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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2012, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan, Mark Moll */
#include "BenchmarkTypes.h"
#include <ompl/base/spaces/DubinsStateSpace.h>
#include <ompl/base/spaces/ReedsSheppStateSpace.h>
#include <ompl/control/planners/syclop/GridDecomposition.h>
bool SE2BaseBenchmark::getStartState(ompl::base::ScopedState<ompl::base::SE2StateSpace>& start)
{
try
{
start->setX(std::stod(bo_.declared_options_["problem.start.x"]));
start->setY(std::stod(bo_.declared_options_["problem.start.y"]));
start->setYaw(std::stod(bo_.declared_options_["problem.start.theta"]));
}
catch(std::invalid_argument &)
{
std::cerr << "Unable to read start state" << std::endl;
return false;
}
return true;
}
bool SE2BaseBenchmark::getGoalState(ompl::base::ScopedState<ompl::base::SE2StateSpace>& goal)
{
try
{
goal->setX(std::stod(bo_.declared_options_["problem.goal.x"]));
goal->setY(std::stod(bo_.declared_options_["problem.goal.y"]));
goal->setYaw(std::stod(bo_.declared_options_["problem.goal.theta"]));
}
catch(std::invalid_argument &)
{
std::cerr << "Unable to read goal state" << std::endl;
return false;
}
return true;
}
void SE2BaseBenchmark::setBounds(const ompl::base::StateSpacePtr& space)
{
try
{
if (bo_.declared_options_.find("problem.volume.min.x") != bo_.declared_options_.end() && bo_.declared_options_.find("problem.volume.min.y") != bo_.declared_options_.end() &&
bo_.declared_options_.find("problem.volume.max.x") != bo_.declared_options_.end() && bo_.declared_options_.find("problem.volume.max.y") != bo_.declared_options_.end())
{
ompl::base::RealVectorBounds bounds(2);
bounds.setLow(0, std::stod(bo_.declared_options_["problem.volume.min.x"]));
bounds.setLow(1, std::stod(bo_.declared_options_["problem.volume.min.y"]));
bounds.setHigh(0, std::stod(bo_.declared_options_["problem.volume.max.x"]));
bounds.setHigh(1, std::stod(bo_.declared_options_["problem.volume.max.y"]));
space->as<ompl::base::SE2StateSpace>()->setBounds(bounds);
}
}
catch(std::invalid_argument &)
{
}
}
bool SE3BaseBenchmark::getStartState(ompl::base::ScopedState<ompl::base::SE3StateSpace>& start)
{
try
{
start->setXYZ(std::stod(bo_.declared_options_["problem.start.x"]),
std::stod(bo_.declared_options_["problem.start.y"]),
std::stod(bo_.declared_options_["problem.start.z"]));
start->rotation().setAxisAngle(std::stod(bo_.declared_options_["problem.start.axis.x"]),
std::stod(bo_.declared_options_["problem.start.axis.y"]),
std::stod(bo_.declared_options_["problem.start.axis.z"]),
std::stod(bo_.declared_options_["problem.start.theta"]));
}
catch(std::invalid_argument &)
{
std::cerr << "Unable to read start state" << std::endl;
return false;
}
return true;
}
bool SE3BaseBenchmark::getGoalState(ompl::base::ScopedState<ompl::base::SE3StateSpace>& goal)
{
try
{
goal->setXYZ(std::stod(bo_.declared_options_["problem.goal.x"]),
std::stod(bo_.declared_options_["problem.goal.y"]),
std::stod(bo_.declared_options_["problem.goal.z"]));
goal->rotation().setAxisAngle(std::stod(bo_.declared_options_["problem.goal.axis.x"]),
std::stod(bo_.declared_options_["problem.goal.axis.y"]),
std::stod(bo_.declared_options_["problem.goal.axis.z"]),
std::stod(bo_.declared_options_["problem.goal.theta"]));
}
catch(std::invalid_argument &)
{
std::cerr << "Unable to read goal state" << std::endl;
return false;
}
return true;
}
void SE3BaseBenchmark::setBounds(const ompl::base::StateSpacePtr& space)
{
try
{
if (bo_.declared_options_.find("problem.volume.min.x") != bo_.declared_options_.end() && bo_.declared_options_.find("problem.volume.min.y") != bo_.declared_options_.end() &&
