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SimpleSetup.cpp
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34 
35 /* Author: Ioan Sucan */
36 
37 #include "ompl/control/SimpleSetup.h"
38 #include "ompl/control/planners/rrt/RRT.h"
39 #include "ompl/control/planners/kpiece/KPIECE1.h"
40 
42 {
43  base::PlannerPtr planner;
44  if (!goal)
45  throw Exception("Unable to allocate default planner for unspecified goal definition");
46 
47  SpaceInformationPtr si = boost::static_pointer_cast<SpaceInformation, base::SpaceInformation>(goal->getSpaceInformation());
48  if (si->getStateSpace()->hasDefaultProjection())
49  planner = base::PlannerPtr(new KPIECE1(si));
50  else
51  planner = base::PlannerPtr(new RRT(si));
52 
53  return planner;
54 }
55 
57  configured_(false), planTime_(0.0), invalid_request_(false)
58 {
59  si_.reset(new SpaceInformation(space->getStateSpace(), space));
60  pdef_.reset(new base::ProblemDefinition(si_));
61  params_.include(si_->params());
62 }
63 
65 {
66  if (!configured_ || !si_->isSetup() || !planner_->isSetup())
67  {
68  if (!si_->isSetup())
69  si_->setup();
70  if (!planner_)
71  {
72  if (pa_)
73  planner_ = pa_(si_);
74  if (!planner_)
75  {
76  logInform("No planner specified. Using default.");
77  planner_ = getDefaultPlanner(getGoal());
78  }
79  }
80  planner_->setProblemDefinition(pdef_);
81  if (!planner_->isSetup())
82  planner_->setup();
83 
84  params_.clear();
85  params_.include(si_->params());
86  params_.include(planner_->params());
87  configured_ = true;
88  }
89 }
90 
92 {
93  if (planner_)
94  planner_->clear();
95  if (pdef_)
96  pdef_->clearSolutionPaths();
97 }
98 
100 {
101  setup();
102  invalid_request_ = false;
103  time::point start = time::now();
104  base::PlannerStatus result = planner_->solve(time);
105  planTime_ = time::seconds(time::now() - start);
106  if (result)
107  logInform("Solution found in %f seconds", planTime_);
108  else
109  {
110  if (planTime_ < time)
111  invalid_request_ = true;
112  logInform("No solution found after %f seconds", planTime_);
113  }
114  return result;
115 }
116 
118 {
119  setup();
120  invalid_request_ = false;
121  time::point start = time::now();
122  base::PlannerStatus result = planner_->solve(ptc);
123  planTime_ = time::seconds(time::now() - start);
124  if (result)
125  logInform("Solution found in %f seconds", planTime_);
126  else
127  {
128  if (!ptc())
129  invalid_request_ = true;
130  logInform("No solution found after %f seconds", planTime_);
131  }
132  return result;
133 }
134 
136 {
137  if (pdef_)
138  {
139  const base::PathPtr &p = pdef_->getSolutionPath();
140  if (p)
141  return static_cast<PathControl&>(*p);
142  }
143  throw Exception("No solution path");
144 }
145 
147 {
148  return haveSolutionPath() && (!pdef_->hasApproximateSolution() || pdef_->getSolutionDifference() < std::numeric_limits<double>::epsilon());
149 }
150 
152 {
153  pd.clear();
154  if (planner_)
155  planner_->getPlannerData(pd);
156 }
157 
158 void ompl::control::SimpleSetup::print(std::ostream &out) const
159 {
160  if (si_)
161  {
162  si_->printProperties(out);
163  si_->printSettings(out);
164  }
165  if (planner_)
166  {
167  planner_->printProperties(out);
168  planner_->printSettings(out);
169  }
170  if (pdef_)
171  pdef_->print(out);
172 }