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QuotientSpacePlanningRigidBody2D.cpp
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35
36/* Author: Andreas Orthey */
37
38#include <ompl/base/spaces/SE2StateSpace.h>
39#include <ompl/base/spaces/RealVectorStateSpace.h>
40#include <ompl/base/SpaceInformation.h>
41#include <ompl/base/StateSpace.h>
42#include <ompl/geometric/planners/quotientspace/QRRT.h>
43#include <iostream>
44#include <boost/math/constants/constants.hpp>
45
46namespace ob = ompl::base;
47namespace og = ompl::geometric;
48
49// Path Planning in SE2 = R2 \times SO2
50// using quotient-spaces R2 and SE2
51
52bool boxConstraint(const double values[])
53{
54 const double &x = values[0] - 0.5;
55 const double &y = values[1] - 0.5;
56 double pos_cnstr = sqrt(x * x + y * y);
57 return (pos_cnstr > 0.2);
58}
59bool isStateValid_SE2(const ob::State *state)
60{
61 const auto *SE2state = state->as<ob::SE2StateSpace::StateType>();
62 const auto *R2 = SE2state->as<ob::RealVectorStateSpace::StateType>(0);
63 const auto *SO2 = SE2state->as<ob::SO2StateSpace::StateType>(1);
64 return boxConstraint(R2->values) && (SO2->value < boost::math::constants::pi<double>() / 2.0);
65}
66bool isStateValid_R2(const ob::State *state)
67{
68 const auto *R2 = state->as<ob::RealVectorStateSpace::StateType>();
69 return boxConstraint(R2->values);
70}
71
72int main()
73{
74 // Setup SE2
75 auto SE2(std::make_shared<ob::SE2StateSpace>());
76 ob::RealVectorBounds bounds(2);
77 bounds.setLow(0);
78 bounds.setHigh(1);
79 SE2->setBounds(bounds);
80 ob::SpaceInformationPtr si_SE2(std::make_shared<ob::SpaceInformation>(SE2));
81 si_SE2->setStateValidityChecker(isStateValid_SE2);
82
83 // Setup Quotient-Space R2
84 auto R2(std::make_shared<ob::RealVectorStateSpace>(2));
85 R2->setBounds(0, 1);
86 ob::SpaceInformationPtr si_R2(std::make_shared<ob::SpaceInformation>(R2));
87 si_R2->setStateValidityChecker(isStateValid_R2);
88
89 // Create vector of spaceinformationptr
90 std::vector<ob::SpaceInformationPtr> si_vec;
91 si_vec.push_back(si_R2);
92 si_vec.push_back(si_SE2);
93
94 // Define Planning Problem
96 SE2State start_SE2(SE2);
97 SE2State goal_SE2(SE2);
98 start_SE2->setXY(0, 0);
99 start_SE2->setYaw(0);
100 goal_SE2->setXY(1, 1);
101 goal_SE2->setYaw(0);
102
103 ob::ProblemDefinitionPtr pdef = std::make_shared<ob::ProblemDefinition>(si_SE2);
104 pdef->setStartAndGoalStates(start_SE2, goal_SE2);
105
106 // Setup Planner using vector of spaceinformationptr
107 auto planner = std::make_shared<og::QRRT>(si_vec);
108
109 // Planner can be used as any other OMPL algorithm
110 planner->setProblemDefinition(pdef);
111 planner->setup();
112
113 ob::PlannerStatus solved = planner->ob::Planner::solve(1.0);
114
115 if (solved)
116 {
117 std::cout << std::string(80, '-') << std::endl;
118 std::cout << "Configuration-Space Path (SE2):" << std::endl;
119 std::cout << std::string(80, '-') << std::endl;
120 pdef->getSolutionPath()->print(std::cout);
121
122 std::cout << std::string(80, '-') << std::endl;
123 std::cout << "Quotient-Space Path (R2):" << std::endl;
124 std::cout << std::string(80, '-') << std::endl;
125 const ob::ProblemDefinitionPtr pdefR2 = planner->getProblemDefinition(0);
126 pdefR2->getSolutionPath()->print(std::cout);
127
128 std::vector<int> nodes = planner->getFeasibleNodes();
129 std::cout << std::string(80, '-') << std::endl;
130 for (unsigned int k = 0; k < nodes.size(); k++)
131 {
132 std::cout << "QuotientSpace" << k << " has " << nodes.at(k) << " nodes." << std::endl;
133 }
134 }
135 return 0;
136}
The lower and upper bounds for an Rn space.
Definition of a scoped state.
Definition: ScopedState.h:57
Definition of an abstract state.
Definition: State.h:50
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
This namespace contains sampling based planning routines shared by both planning under geometric cons...
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:48
A class to store the exit status of Planner::solve()
Definition: PlannerStatus.h:49