bo_.declared_options_.find("problem.volume.min.z") != bo_.declared_options_.end() &&
bo_.declared_options_.find("problem.volume.max.x") != bo_.declared_options_.end() && bo_.declared_options_.find("problem.volume.max.y") != bo_.declared_options_.end() &&
bo_.declared_options_.find("problem.volume.max.y") != bo_.declared_options_.end())
{
ompl::base::RealVectorBounds bounds(3);
bounds.setLow(0, std::stod(bo_.declared_options_["problem.volume.min.x"]));
bounds.setLow(1, std::stod(bo_.declared_options_["problem.volume.min.y"]));
bounds.setLow(2, std::stod(bo_.declared_options_["problem.volume.min.z"]));
bounds.setHigh(0, std::stod(bo_.declared_options_["problem.volume.max.x"]));
bounds.setHigh(1, std::stod(bo_.declared_options_["problem.volume.max.y"]));
bounds.setHigh(2, std::stod(bo_.declared_options_["problem.volume.max.z"]));
space->as<ompl::base::SE3StateSpace>()->setBounds(bounds);
}
}
catch(std::invalid_argument &)
{
}
}
void SE2Benchmark::configure()
{
double turning_radius = 1.;
std::string statespace;
if (bo_.declared_options_.find("problem.turningradius") != bo_.declared_options_.end())
turning_radius = std::stod(bo_.declared_options_["problem.turningradius"]);
if (bo_.declared_options_.find("problem.statespace") != bo_.declared_options_.end())
statespace = bo_.declared_options_["problem.statespace"];
if (statespace == "dubins")
{
setup_se2_ = std::make_shared<ompl::app::SE2RigidBodyPlanning>(
std::make_shared<ompl::base::DubinsStateSpace>(turning_radius));
}
else if (statespace == "dubinssymmetric")
setup_se2_ = std::make_shared<ompl::app::SE2RigidBodyPlanning>(
std::make_shared<ompl::base::DubinsStateSpace>(turning_radius, true));
else if (statespace == "reedsshepp")
setup_se2_ = std::make_shared<ompl::app::SE2RigidBodyPlanning>(
std::make_shared<ompl::base::ReedsSheppStateSpace>(turning_radius));
else
setup_se2_ = std::make_shared<ompl::app::SE2RigidBodyPlanning>();
setMeshes(*setup_se2_);
ompl::base::ScopedState<ompl::base::SE2StateSpace> start(setup_se2_->getStateSpace());
ompl::base::ScopedState<ompl::base::SE2StateSpace> goal(setup_se2_->getStateSpace());
if (!getStartState(start))
return;
if (!getGoalState(goal))
return;
auto t = std::stod(bo_.declared_options_["problem.threshold"]);
setup_se2_->setStartAndGoalStates(start, goal, t);
setBounds(setup_se2_->getStateSpace());
setup_se2_->setOptimizationObjective(getOptimizationObjective(setup_se2_->getSpaceInformation()));
setup_se2_->setup();
setup_se2_->print();
benchmark_ = std::make_shared<ompl::tools::Benchmark>(*setup_se2_, bo_.declared_options_["problem.name"]);
}
void SE3Benchmark::configure()
{
setup_se3_ = std::make_shared<ompl::app::SE3RigidBodyPlanning>();
setMeshes(*setup_se3_);
ompl::base::ScopedState<ompl::base::SE3StateSpace> start(setup_se3_->getStateSpace());
ompl::base::ScopedState<ompl::base::SE3StateSpace> goal(setup_se3_->getStateSpace());
if (!getStartState(start))
return;
if (!getGoalState(goal))
return;
auto t = std::stod(bo_.declared_options_["problem.threshold"]);
setup_se3_->setStartAndGoalStates(start, goal, t);
setBounds(setup_se3_->getStateSpace());
setup_se3_->setOptimizationObjective(getOptimizationObjective(setup_se3_->getSpaceInformation()));
setup_se3_->setup();
setup_se3_->print();
benchmark_ = std::make_shared<ompl::tools::Benchmark>(*setup_se3_, bo_.declared_options_["problem.name"]);
}
void KinematicCarBenchmark::configure()
{
setup_kinematicCar_ = std::make_shared<ompl::app::KinematicCarPlanning>();
setMeshes(*setup_kinematicCar_);
ompl::base::ScopedState<ompl::base::SE2StateSpace> start(setup_kinematicCar_->getStateSpace());
