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LazyRRT.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/geometric/planners/rrt/LazyRRT.h"
38#include "ompl/base/goals/GoalSampleableRegion.h"
39#include "ompl/tools/config/SelfConfig.h"
40#include <cassert>
41
42ompl::geometric::LazyRRT::LazyRRT(const base::SpaceInformationPtr &si) : base::Planner(si, "LazyRRT")
43{
44 specs_.directed = true;
45
46 Planner::declareParam<double>("range", this, &LazyRRT::setRange, &LazyRRT::getRange, "0.:1.:10000.");
47 Planner::declareParam<double>("goal_bias", this, &LazyRRT::setGoalBias, &LazyRRT::getGoalBias, "0.:.05:1.");
48}
49
50ompl::geometric::LazyRRT::~LazyRRT()
51{
52 freeMemory();
53}
54
56{
57 Planner::setup();
58 tools::SelfConfig sc(si_, getName());
59 sc.configurePlannerRange(maxDistance_);
60
61 if (!nn_)
62 nn_.reset(tools::SelfConfig::getDefaultNearestNeighbors<Motion *>(this));
63 nn_->setDistanceFunction([this](const Motion *a, const Motion *b)
64 {
65 return distanceFunction(a, b);
66 });
67}
68
70{
71 Planner::clear();
72 sampler_.reset();
73 freeMemory();
74 if (nn_)
75 nn_->clear();
76 lastGoalMotion_ = nullptr;
77}
78
80{
81 if (nn_)
82 {
83 std::vector<Motion *> motions;
84 nn_->list(motions);
85 for (auto &motion : motions)
86 {
87 if (motion->state != nullptr)
88 si_->freeState(motion->state);
89 delete motion;
90 }
91 }
92}
93
95{
96 checkValidity();
97 base::Goal *goal = pdef_->getGoal().get();
98 auto *goal_s = dynamic_cast<base::GoalSampleableRegion *>(goal);
99
100 while (const base::State *st = pis_.nextStart())
101 {
102 auto *motion = new Motion(si_);
103 si_->copyState(motion->state, st);
104 motion->valid = true;
105 nn_->add(motion);
106 }
107
108 if (nn_->size() == 0)
109 {
110 OMPL_ERROR("%s: There are no valid initial states!", getName().c_str());
112 }
113
114 if (!sampler_)
115 sampler_ = si_->allocStateSampler();
116
117 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
118
119 Motion *solution = nullptr;
120 double distsol = -1.0;
121 auto *rmotion = new Motion(si_);
122 base::State *rstate = rmotion->state;
123 base::State *xstate = si_->allocState();
124
125 bool solutionFound = false;
126
127 while (!ptc && !solutionFound)
128 {
129 /* sample random state (with goal biasing) */
130 if ((goal_s != nullptr) && rng_.uniform01() < goalBias_ && goal_s->canSample())
131 goal_s->sampleGoal(rstate);
132 else
133 sampler_->sampleUniform(rstate);
134
135 /* find closest state in the tree */
136 Motion *nmotion = nn_->nearest(rmotion);
137 assert(nmotion != rmotion);
138 base::State *dstate = rstate;
139
140 /* find state to add */
141 double d = si_->distance(nmotion->state, rstate);
142 if (d > maxDistance_)
143 {
144 si_->getStateSpace()->interpolate(nmotion->state, rstate, maxDistance_ / d, xstate);
145 dstate = xstate;
146 }
147
148 /* create a motion */
149 auto *motion = new Motion(si_);
150 si_->copyState(motion->state, dstate);
151 motion->parent = nmotion;
152 nmotion->children.push_back(motion);
153 nn_->add(motion);
154
155 double dist = 0.0;
156 if (goal->isSatisfied(motion->state, &dist))
157 {
158 distsol = dist;
159 solution = motion;
160 solutionFound = true;
161 lastGoalMotion_ = solution;
162
163 // Check that the solution is valid:
164 // construct the solution path
165 std::vector<Motion *> mpath;
166 while (solution != nullptr)
167 {
168 mpath.push_back(solution);
169 solution = solution->parent;
170 }
171
172 // check each segment along the path for validity
173 for (int i = mpath.size() - 1; i >= 0 && solutionFound; --i)
174 if (!mpath[i]->valid)
175 {
176 if (si_->checkMotion(mpath[i]->parent->state, mpath[i]->state))
177 mpath[i]->valid = true;
178 else
179 {
180 removeMotion(mpath[i]);
181 solutionFound = false;
182 lastGoalMotion_ = nullptr;
183 }
184 }
185
186 if (solutionFound)
187 {
188 // set the solution path
189 auto path(std::make_shared<PathGeometric>(si_));
190 for (int i = mpath.size() - 1; i >= 0; --i)
191 path->append(mpath[i]->state);
192
193 pdef_->addSolutionPath(path, false, distsol, getName());
194 }
195 }
196 }
197
198 si_->freeState(xstate);
199 si_->freeState(rstate);
200 delete rmotion;
201
202 OMPL_INFORM("%s: Created %u states", getName().c_str(), nn_->size());
203
205}
206
208{
209 nn_->remove(motion);
210
211 /* remove self from parent list */
212
213 if (motion->parent != nullptr)
214 {
215 for (unsigned int i = 0; i < motion->parent->children.size(); ++i)
216 if (motion->parent->children[i] == motion)
217 {
218 motion->parent->children.erase(motion->parent->children.begin() + i);
