SimpleSetup.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/geometric/SimpleSetup.h"
38 #include "ompl/tools/config/SelfConfig.h"
39 
41 {
42  return tools::SelfConfig::getDefaultPlanner(goal);
43 }
44 
46  configured_(false), planTime_(0.0), simplifyTime_(0.0), lastStatus_(base::PlannerStatus::UNKNOWN)
47 {
48  si_ = si;
49  pdef_.reset(new base::ProblemDefinition(si_));
50  psk_.reset(new PathSimplifier(si_));
51 }
52 
54  configured_(false), planTime_(0.0), simplifyTime_(0.0), lastStatus_(base::PlannerStatus::UNKNOWN)
55 {
56  si_.reset(new base::SpaceInformation(space));
57  pdef_.reset(new base::ProblemDefinition(si_));
58  psk_.reset(new PathSimplifier(si_));
59 }
60 
62 {
63  if (!configured_ || !si_->isSetup() || !planner_->isSetup())
64  {
65  if (!si_->isSetup())
66  si_->setup();
67  if (!planner_)
68  {
69  if (pa_)
70  planner_ = pa_(si_);
71  if (!planner_)
72  {
73  OMPL_INFORM("No planner specified. Using default.");
75  }
76  }
77  planner_->setProblemDefinition(pdef_);
78  if (!planner_->isSetup())
79  planner_->setup();
80  configured_ = true;
81  }
82 }
83 
85 {
86  if (planner_)
87  planner_->clear();
88  if (pdef_)
89  pdef_->clearSolutionPaths();
90 }
91 
92 // we provide a duplicate implementation here to allow the planner to choose how the time is turned into a planner termination condition
94 {
95  setup();
97  time::point start = time::now();
98  lastStatus_ = planner_->solve(time);
99  planTime_ = time::seconds(time::now() - start);
100  if (lastStatus_)
101  OMPL_INFORM("Solution found in %f seconds", planTime_);
102  else
103  OMPL_INFORM("No solution found after %f seconds", planTime_);
104  return lastStatus_;
105 }
106 
108 {
109  setup();
111  time::point start = time::now();
112  lastStatus_ = planner_->solve(ptc);
113  planTime_ = time::seconds(time::now() - start);
114  if (lastStatus_)
115  OMPL_INFORM("Solution found in %f seconds", planTime_);
116  else
117  OMPL_INFORM("No solution found after %f seconds", planTime_);
118  return lastStatus_;
119 }
120 
122 {
123  if (pdef_)
124  {
125  const base::PathPtr &p = pdef_->getSolutionPath();
126  if (p)
127  {
128  time::point start = time::now();
129  PathGeometric &path = static_cast<PathGeometric&>(*p);
130  std::size_t numStates = path.getStateCount();
131  psk_->simplify(path, ptc);
133  OMPL_INFORM("SimpleSetup: Path simplification took %f seconds and changed from %d to %d states",
134  simplifyTime_, numStates, path.getStateCount());
135  return;
136  }
137  }
138  OMPL_WARN("No solution to simplify");
139 }
140 
142 {
143  if (pdef_)
144  {
145  const base::PathPtr &p = pdef_->getSolutionPath();
146  if (p)
147  {
148  time::point start = time::now();
149  PathGeometric &path = static_cast<PathGeometric&>(*p);
150  std::size_t numStates = path.getStateCount();
151  if (duration < std::numeric_limits<double>::epsilon())
152  psk_->simplifyMax(static_cast<PathGeometric&>(*p));
153  else
154  psk_->simplify(static_cast<PathGeometric&>(*p), duration);
156  OMPL_INFORM("SimpleSetup: Path simplification took %f seconds and changed from %d to %d states",
157  simplifyTime_, numStates, path.getStateCount());
158  return;
159  }
160  }
161  OMPL_WARN("No solution to simplify");
162 }
163 
165 {
166  if (pdef_)
167  {
168  const ompl::base::PathPtr path; // convert to a generic path ptr
169  ompl::base::PlannerSolution solution(path); // a dummy solution
170 
171  // Get our desired solution
172  pdef_->getSolution(solution);
173  return solution.plannerName_;
174  }
175  throw Exception("No problem definition found");
176 }
177 
179 {
180  if (pdef_)
181  {
182  const base::PathPtr &p = pdef_->getSolutionPath();
183  if (p)
184  return static_cast<PathGeometric&>(*p);
185  }
186  throw Exception("No solution path");
187 }
188 
190 {
191  return haveSolutionPath() && (!pdef_->hasApproximateSolution() || pdef_->getSolutionDifference() < std::numeric_limits<double>::epsilon());
192 }
193 
195 {
196  pd.clear();
197  if (planner_)
198  planner_->getPlannerData(pd);
199 }
200 
201 void ompl::geometric::SimpleSetup::print(std::ostream &out) const
202 {
203  if (si_)
204  {
205  si_->printProperties(out);
206  si_->printSettings(out);
207  }
208  if (planner_)
209  {
210  planner_->printProperties(out);
211  planner_->printSettings(out);
212  }
213  if (pdef_)
214  pdef_->print(out);
215 }
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique...
