KPIECE1.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/geometric/planners/kpiece/KPIECE1.h"
38#include "ompl/base/goals/GoalSampleableRegion.h"
39#include "ompl/tools/config/SelfConfig.h"
40#include <limits>
41#include <cassert>
42
43ompl::geometric::KPIECE1::KPIECE1(const base::SpaceInformationPtr &si)
44 : base::Planner(si, "KPIECE1"), disc_([this](Motion *m) { freeMotion(m); })
45{
46 specs_.approximateSolutions = true;
47 specs_.directed = true;
48
49 Planner::declareParam<double>("range", this, &KPIECE1::setRange, &KPIECE1::getRange, "0.:1.:10000.");
50 Planner::declareParam<double>("goal_bias", this, &KPIECE1::setGoalBias, &KPIECE1::getGoalBias, "0.:.05:1.");
51 Planner::declareParam<double>("border_fraction", this, &KPIECE1::setBorderFraction, &KPIECE1::getBorderFraction,
52 "0.:0.05:1.");
53 Planner::declareParam<double>("failed_expansion_score_factor", this, &KPIECE1::setFailedExpansionCellScoreFactor,
55 Planner::declareParam<double>("min_valid_path_fraction", this, &KPIECE1::setMinValidPathFraction,
57}
58
59ompl::geometric::KPIECE1::~KPIECE1() = default;
60
62{
63 Planner::setup();
64 tools::SelfConfig sc(si_, getName());
65 sc.configureProjectionEvaluator(projectionEvaluator_);
66 sc.configurePlannerRange(maxDistance_);
67
68 if (failedExpansionScoreFactor_ < std::numeric_limits<double>::epsilon() || failedExpansionScoreFactor_ > 1.0)
69 throw Exception("Failed expansion cell score factor must be in the range (0,1]");
70 if (minValidPathFraction_ < std::numeric_limits<double>::epsilon() || minValidPathFraction_ > 1.0)
71 throw Exception("The minimum valid path fraction must be in the range (0,1]");
72
73 disc_.setDimension(projectionEvaluator_->getDimension());
74}
75
77{
78 Planner::clear();
79 sampler_.reset();
80 disc_.clear();
81 lastGoalMotion_ = nullptr;
82}
83
85{
86 if (motion->state != nullptr)
87 si_->freeState(motion->state);
88 delete motion;
89}
90
92{
93 checkValidity();
94 base::Goal *goal = pdef_->getGoal().get();
95 auto *goal_s = dynamic_cast<base::GoalSampleableRegion *>(goal);
96
97 Discretization<Motion>::Coord xcoord(projectionEvaluator_->getDimension());
98
99 while (const base::State *st = pis_.nextStart())
100 {
101 auto *motion = new Motion(si_);
102 si_->copyState(motion->state, st);
103 projectionEvaluator_->computeCoordinates(motion->state, xcoord);
104 disc_.addMotion(motion, xcoord, 1.0);
105 }
106
107 if (disc_.getMotionCount() == 0)
108 {
109 OMPL_ERROR("%s: There are no valid initial states!", getName().c_str());
111 }
112
113 if (!sampler_)
114 sampler_ = si_->allocStateSampler();
115
116 OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(),
117 disc_.getMotionCount());
118
119 Motion *solution = nullptr;
120 Motion *approxsol = nullptr;
121 double approxdif = std::numeric_limits<double>::infinity();
122 base::State *xstate = si_->allocState();
123
124 while (!ptc)
125 {
126 disc_.countIteration();
127
128 /* Decide on a state to expand from */
129 Motion *existing = nullptr;
130 Discretization<Motion>::Cell *ecell = nullptr;
131 disc_.selectMotion(existing, ecell);
132 assert(existing);
133
134 /* sample random state (with goal biasing) */
135 if ((goal_s != nullptr) && rng_.uniform01() < goalBias_ && goal_s->canSample())
136 goal_s->sampleGoal(xstate);
137 else
138 sampler_->sampleUniformNear(xstate, existing->state, maxDistance_);
139
140 std::pair<base::State *, double> fail(xstate, 0.0);
141 bool keep = si_->checkMotion(existing->state, xstate, fail);
142 if (!keep && fail.second > minValidPathFraction_)
143 keep = true;
144
145 if (keep)
146 {
147 /* create a motion */
148 auto *motion = new Motion(si_);
149 si_->copyState(motion->state, xstate);
150 motion->parent = existing;
151
152 double dist = 0.0;
153 bool solv = goal->isSatisfied(motion->state, &dist);
154 projectionEvaluator_->computeCoordinates(motion->state, xcoord);
155 disc_.addMotion(motion, xcoord, dist); // this will also update the discretization heaps as needed, so no
156 // call to updateCell() is needed
157
158 if (solv)
159 {
160 approxdif = dist;
161 solution = motion;
162 break;
163 }
164 if (dist < approxdif)
165 {
166 approxdif = dist;
