerPtr(new og::RRTConnect(ss_->getSpaceInformation())));
82  }
83  }
84 
85  bool plan(unsigned int start_row, unsigned int start_col, unsigned int goal_row, unsigned int goal_col)
86  {
87  if (!ss_)
88  return false;
89  ob::ScopedState<> start(ss_->getStateSpace());
90  start[0] = start_row;
91  start[1] = start_col;
92  ob::ScopedState<> goal(ss_->getStateSpace());
93  goal[0] = goal_row;
94  goal[1] = goal_col;
95  ss_->setStartAndGoalStates(start, goal);
96  // generate a few solutions; all will be added to the goal;
97  for (int i = 0 ; i < 10 ; ++i)
98  {
99  if (ss_->getPlanner())
100  ss_->getPlanner()->clear();
101  ss_->solve();
102  }
103  const std::size_t ns = ss_->getProblemDefinition()->getSolutionCount();
104  OMPL_INFORM("Found %d solutions", (int)ns);
105  if (ss_->haveSolutionPath())
106  {
107  ss_->simplifySolution();
108  og::PathGeometric &p = ss_->getSolutionPath();
109  ss_->getPathSimplifier()->simplifyMax(p);
110  ss_->getPathSimplifier()->smoothBSpline(p);
111  return true;
112  }
113  else
114  return false;
115  }
116 
117  void recordSolution()
118  {
119  if (!ss_ || !ss_->haveSolutionPath())
120  return;
121  og::PathGeometric &p = ss_->getSolutionPath();
122  p.interpolate();
123  for (std::size_t i = 0 ; i < p.getStateCount() ; ++i)
124  {
125  const int w = std::min(maxWidth_, (int)p.getState(i)->as<ob::RealVectorStateSpace::StateType>()->values[0]);
126  const int h = std::min(maxHeight_, (int)p.getState(i)->as<ob::RealVectorStateSpace::StateType>()->values[1]);
127  ompl::PPM::Color &c = ppm_.getPixel(h, w);
128  c.red = 255;
129  c.green = 0;
130  c.blue = 0;
131  }
132  }
133 
134  void save(const char *filename)
135  {
136  if (!ss_)
137  return;
138  ppm_.saveFile(filename);
139  }
140 
141 private:
142 
143  bool isStateValid(const ob::State *state) const
144  {
145  const int w = std::min((int)state->as<ob::RealVectorStateSpace::StateType>()->values[0], maxWidth_);
146  const int h = std::min((int)state->as<ob::RealVectorStateSpace::StateType>()->values[1], maxHeight_);
147 
148  const ompl::PPM::Color &c = ppm_.getPixel(h, w);
149  return c.red > 127 && c.green > 127 && c.blue > 127;
150  }
151 
152  og::SimpleSetupPtr ss_;
153  int maxWidth_;
154  int maxHeight_;
155  ompl::PPM ppm_;
156 
157 };
158 
159 int main(int, char **)
160 {
161  std::cout << "OMPL version: " << OMPL_VERSION << std::endl;
162 
163  boost::filesystem::path path(TEST_RESOURCES_DIR);
164  Plane2DEnvironment env((path / "ppm/floor.ppm").string().c_str());
165 
166  if (env.plan(0, 0, 777, 1265))
167  {
168  env.recordSolution();
169  env.save("result_demo.ppm");
170  }
171 
172  return 0;
173 }
Load and save .ppm files.
Definition: PPM.h:46
Definition of a scoped state.
Definition: ScopedState.h:56
A boost shared pointer wrapper for ompl::base::StateSpace.
std::size_t getStateCount() const
Get the number of states (way-points) that make up this path.
base::State * getState(unsigned int index)
Get the state located at index along the path.
State StateType
Define the type of state allocated by this space.
Definition: StateSpace.h:78
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:65
A boost shared pointer wrapper for ompl::geometric::SimpleSetup.
const T * as() const
Cast this instance to a desired type.
Definition: State.h:74
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
void interpolate(unsigned int count)
Insert a number of states in a path so that the path is made up of exactly count states. States are inserted uniformly (more states on longer segments). Changes are performed only if a path has less than count states.
A state space representing Rn. The distance function is the L2 norm.
Definition of an abstract state.
Definition: State.h:50
This namespace contains sampling based planning routines shared by both planning under geometric cons...
Definition: Cost.h:44
The exception type for ompl.
Definition: Exception.h:47
virtual double getMaximumExtent() const
Get the maximum value a call to distance() can return (or an upper bound). For unbounded state spaces...
void addDimension(double minBound=0.0, double maxBound=0.0)
Increase the dimensionality of the state space by 1. Optionally, bounds can be specified for this add...
Definition of a geometric path.
Definition: PathGeometric.h:60
virtual void setup()
Perform final setup steps. This function is automatically called by the SpaceInformation. If any default projections are to be registered, this call will set them and call their setup() functions. It is safe to call this function multiple times. At a subsequent call, projections that have been previously user configured are not re-instantiated, but their setup() method is still called.
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:48
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition: Console.h:68