Definition: PlannerData.h:164
bool haveSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful). The solution may be approximate.
Definition: SimpleSetup.h:145
double simplifyTime_
The amount of time the last path simplification step took.
Definition: SimpleSetup.h:310
base::PlannerAllocator pa_
The optional planner allocator.
Definition: SimpleSetup.h:298
PathGeometric & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
Representation of a solution to a planning problem.
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.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
base::SpaceInformationPtr si_
The created space information.
Definition: SimpleSetup.h:289
PathSimplifierPtr psk_
The instance of the path simplifier.
Definition: SimpleSetup.h:301
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition: Time.h:62
A boost shared pointer wrapper for ompl::base::Planner.
SimpleSetup(const base::SpaceInformationPtr &si)
Constructor needs the state space used for planning.
Definition: SimpleSetup.cpp:45
base::PlannerPtr planner_
The maintained planner instance.
Definition: SimpleSetup.h:295
boost::posix_time::ptime point
Representation of a point in time.
Definition: Time.h:50
base::ProblemDefinitionPtr pdef_
The created problem definition.
Definition: SimpleSetup.h:292
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:48
This class contains routines that attempt to simplify geometric paths.
A boost shared pointer wrapper for ompl::base::SpaceInformation.
The base class for space information. This contains all the information about the space planning is d...
virtual void clear()
Clears the entire data structure.
Definition: PlannerData.cpp:78
#define OMPL_WARN(fmt,...)
Log a formatted warning string.
Definition: Console.h:66
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
Definition: SimpleSetup.cpp:61
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SelfConfig.cpp:250
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
The exception type for ompl.
Definition: Exception.h:47
base::PlannerStatus lastStatus_
The status of the last planning request.
Definition: SimpleSetup.h:313
Definition of a problem to be solved. This includes the start state(s) for the system and a goal spec...
const base::GoalPtr & getGoal() const
Get the current goal definition.
Definition: SimpleSetup.h:106
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for up to a specified amount of time (default is 1 second)
Definition: SimpleSetup.cpp:93
point now()
Get the current time point.
Definition: Time.h:56
std::string plannerName_
Name of planner type that generated this solution, as received from Planner::getName() ...
bool configured_
Flag indicating whether the classes needed for planning are set up.
Definition: SimpleSetup.h:304
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
double planTime_
The amount of time the last planning step took.
Definition: SimpleSetup.h:307
void simplifySolution(double duration=0.0)
Attempt to simplify the current solution path. Spent at most duration seconds in the simplification p...
A boost shared pointer wrapper for ompl::base::Goal.
Definition of a geometric path.
Definition: PathGeometric.h:60
const std::string getSolutionPlannerName(void) const
Get the best solution&#39;s planer name. Throw an exception if no solution is available.
OMPL_DEPRECATED base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
Definition: SimpleSetup.cpp:40
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation. Planner settings, start & goal states are not affected.
Definition: SimpleSetup.cpp:84
A boost shared pointer wrapper for ompl::base::Path.
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition: Console.h:68