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sajaniemi_variable_dataset_large / code /test /C++ /0007905_SyclopRRT.cpp

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/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2011, Rice University
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Rice University nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* Author: Matt Maly */

#include "ompl/control/planners/syclop/SyclopRRT.h"
#include "ompl/base/goals/GoalSampleableRegion.h"
#include "ompl/tools/config/SelfConfig.h"

void ompl::control::SyclopRRT::setup(void)
{
    Syclop::setup();
    sampler_ = si_->allocStateSampler();
    controlSampler_ = siC_->allocDirectedControlSampler();
    lastGoalMotion_ = NULL;

    // Create a default GNAT nearest neighbors structure if the user doesn't want
    // the default regionalNN check from the discretization
    if (!nn_ && !regionalNN_)
    {
        nn_.reset(tools::SelfConfig::getDefaultNearestNeighbors<Motion*>(si_->getStateSpace()));
        nn_->setDistanceFunction(boost::bind(&SyclopRRT::distanceFunction, this, _1, _2));
    }
}

void ompl::control::SyclopRRT::clear(void)
{
    Syclop::clear();
    freeMemory();
    if (nn_)
        nn_->clear();
    lastGoalMotion_ = NULL;
}

void ompl::control::SyclopRRT::getPlannerData(base::PlannerData& data) const
{
    Planner::getPlannerData(data);
    std::vector<Motion*> motions;
    if (nn_)
        nn_->list(motions);
    double delta = siC_->getPropagationStepSize();

    if (lastGoalMotion_)
        data.addGoalVertex (base::PlannerDataVertex(lastGoalMotion_->state));

    for (size_t i = 0; i < motions.size(); ++i)
    {
        if (motions[i]->parent)
        {
            if (data.hasControls())
                data.addEdge (base::PlannerDataVertex(motions[i]->parent->state),
                              base::PlannerDataVertex(motions[i]->state),
                              control::PlannerDataEdgeControl (motions[i]->control, motions[i]->steps * delta));
            else
                data.addEdge (base::PlannerDataVertex(motions[i]->parent->state),
                              base::PlannerDataVertex(motions[i]->state));
        }
        else
            data.addStartVertex (base::PlannerDataVertex(motions[i]->state));
    }
}

ompl::control::Syclop::Motion* ompl::control::SyclopRRT::addRoot(const base::State* s)
{
    Motion* motion = new Motion(siC_);
    si_->copyState(motion->state, s);
    siC_->nullControl(motion->control);

    if (nn_)
        nn_->add(motion);
    return motion;
}

void ompl::control::SyclopRRT::selectAndExtend(Region& region, std::vector<Motion*>& newMotions)
{
    Motion* rmotion = new Motion(siC_);
    base::StateSamplerPtr sampler(si_->allocStateSampler());
    decomp_->sampleFromRegion(region.index, sampler, rmotion->state);

    Motion* nmotion;
    if (regionalNN_)
    {
        /* Instead of querying the nearest neighbors datastructure over the entire tree of motions,
         * here we perform a linear search over all motions in the selected region and its neighbors. */
        std::vector<int> searchRegions;
        decomp_->getNeighbors(region.index, searchRegions);
        searchRegions.push_back(region.index);

        std::vector<Motion*> motions;
        for (std::vector<int>::const_iterator i = searchRegions.begin(); i != searchRegions.end(); ++i)
        {
            const std::vector<Motion*>& regionMotions = getRegionFromIndex(*i).motions;
            motions.insert(motions.end(), regionMotions.begin(), regionMotions.end());
        }

        std::vector<Motion*>::const_iterator i = motions.begin();
        nmotion = *i;
        double minDistance = distanceFunction(rmotion, nmotion);
        ++i;
        while (i != motions.end())
        {
            Motion* m = *i;
            const double dist = distanceFunction(rmotion, m);
            if (dist < minDistance)
            {
                nmotion = m;
                minDistance = dist;
            }
            ++i;
        }
    }
    else
    {
        assert (nn_);
        nmotion = nn_->nearest(rmotion);
    }

    base::State* newState = si_->allocState();

    unsigned int duration = controlSampler_->sampleTo(rmotion->control, nmotion->control, nmotion->state, rmotion->state);

    duration = siC_->propagateWhileValid(nmotion->state, rmotion->control, duration, newState);

    if (duration >= siC_->getMinControlDuration())
    {
        Motion* motion = new Motion(siC_);
        si_->copyState(motion->state, newState);
        siC_->copyControl(motion->control, rmotion->control);
        motion->steps = duration;
        motion->parent = nmotion;
        newMotions.push_back(motion);
        if (nn_)
            nn_->add(motion);
        lastGoalMotion_ = motion;
    }

    si_->freeState(rmotion->state);
    siC_->freeControl(rmotion->control);
    delete rmotion;
    si_->freeState(newState);
}

void ompl::control::SyclopRRT::freeMemory(void)
{
    if (nn_)
    {
        std::vector<Motion*> motions;
        nn_->list(motions);
        for (std::vector<Motion*>::iterator i = motions.begin(); i != motions.end(); ++i)
        {
            Motion* m = *i;
            if (m->state)
                si_->freeState(m->state);
            if (m->control)
                siC_->freeControl(m->control);
            delete m;
        }
    }
}

