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PathControl.cpp
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00034 
00035 /* Author: Ioan Sucan */
00036 
00037 #include "ompl/control/PathControl.h"
00038 #include "ompl/geometric/PathGeometric.h"
00039 #include "ompl/base/samplers/UniformValidStateSampler.h"
00040 #include "ompl/util/Exception.h"
00041 #include <numeric>
00042 #include <cmath>
00043 
00044 ompl::control::PathControl::PathControl(const base::SpaceInformationPtr &si) : base::Path(si)
00045 {
00046     if (!dynamic_cast<const SpaceInformation*>(si_.get()))
00047         throw Exception("Cannot create a path with controls from a space that does not support controls");
00048 }
00049 
00050 ompl::control::PathControl::PathControl(const PathControl &path) : base::Path(path.si_)
00051 {
00052     copyFrom(path);
00053 }
00054 
00055 ompl::geometric::PathGeometric ompl::control::PathControl::asGeometric(void) const
00056 {
00057     PathControl pc(*this);
00058     pc.interpolate();
00059     geometric::PathGeometric pg(si_);
00060     pg.getStates().swap(pc.states_);
00061     return pg;
00062 }
00063 
00064 ompl::control::PathControl& ompl::control::PathControl::operator=(const PathControl& other)
00065 {
00066     freeMemory();
00067     si_ = other.si_;
00068     copyFrom(other);
00069     return *this;
00070 }
00071 
00072 void ompl::control::PathControl::copyFrom(const PathControl& other)
00073 {
00074     states_.resize(other.states_.size());
00075     controls_.resize(other.controls_.size());
00076 
00077     for (unsigned int i = 0 ; i < states_.size() ; ++i)
00078         states_[i] = si_->cloneState(other.states_[i]);
00079 
00080     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00081     for (unsigned int i = 0 ; i < controls_.size() ; ++i)
00082         controls_[i] = si->cloneControl(other.controls_[i]);
00083 
00084     controlDurations_ = other.controlDurations_;
00085 }
00086 
00087 double ompl::control::PathControl::length(void) const
00088 {
00089     return std::accumulate(controlDurations_.begin(), controlDurations_.end(), 0.0);
00090 }
00091 
00092 void ompl::control::PathControl::print(std::ostream &out) const
00093 {
00094     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00095     double res = si->getPropagationStepSize();
00096     out << "Control path with " << states_.size() << " states" << std::endl;
00097     for (unsigned int i = 0 ; i < controls_.size() ; ++i)
00098     {
00099         out << "At state ";
00100         si_->printState(states_[i], out);
00101         out << "  apply control ";
00102         si->printControl(controls_[i], out);
00103         out << "  for " << (int)floor(0.5 + controlDurations_[i]/res) << " steps" << std::endl;
00104     }
00105     out << "Arrive at state ";
00106     si_->printState(states_[controls_.size()], out);
00107     out << std::endl;
00108 }
00109 
00110 void ompl::control::PathControl::interpolate(void)
00111 {
00112     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00113     std::vector<base::State*> newStates;
00114     std::vector<Control*> newControls;
00115     std::vector<double> newControlDurations;
00116 
00117     double res = si->getPropagationStepSize();
00118     for (unsigned int  i = 0 ; i < controls_.size() ; ++i)
00119     {
00120         int steps = (int)floor(0.5 + controlDurations_[i] / res);
00121         assert(steps >= 0);
00122         if (steps <= 1)
00123         {
00124             newStates.push_back(states_[i]);
00125             newControls.push_back(controls_[i]);
00126             newControlDurations.push_back(controlDurations_[i]);
00127             continue;
00128         }
00129         std::vector<base::State*> istates;
00130         si->propagate(states_[i], controls_[i], steps, istates, true);
00131         // last state is already in the non-interpolated path
00132         if (!istates.empty())
00133         {
00134             si_->freeState(istates.back());
00135             istates.pop_back();
00136         }
00137         newStates.push_back(states_[i]);
00138         newStates.insert(newStates.end(), istates.begin(), istates.end());
00139         newControls.push_back(controls_[i]);
00140         newControlDurations.push_back(res);
00141         for (int j = 1 ; j < steps; ++j)
00142         {
00143             newControls.push_back(si->cloneControl(controls_[i]));