ompl::base::ScopedState<ompl::base::SE2StateSpace> goal(setup_kinematicCar_->getStateSpace());
if (!getStartState(start))
return;
if (!getGoalState(goal))
return;
auto t = std::stod(bo_.declared_options_["problem.threshold"]);
setup_kinematicCar_->setStartAndGoalStates(start, goal, t);
setBounds(setup_kinematicCar_->getStateSpace());
setup_kinematicCar_->setOptimizationObjective(getOptimizationObjective(setup_kinematicCar_->getSpaceInformation()));
setup_kinematicCar_->setup();
setup_kinematicCar_->print();
benchmark_ = std::make_shared<ompl::tools::Benchmark>(*setup_kinematicCar_, bo_.declared_options_["problem.name"]);
}
void DynamicCarBenchmark::configure()
{
setup_dynamicCar_ = std::make_shared<ompl::app::DynamicCarPlanning>();
setMeshes(*setup_dynamicCar_);
ompl::base::ScopedState<ompl::base::SE2StateSpace> start(setup_dynamicCar_->getGeometricComponentStateSpace());
ompl::base::ScopedState<ompl::base::SE2StateSpace> goal(setup_dynamicCar_->getGeometricComponentStateSpace());
if (!getStartState(start))
return;
if (!getGoalState(goal))
return;
auto t = std::stod(bo_.declared_options_["problem.threshold"]);
setup_dynamicCar_->setStartAndGoalStates(
setup_dynamicCar_->getFullStateFromGeometricComponent(start),
setup_dynamicCar_->getFullStateFromGeometricComponent(goal), t);
setBounds(setup_dynamicCar_->getGeometricComponentStateSpace());
setup_dynamicCar_->setOptimizationObjective(getOptimizationObjective(setup_dynamicCar_->getSpaceInformation()));
setup_dynamicCar_->setup();
setup_dynamicCar_->print();
benchmark_ = std::make_shared<ompl::tools::Benchmark>(*setup_dynamicCar_, bo_.declared_options_["problem.name"]);
}
void BlimpBenchmark::configure()
{
setup_blimp_ = std::make_shared<ompl::app::BlimpPlanning>();
setMeshes(*setup_blimp_);
ompl::base::ScopedState<ompl::base::SE3StateSpace> start(setup_blimp_->getGeometricComponentStateSpace());
ompl::base::ScopedState<ompl::base::SE3StateSpace> goal(setup_blimp_->getGeometricComponentStateSpace());
if (!getStartState(start))
return;
if (!getGoalState(goal))
return;
auto t = std::stod(bo_.declared_options_["problem.threshold"]);
setup_blimp_->setStartAndGoalStates(
setup_blimp_->getFullStateFromGeometricComponent(start),
setup_blimp_->getFullStateFromGeometricComponent(goal), t);
setBounds(setup_blimp_->getGeometricComponentStateSpace());
setup_blimp_->setOptimizationObjective(getOptimizationObjective(setup_blimp_->getSpaceInformation()));
setup_blimp_->setup();
setup_blimp_->print();
benchmark_ = std::make_shared<ompl::tools::Benchmark>(*setup_blimp_, bo_.declared_options_["problem.name"]);
}
void QuadrotorBenchmark::configure()
{
setup_quadrotor_ = std::make_shared<ompl::app::QuadrotorPlanning>();
setMeshes(*setup_quadrotor_);
ompl::base::ScopedState<ompl::base::SE3StateSpace> start(setup_quadrotor_->getGeometricComponentStateSpace());
ompl::base::ScopedState<ompl::base::SE3StateSpace> goal(setup_quadrotor_->getGeometricComponentStateSpace());
if (!getStartState(start))
return;
if (!getGoalState(goal))
return;
auto t = std::stod(bo_.declared_options_["problem.threshold"]);
setup_quadrotor_->setStartAndGoalStates(
setup_quadrotor_->getFullStateFromGeometricComponent(start),
setup_quadrotor_->getFullStateFromGeometricComponent(goal), t);
setBounds(setup_quadrotor_->getGeometricComponentStateSpace());
setup_quadrotor_->setOptimizationObjective(getOptimizationObjective(setup_quadrotor_->getSpaceInformation()));
setup_quadrotor_->setup();
setup_quadrotor_->print();
benchmark_ = std::make_shared<ompl::tools::Benchmark>(*setup_quadrotor_, bo_.declared_options_["problem.name"]);
}
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