	/*********************************************************************
	* Software License Agreement (BSD License)
	*
	* Copyright (c) 2011, Rice University
	* All rights reserved.
	*
	* Redistribution and use in source and binary forms, with or without
	* modification, are permitted provided that the following conditions
	* are met:
	*
	* * Redistributions of source code must retain the above copyright
	* notice, this list of conditions and the following disclaimer.
	* * Redistributions in binary form must reproduce the above
	* copyright notice, this list of conditions and the following
	* disclaimer in the documentation and/or other materials provided
	* with the distribution.
	* * Neither the name of the Rice University nor the names of its
	* contributors may be used to endorse or promote products derived
	* from this software without specific prior written permission.
	*
	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
	* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
	* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
	* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
	* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
	* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
	* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
	* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
	* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
	* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
	* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
	* POSSIBILITY OF SUCH DAMAGE.
	*********************************************************************/

	/* Author: Matt Maly */

	#include "ompl/control/planners/syclop/SyclopRRT.h"
	#include "ompl/base/goals/GoalSampleableRegion.h"
	#include "ompl/tools/config/SelfConfig.h"

	void ompl::control::SyclopRRT::setup(void)
	{
	Syclop::setup();
	sampler_ = si_->allocStateSampler();
	controlSampler_ = siC_->allocDirectedControlSampler();
	lastGoalMotion_ = NULL;

	// Create a default GNAT nearest neighbors structure if the user doesn't want
	// the default regionalNN check from the discretization
	if (!nn_ && !regionalNN_)
	{
	nn_.reset(tools::SelfConfig::getDefaultNearestNeighbors<Motion*>(si_->getStateSpace()));
	nn_->setDistanceFunction(boost::bind(&SyclopRRT::distanceFunction, this, _1, _2));
	}
	}

	void ompl::control::SyclopRRT::clear(void)
	{
	Syclop::clear();
	freeMemory();
	if (nn_)
	nn_->clear();
	lastGoalMotion_ = NULL;
	}

	void ompl::control::SyclopRRT::getPlannerData(base::PlannerData& data) const
	{
	Planner::getPlannerData(data);
	std::vector<Motion*> motions;
	if (nn_)
	nn_->list(motions);
	double delta = siC_->getPropagationStepSize();

	if (lastGoalMotion_)
	data.addGoalVertex (base::PlannerDataVertex(lastGoalMotion_->state));

	for (size_t i = 0; i < motions.size(); ++i)
	{
	if (motions[i]->parent)
	{
	if (data.hasControls())
	data.addEdge (base::PlannerDataVertex(motions[i]->parent->state),
	base::PlannerDataVertex(motions[i]->state),
	control::PlannerDataEdgeControl (motions[i]->control, motions[i]->steps * delta));
	else
	data.addEdge (base::PlannerDataVertex(motions[i]->parent->state),
	base::PlannerDataVertex(motions[i]->state));
	}
	else
	data.addStartVertex (base::PlannerDataVertex(motions[i]->state));
	}
	}

	ompl::control::Syclop::Motion* ompl::control::SyclopRRT::addRoot(const base::State* s)
	{
	Motion* motion = new Motion(siC_);
	si_->copyState(motion->state, s);
	siC_->nullControl(motion->control);

	if (nn_)
	nn_->add(motion);
	return motion;
	}

	void ompl::control::SyclopRRT::selectAndExtend(Region& region, std::vector<Motion*>& newMotions)
	{
	Motion* rmotion = new Motion(siC_);
	base::StateSamplerPtr sampler(si_->allocStateSampler());
	decomp_->sampleFromRegion(region.index, sampler, rmotion->state);

	Motion* nmotion;
	if (regionalNN_)
	{
	/* Instead of querying the nearest neighbors datastructure over the entire tree of motions,
	* here we perform a linear search over all motions in the selected region and its neighbors. */
	std::vector<int> searchRegions;
	decomp_->getNeighbors(region.index, searchRegions);
	searchRegions.push_back(region.index);

	std::vector<Motion*> motions;
	for (std::vector<int>::const_iterator i = searchRegions.begin(); i != searchRegions.end(); ++i)
	{
	const std::vector<Motion>& regionMotions = getRegionFromIndex(i).motions;
	motions.insert(motions.end(), regionMotions.begin(), regionMotions.end());
	}

	std::vector<Motion*>::const_iterator i = motions.begin();
	nmotion = *i;
	double minDistance = distanceFunction(rmotion, nmotion);
	++i;
	while (i != motions.end())
	{
	Motion* m = *i;
	const double dist = distanceFunction(rmotion, m);
	if (dist < minDistance)
	{
	nmotion = m;
	minDistance = dist;
	}
	++i;
	}
	}
	else
	{
	assert (nn_);
	nmotion = nn_->nearest(rmotion);
	}

	base::State* newState = si_->allocState();

	unsigned int duration = controlSampler_->sampleTo(rmotion->control, nmotion->control, nmotion->state, rmotion->state);

	duration = siC_->propagateWhileValid(nmotion->state, rmotion->control, duration, newState);

	if (duration >= siC_->getMinControlDuration())
	{
	Motion* motion = new Motion(siC_);
	si_->copyState(motion->state, newState);
	siC_->copyControl(motion->control, rmotion->control);
	motion->steps = duration;
	motion->parent = nmotion;
	newMotions.push_back(motion);
	if (nn_)
	nn_->add(motion);
	lastGoalMotion_ = motion;
	}

	si_->freeState(rmotion->state);
	siC_->freeControl(rmotion->control);
	delete rmotion;
	si_->freeState(newState);
	}

	void ompl::control::SyclopRRT::freeMemory(void)
	{
	if (nn_)
	{
	std::vector<Motion*> motions;
	nn_->list(motions);
	for (std::vector<Motion*>::iterator i = motions.begin(); i != motions.end(); ++i)
	{
	Motion* m = *i;
	if (m->state)
	si_->freeState(m->state);
	if (m->control)
	siC_->freeControl(m->control);
	delete m;
	}
	}
	}