00144             newControlDurations.push_back(res);
00145         }
00146     }
00147     newStates.push_back(states_[controls_.size()]);
00148     states_.swap(newStates);
00149     controls_.swap(newControls);
00150     controlDurations_.swap(newControlDurations);
00151 }
00152 
00153 bool ompl::control::PathControl::check(void) const
00154 {
00155     if (controls_.empty())
00156     {
00157         if (states_.size() == 1)
00158             return si_->isValid(states_[0]);
00159         else
00160             return false;
00161     }
00162 
00163     bool valid = true;
00164     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00165     double res = si->getPropagationStepSize();
00166     base::State *dummy = si_->allocState();
00167     for (unsigned int  i = 0 ; valid && i < controls_.size() ; ++i)
00168     {
00169         unsigned int steps = (unsigned int)floor(0.5 + controlDurations_[i] / res);
00170         if (!si->isValid(states_[i]) || si->propagateWhileValid(states_[i], controls_[i], steps, dummy) != steps)
00171             valid = false;
00172     }
00173     si_->freeState(dummy);
00174 
00175     return valid;
00176 }
00177 
00178 void ompl::control::PathControl::append(const base::State *state)
00179 {
00180     states_.push_back(si_->cloneState(state));
00181 }
00182 
00183 void ompl::control::PathControl::append(const base::State *state, const Control *control, double duration)
00184 {
00185     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00186     states_.push_back(si->cloneState(state));
00187     controls_.push_back(si->cloneControl(control));
00188     controlDurations_.push_back(duration);
00189 }
00190 
00191 void ompl::control::PathControl::random(void)
00192 {
00193     freeMemory();
00194     states_.resize(2);
00195     controlDurations_.resize(1);
00196     controls_.resize(1);
00197 
00198     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00199     states_[0] = si->allocState();
00200     states_[1] = si->allocState();
00201     controls_[0] = si->allocControl();
00202 
00203     base::StateSamplerPtr ss = si->allocStateSampler();
00204     ss->sampleUniform(states_[0]);
00205     ControlSamplerPtr cs = si->allocControlSampler();
00206     cs->sample(controls_[0], states_[0]);
00207     unsigned int steps = cs->sampleStepCount(si->getMinControlDuration(), si->getMaxControlDuration());
00208     controlDurations_[0] = steps * si->getPropagationStepSize();
00209     si->propagate(states_[0], controls_[0], steps, states_[1]);
00210 }
00211 
00212 bool ompl::control::PathControl::randomValid(unsigned int attempts)
00213 {
00214     freeMemory();
00215     states_.resize(2);
00216     controlDurations_.resize(1);
00217     controls_.resize(1);
00218 
00219     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00220     states_[0] = si->allocState();
00221     states_[1] = si->allocState();
00222     controls_[0] = si->allocControl();
00223 
00224     ControlSamplerPtr cs = si->allocControlSampler();
00225     base::UniformValidStateSampler *uvss = new base::UniformValidStateSampler(si);
00226     uvss->setNrAttempts(attempts);
00227     bool ok = false;
00228     for (unsigned int i = 0 ; i < attempts ; ++i)
00229         if (uvss->sample(states_[0]))
00230         {
00231             cs->sample(controls_[0], states_[0]);
00232             unsigned int steps = cs->sampleStepCount(si->getMinControlDuration(), si->getMaxControlDuration());
00233             controlDurations_[0] = steps * si->getPropagationStepSize();
00234             if (si->propagateWhileValid(states_[0], controls_[0], steps, states_[1]) == steps)
00235             {
00236                 ok = true;
00237                 break;
00238             }
00239         }
00240     delete uvss;
00241 
00242     if (!ok)
00243     {
00244         freeMemory();
00245         states_.clear();
00246         controls_.clear();
00247         controlDurations_.clear();
00248     }
00249     return ok;
00250 }
00251 
00252 void ompl::control::PathControl::freeMemory(void)
00253 {
00254     for (unsigned int i = 0 ; i < states_.size() ; ++i)
00255         si_->freeState(states_[i]);
00256     const SpaceInformation *si = static_cast<const SpaceInformation*>(si_.get());
00257     for (unsigned int i = 0 ; i < controls_.size() ; ++i)
00258         si->freeControl(controls_[i]);
00259 }
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