219 break;
220 }
221 }
222
223 /* remove children */
224 for (auto &i : motion->children)
225 {
226 i->parent = nullptr;
227 removeMotion(i);
228 }
229
230 if (motion->state != nullptr)
231 si_->freeState(motion->state);
232 delete motion;
233}
234
236{
237 Planner::getPlannerData(data);
238
239 std::vector<Motion *> motions;
240 if (nn_)
241 nn_->list(motions);
242
243 if (lastGoalMotion_ != nullptr)
244 data.addGoalVertex(base::PlannerDataVertex(lastGoalMotion_->state, 1));
245
246 for (auto &motion : motions)
247 {
248 if (motion->parent == nullptr)
249 data.addStartVertex(base::PlannerDataVertex(motion->state));
250 else
251 data.addEdge(base::PlannerDataVertex(motion->parent != nullptr ? motion->parent->state : nullptr),
252 base::PlannerDataVertex(motion->state));
253
254 data.tagState(motion->state, motion->valid ? 1 : 0);
255 }
256}
Abstract definition of a goal region that can be sampled.
Abstract definition of goals.
Definition: Goal.h:63
virtual bool isSatisfied(const State *st) const =0
Return true if the state satisfies the goal constraints.
Base class for a vertex in the PlannerData structure. All derived classes must implement the clone an...
Definition: PlannerData.h:59
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
bool tagState(const State *st, int tag)
Set the integer tag associated with the given state. If the given state does not exist in a vertex,...
unsigned int addStartVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
unsigned int addGoalVertex(const PlannerDataVertex &v)
Adds the given vertex to the graph data, and marks it as a start vertex. The vertex index is returned...
virtual bool addEdge(unsigned int v1, unsigned int v2, const PlannerDataEdge &edge=PlannerDataEdge(), Cost weight=Cost(1.0))
Adds a directed edge between the given vertex indexes. An optional edge structure and weight can be s...
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
PlannerSpecs specs_
The specifications of the planner (its capabilities)
Definition: Planner.h:429
Definition of an abstract state.
Definition: State.h:50
Representation of a motion.
Definition: LazyRRT.h:147
std::vector< Motion * > children
The set of motions that descend from this one.
Definition: LazyRRT.h:168
Motion * parent
The parent motion in the exploration tree.
Definition: LazyRRT.h:162
base::State * state
The state contained by the motion.
Definition: LazyRRT.h:159
bool valid
Flag indicating whether this motion has been validated.
Definition: LazyRRT.h:165
void setGoalBias(double goalBias)
Set the goal biasing.
Definition: LazyRRT.h:104
LazyRRT(const base::SpaceInformationPtr &si)
Constructor.
Definition: LazyRRT.cpp:42
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: LazyRRT.h:120
void removeMotion(Motion *motion)
Remove a motion from the tree datastructure.
Definition: LazyRRT.cpp:207
double getGoalBias() const
Get the goal bias the planner is using.
Definition: LazyRRT.h:110
void getPlannerData(base::PlannerData &data) const override
Get information about the current run of the motion planner. Repeated calls to this function will upd...
Definition: LazyRRT.cpp:235
double getRange() const
Get the range the planner is using.
Definition: LazyRRT.h:126
base::PlannerStatus solve(const base::PlannerTerminationCondition &ptc) override
Function that can solve the motion planning problem. This function can be called multiple times on th...
Definition: LazyRRT.cpp:94
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: LazyRRT.cpp:55
void freeMemory()
Free the memory allocated by this planner.
Definition: LazyRRT.cpp:79
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: LazyRRT.cpp:69
This class contains methods that automatically configure various parameters for motion planning....
Definition: SelfConfig.h:60
void configurePlannerRange(double &range)
Compute what a good length for motion segments is.
Definition: SelfConfig.cpp:225
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition: Console.h:68
#define OMPL_ERROR(fmt,...)
Log a formatted error string.
Definition: Console.h:64
bool directed
Flag indicating whether the planner is able to account for the fact that the validity of a motion fro...
Definition: Planner.h:212
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49
@ INVALID_START
Invalid start state or no start state specified.
Definition: PlannerStatus.h:56
@ EXACT_SOLUTION
The planner found an exact solution.
Definition: PlannerStatus.h:66
@ TIMEOUT
The planner failed to find a solution.
Definition: PlannerStatus.h:62