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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/tools/config/SelfConfig.h"
39
41 : configured_(false), planTime_(0.0), last_status_(base::PlannerStatus::UNKNOWN)
42{
43 si_ = si;
44 pdef_ = std::make_shared<base::ProblemDefinition>(si_);
45}
46
48 : configured_(false), planTime_(0.0), last_status_(base::PlannerStatus::UNKNOWN)
49{
50 si_ = std::make_shared<SpaceInformation>(space->getStateSpace(), space);
51 pdef_ = std::make_shared<base::ProblemDefinition>(si_);
52}
53
55{
56 if (!configured_ || !si_->isSetup() || !planner_->isSetup())
57 {
58 if (!si_->isSetup())
59 si_->setup();
60 if (!planner_)
61 {
62 if (pa_)
63 planner_ = pa_(si_);
64 if (!planner_)
65 {
66 OMPL_INFORM("No planner specified. Using default.");
67 planner_ = tools::SelfConfig::getDefaultPlanner(getGoal());
68 }
69 }
70 planner_->setProblemDefinition(pdef_);
71 if (!planner_->isSetup())
72 planner_->setup();
73
74 configured_ = true;
75 }
76}
77
79{
80 if (planner_)
81 planner_->clear();
82 if (pdef_)
83 pdef_->clearSolutionPaths();
84}
85
86// we provide a duplicate implementation here to allow the planner to choose how the time is turned into a planner
87// termination condition
89{
90 setup();
91 last_status_ = base::PlannerStatus::UNKNOWN;
92 time::point start = time::now();
93 last_status_ = planner_->solve(time);
94 planTime_ = time::seconds(time::now() - start);
95 if (last_status_)
96 OMPL_INFORM("Solution found in %f seconds", planTime_);
97 else
98 OMPL_INFORM("No solution found after %f seconds", planTime_);
99 return last_status_;
100}
101
103{
104 setup();
105 last_status_ = base::PlannerStatus::UNKNOWN;
106 time::point start = time::now();
107 last_status_ = planner_->solve(ptc);
108 planTime_ = time::seconds(time::now() - start);
109 if (last_status_)
110 OMPL_INFORM("Solution found in %f seconds", planTime_);
111 else
112 OMPL_INFORM("No solution found after %f seconds", planTime_);
113 return last_status_;
114}
115
117{
118 if (pdef_)
119 {
120 const base::PathPtr &p = pdef_->getSolutionPath();
121 if (p)
122 return static_cast<PathControl &>(*p);
123 }
124 throw Exception("No solution path");
125}
126
128{
129 return haveSolutionPath() && (!pdef_->hasApproximateSolution() ||
130 pdef_->getSolutionDifference() < std::numeric_limits<double>::epsilon());
131}
132
134{
135 pd.clear();
136 if (planner_)
137 planner_->getPlannerData(pd);
138}
139
140void ompl::control::SimpleSetup::print(std::ostream &out) const
141{
142 if (si_)
143 {
144 si_->printProperties(out);
145 si_->printSettings(out);
146 }
147 if (planner_)
148 {
149 planner_->printProperties(out);
150 planner_->printSettings(out);
151 }
152 if (pdef_)
153 pdef_->print(out);
154}
The exception type for ompl.
Definition Exception.h:47
Object containing planner generated vertex and edge data. It is assumed that all vertices are unique,...
virtual void clear()
Clears the entire data structure.
Encapsulate a termination condition for a motion planner. Planners will call operator() to decide whe...
A shared pointer wrapper for ompl::base::SpaceInformation.
A shared pointer wrapper for ompl::control::ControlSpace.
Definition of a control path.
Definition PathControl.h:61
base::ProblemDefinitionPtr pdef_
The created problem definition.
bool haveExactSolutionPath() const
Return true if a solution path is available (previous call to solve() was successful) and the solutio...
virtual void setup()
This method will create the necessary classes for planning. The solve() method will call this functio...
PathControl & getSolutionPath() const
Get the solution path. Throw an exception if no solution is available.
SimpleSetup(const SpaceInformationPtr &si)
Constructor needs the control space used for planning.
virtual base::PlannerStatus solve(double time=1.0)
Run the planner for a specified amount of time (default is 1 second)
virtual void print(std::ostream &out=std::cout) const
Print information about the current setup.
void getPlannerData(base::PlannerData &pd) const
Get information about the exploration data structure the motion planner used.
virtual void clear()
Clear all planning data. This only includes data generated by motion plan computation....
SpaceInformationPtr si_
The created space information.
static base::PlannerPtr getDefaultPlanner(const base::GoalPtr &goal)
Given a goal specification, decide on a planner for that goal.
#define OMPL_INFORM(fmt,...)
Log a formatted information string.
Definition Console.h:68
std::chrono::system_clock::time_point point
Representation of a point in time.
Definition Time.h:52
point now()
Get the current time point.
Definition Time.h:58
duration seconds(double sec)
Return the time duration representing a given number of seconds.
Definition Time.h:64
A class to store the exit status of Planner::solve()
@ UNKNOWN
Uninitialized status.