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ThunderLightning.cpp
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34
35/* Author: Mark Moll, Dave Coleman, Ioan Sucan */
36
37#include <ompl/base/spaces/RealVectorStateSpace.h>
38#include <ompl/tools/thunder/Thunder.h>
39#include <ompl/tools/lightning/Lightning.h>
40#include <ompl/util/PPM.h>
41
42#include <ompl/config.h>
43
44#include <boost/filesystem.hpp>
45#include <iostream>
46
47namespace ob = ompl::base;
48namespace og = ompl::geometric;
49namespace ot = ompl::tools;
50
51class Plane2DEnvironment
52{
53public:
54
55 Plane2DEnvironment(const char *ppm_file, bool useThunder = true)
56 {
57 bool ok = false;
58 try
59 {
60 ppm_.loadFile(ppm_file);
61 ok = true;
62 }
63 catch(ompl::Exception &ex)
64 {
65 OMPL_ERROR("Unable to load %s.\n%s", ppm_file, ex.what());
66 }
67 if (ok)
68 {
69 auto space(std::make_shared<ob::RealVectorStateSpace>());
70 space->addDimension(0.0, ppm_.getWidth());
71 space->addDimension(0.0, ppm_.getHeight());
72 maxWidth_ = ppm_.getWidth() - 1;
73 maxHeight_ = ppm_.getHeight() - 1;
74 if (useThunder)
75 {
76 expPlanner_ = std::make_shared<ot::Thunder>(space);
77 expPlanner_->setFilePath("thunder.db");
78 }
79 else
80 {
81 expPlanner_ = std::make_shared<ot::Lightning>(space);
82 expPlanner_->setFilePath("lightning.db");
83 }
84 // set state validity checking for this space
85 expPlanner_->setStateValidityChecker([this](const ob::State *state)
86 { return isStateValid(state); });
87 space->setup();
88 expPlanner_->getSpaceInformation()->setStateValidityCheckingResolution(1.0 / space->getMaximumExtent());
89 vss_ = expPlanner_->getSpaceInformation()->allocValidStateSampler();
90
91 // DTC
92 //experience_setup_->setPlanner(std::make_shared<og::RRTConnect>(si_));
93 // Set the repair planner
94 // experience_setup_->setRepairPlanner(std::make_shared<og::RRTConnect>(si_));
95 }
96 }
97
98 ~Plane2DEnvironment()
99 {
100 expPlanner_->save();
101 }
102
103 bool plan()
104 {
105 std::cout << std::endl;
106 std::cout << "-------------------------------------------------------" << std::endl;
107 std::cout << "-------------------------------------------------------" << std::endl;
108
109 if (!expPlanner_)
110 {
111 OMPL_ERROR("Simple setup not loaded");
112 return false;
113 }
114 expPlanner_->clear();
115
116 ob::ScopedState<> start(expPlanner_->getStateSpace());
117 vss_->sample(start.get());
118 ob::ScopedState<> goal(expPlanner_->getStateSpace());
119 vss_->sample(goal.get());
120 expPlanner_->setStartAndGoalStates(start, goal);
121
122 bool solved = expPlanner_->solve(10.);
123 if (solved)
124 OMPL_INFORM("Found solution in %g seconds",
125 expPlanner_->getLastPlanComputationTime());
126 else
127 OMPL_INFORM("No solution found");
128
129 expPlanner_->doPostProcessing();
130
131 return false;
132 }
133
134private:
135
136 bool isStateValid(const ob::State *state) const
137 {
138 const int w = std::min((int)state->as<ob::RealVectorStateSpace::StateType>()->values[0], maxWidth_);
139 const int h = std::min((int)state->as<ob::RealVectorStateSpace::StateType>()->values[1], maxHeight_);
140
141 const ompl::PPM::Color &c = ppm_.getPixel(h, w);
142 return c.red > 127 && c.green > 127 && c.blue > 127;
143 }
144
145 ot::ExperienceSetupPtr expPlanner_;
146 ob::ValidStateSamplerPtr vss_;
147 int maxWidth_;
148 int maxHeight_;
149 ompl::PPM ppm_;
150};
151
152int main(int argc, char **)
153{
154 std::cout << "OMPL version: " << OMPL_VERSION << std::endl;
155
156 boost::filesystem::path path(TEST_RESOURCES_DIR);
157 Plane2DEnvironment env((path / "ppm" / "floor.ppm").string().c_str(), argc==1);
158
159 for (unsigned int i = 0; i < 100; ++i)
160 env.plan();
161
162 return 0;
163}
The exception type for ompl.
Definition Exception.h:47
Load and save .ppm files - "portable pixmap format" an image file formats designed to be easily excha...
Definition PPM.h:47
void loadFile(const char *filename)
Load a .ppm file. Throw an exception in case of an error.
Definition PPM.cpp:41
unsigned int getHeight() const
Get the height of the loaded image.
Definition PPM.h:81
const Color & getPixel(const int row, const int col) const
Directly access a pixel in the image.
Definition PPM.h:115
unsigned int getWidth() const
Get the width of the loaded image.
Definition PPM.h:75
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
#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
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.
Includes various tools such as self config, benchmarking, etc.