167 approxsol = motion;
168 }
169 }
170 else
171 ecell->data->score *= failedExpansionScoreFactor_;
172 disc_.updateCell(ecell);
173 }
174
175 bool solved = false;
176 bool approximate = false;
177 if (solution == nullptr)
178 {
179 solution = approxsol;
180 approximate = true;
181 }
182
183 if (solution != nullptr)
184 {
185 lastGoalMotion_ = solution;
186
187 /* construct the solution path */
188 std::vector<Motion *> mpath;
189 while (solution != nullptr)
190 {
191 mpath.push_back(solution);
192 solution = solution->parent;
193 }
194
195 /* set the solution path */
196 auto path(std::make_shared<PathGeometric>(si_));
197 for (int i = mpath.size() - 1; i >= 0; --i)
198 path->append(mpath[i]->state);
199 pdef_->addSolutionPath(path, approximate, approxdif, getName());
200 solved = true;
201 }
202
203 si_->freeState(xstate);
204
205 OMPL_INFORM("%s: Created %u states in %u cells (%u internal + %u external)", getName().c_str(),
206 disc_.getMotionCount(), disc_.getCellCount(), disc_.getGrid().countInternal(),
207 disc_.getGrid().countExternal());
208
209 return {solved, approximate};
210}
211
213{
214 Planner::getPlannerData(data);
215 disc_.getPlannerData(data, 0, true, lastGoalMotion_);
216}
The exception type for ompl.
Definition: Exception.h:47
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.
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
Definition: PlannerData.h:175
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
Definition of an abstract state.
Definition: State.h:50
typename Grid::Coord Coord
The datatype for the maintained grid coordinates.
typename Grid::Cell Cell
The datatype for the maintained grid cells.
Representation of a motion for this algorithm.
Definition: KPIECE1.h:197
Motion * parent
The parent motion in the exploration tree.
Definition: KPIECE1.h:212
base::State * state
The state contained by this motion.
Definition: KPIECE1.h:209
double getGoalBias() const
Get the goal bias the planner is using.
Definition: KPIECE1.h:98
KPIECE1(const base::SpaceInformationPtr &si)
Constructor.
Definition: KPIECE1.cpp:43
void setFailedExpansionCellScoreFactor(double factor)
When extending a motion from a cell, the extension can be successful or it can fail....
Definition: KPIECE1.h:158
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: KPIECE1.cpp:91
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: KPIECE1.cpp:212
double getMinValidPathFraction() const
Get the value of the fraction set by setMinValidPathFraction()
Definition: KPIECE1.h:149
void setup() override
Perform extra configuration steps, if needed. This call will also issue a call to ompl::base::SpaceIn...
Definition: KPIECE1.cpp:61
void setMinValidPathFraction(double fraction)
When extending a motion, the planner can decide to keep the first valid part of it,...
Definition: KPIECE1.h:143
void setGoalBias(double goalBias)
Set the goal bias.
Definition: KPIECE1.h:92
void setRange(double distance)
Set the range the planner is supposed to use.
Definition: KPIECE1.h:108
void setBorderFraction(double bp)
Set the fraction of time for focusing on the border (between 0 and 1). This is the minimum fraction u...
Definition: KPIECE1.h:125
double getFailedExpansionCellScoreFactor() const
Get the factor that is multiplied to a cell's score if extending a motion from that cell failed.
Definition: KPIECE1.h:165
double getRange() const
Get the range the planner is using.
Definition: KPIECE1.h:114
void clear() override
Clear all internal datastructures. Planner settings are not affected. Subsequent calls to solve() wil...
Definition: KPIECE1.cpp:76
void freeMotion(Motion *motion)
Free the memory for a motion.
Definition: KPIECE1.cpp:84
double getBorderFraction() const
Get the fraction of time to focus exploration on boundary.
Definition: KPIECE1.h:132
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
void configureProjectionEvaluator(base::ProjectionEvaluatorPtr &proj)
If proj is undefined, it is set to the default projection reported by base::StateSpace::getDefaultPro...
Definition: SelfConfig.cpp:231
#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
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