int main()
{
traj.clear();
unsigned int mainthreadsleft = numThreads;
// boost::shared_ptr<boost::thread> ( new boost::thread(boost::bind( &track_threads )));
Ta.trans = transA;
Ta.rot = quatA;
Tb.trans = transB;
Tb.rot = quatB;
std::string scenefilename = "scenes/test6dof.mujin.zae";
std::string viewername = "qtcoin";
RaveInitialize(true); // start openrave core
EnvironmentBasePtr penv = RaveCreateEnvironment(); // create the main environment
Transform robot_t;
RaveVector< dReal > transR(c, d, 0);
robot_t.trans = transR;
//boost::thread thviewer(boost::bind(SetViewer,penv,viewername));
penv->Load(scenefilename);
RobotBasePtr probot = penv->GetRobot("RV-4F");
//removing floor for collision checking
EnvironmentBasePtr pclondedenv = penv->CloneSelf(Clone_Bodies);
pclondedenv->Remove( pclondedenv->GetKinBody("floor"));
RobotBasePtr probot_clone = pclondedenv->GetRobot("RV-4F");
unsigned int tot = ((( abs(a) + abs(c) )/discretization_x )+1) * (((( abs(b) + abs(d) )/discretization_y )+1) * (( abs( z )/discretization_z )+1));
unsigned int tot_o = tot;
for (unsigned int i = 0 ; i <= (( abs(a) + abs(c) )/discretization_x );i++) {
for (unsigned int j = 0 ; j <= (( abs(b) + abs(d) )/discretization_y ); j++) {
for (unsigned int k = 0 ; k <= ( abs( z )/discretization_z ) ; k++) {
////std::cout << transR[0] << ";" << transR[1] << ";" << transR[2] << std::endl;
//boost::this_thread::sleep(boost::posix_time::milliseconds(1000));
robot_t.trans = transR;
probot->SetTransform(robot_t);
probot_clone->SetTransform(robot_t);
if( pclondedenv->CheckCollision(RobotBaseConstPtr(probot_clone)) ){
//std::cout << "Robot in collision with the environment" << std::endl;
}
else {
do_task(Ta, Tb, penv,3);
}
tot -= 1;
std::cout << tot << "/" << tot_o << std::endl;
transR[2] = transR[2]+ discretization_z;
}
transR[2] = 0;
transR[1] = transR[1] + discretization_y;
robot_t.trans = transR;
}
transR[2] = 0;
transR[1] = c;
transR[0] = transR[0] + discretization_x;
robot_t.trans = transR;
}
//thviewer.join(); // wait for the viewer thread to exit
RaveDestroy(); // make sure to destroy the OpenRAVE runtime
penv->Destroy(); // destroy
return 0;
}
void do_task(Transform Ta, Transform Tb, EnvironmentBasePtr _penv, unsigned int thread_count_left)
{
std::vector< std::vector< dReal > > vsolutionsA, vsolutionsB;
dReal time_seconds;
TrajectoryBasePtr ptraj;
EnvironmentBasePtr pEnv = _penv->CloneSelf(Clone_Bodies);
if (!!(GetIKSolutions(_penv, Tb, vsolutionsB) && GetIKSolutions(_penv, Ta,vsolutionsA))){
//RAVELOG_INFO("Solution found for both source and goal\n");
}
else {
////RAVELOG_INFO("No solution found either for source or goal");
}
k_threads = 1;
unsigned int _combinations = vsolutionsA.size() * vsolutionsB.size() , combinations = 0;
std::cout << "Found " << _combinations << " combinations" << std::endl;
if (!! _combinations){
vector<boost::shared_ptr<boost::thread> > vthreads(_combinations);
for(size_t i = 0; i < vsolutionsA.size(); ++i) {
//RAVELOG_INFO("Planning for every Pose A \n");
for(size_t j = 0; j < vsolutionsB.size(); ++j) {
//RAVELOG_INFO("to every Pose B \n");
std::cout << "i " << i << "j " <<j << std::endl;
combinations +=1;
//check if all threads are already running
if (k_threads == thread_count_left || combinations == _combinations){
for(size_t k = 0; k < k_threads-1; ++k) {
std::cout << "Retrieved thread to be complete " << completed_thread << std::endl;
vthreads[k]->join();
//k_threads -= 1;
RAVELOG_INFO("joined ........................\n");
}
/*for(size_t k = 0; k < k_threads-1; ++k) {
std::cout << "Retrieved thread to be complete " << completed_thread << std::endl;
if (vthreads[k]->get_id() == completed_thread){
vthreads[k]->join();
k_threads -= 1;
RAVELOG_INFO("joined \n");
}
}*/
}
else if(k_threads <= thread_count_left){
//std::cout << k_threads-1 << std::endl;
vthreads[k_threads-1].reset(new boost::thread(boost::bind(&GetTaskTime, _penv, vsolutionsA[i], vsolutionsB[j],ptraj)));
//vthreads[k_threads].get_id();
k_threads += 1;
continue;
}
//RAVELOG_INFO("wait for threads to finish\n");
//std::cout << vthreads.size() << std::endl;
//boost::this_thread::sleep(boost::posix_time::milliseconds(10));
////RAVELOG_INFO("threads finished\n");
//vthreads.resize(0);
}
}
}
}
