void Strategy_Planner::plan(bool is_test_mode, int planner, int navigator) { if (!is_test_mode) { if (!is_emergency_) { setPlanner(a_star_seed); } else { setPlanner(quick_reflex); } if (nml_flag) { setNavigator(waypoint_navigator); } else { if (is_confident_) { setNavigator(lane_navigator); } else { setNavigator(waypoint_navigator); } } } else { setPlanner(planner); setNavigator(navigator); } }
void DensoSetup::initialize(RobotBasePtr probot) { const ob::StateSpacePtr &sSpace = getStateSpace(); sSpace->setup(); ob::ScopedState<> start(sSpace); ob::ScopedState<> goal(sSpace); std::vector<double> startVec(sSpace->getDimension(), 0.); std::vector<double> goalVec(sSpace->getDimension(), 0.); unsigned int ndof = si_->getStateSpace()->as<DensoStateSpace>()-> _probot->GetActiveDOF(); for (unsigned int i = 0; i < ndof; i++) goalVec[i] = 1.0; if (_useRealScene) { startVec[0] = -1.576; startVec[1] = 1.374; startVec[2] = 0.0; startVec[3] = 0.0; startVec[4] = -1.36751533; startVec[5] = 1.615; goalVec[0] = 1.55; goalVec[1] = 1.35; goalVec[2] = 0.1; goalVec[3] = -000057; goalVec[4] = -1.40754; goalVec[5] = 1.6; } sSpace->copyFromReals(start.get(), startVec); sSpace->copyFromReals(goal.get(), goalVec); /* set start, goal, and threshold*/ setStartAndGoalStates(start, goal, threshold); /* set propagation step size and min-max propagation steps*/ si_->setPropagationStepSize(propagationStepSize); si_->setMinMaxControlDuration(propagationMinSteps, propagationMaxSteps); /* initialize a new KPIECE planner */ setPlanner(ob::PlannerPtr(new oc::KPIECE1(si_))); /* set default parameters */ getPlanner()->as<oc::KPIECE1>()->setMaxCloseSamplesCount(maxCloseSamplesCount); getPlanner()->as<oc::KPIECE1>()->setGoalBias(goalBias); /* set a state validity checker */ setStateValidityChecker(ob::StateValidityCheckerPtr (new DensoStateValidityChecker(si_))); si_->setStateValidityCheckingResolution(0.05); //5% /* set a state propagator */ setStatePropagator(oc::StatePropagatorPtr(new DensoStatePropagator(si_))); }
void KoulesSetup::initialize(unsigned int numKoules, const std::string& plannerName, const std::vector<double>& stateVec) { const ob::StateSpacePtr& space = getStateSpace(); space->setup(); // setup start state ob::ScopedState<> start(space); if (stateVec.size() == space->getDimension()) space->copyFromReals(start.get(), stateVec); else { // Pick koule positions evenly radially distributed, but at a linearly // increasing distance from the center. The ship's initial position is // at the center. Initial velocities are 0. std::vector<double> startVec(space->getDimension(), 0.); double r, theta = boost::math::constants::pi<double>(), delta = 2.*theta / numKoules; startVec[0] = .5 * sideLength; startVec[1] = .5 * sideLength; startVec[4] = .5 * delta; for (unsigned int i = 0; i < numKoules; ++i, theta += delta) { r = .1 + i * .1 / numKoules; startVec[4 * i + 5] = .5 * sideLength + r * cos(theta); startVec[4 * i + 6] = .5 * sideLength + r * sin(theta); } space->copyFromReals(start.get(), startVec); } setStartState(start); // set goal setGoal(std::make_shared<KoulesGoal>(si_)); // set propagation step size si_->setPropagationStepSize(propagationStepSize); // set min/max propagation steps si_->setMinMaxControlDuration(propagationMinSteps, propagationMaxSteps); // set directed control sampler; when using the PDST planner, propagate as long as possible bool isPDST = plannerName == "pdst"; const ompl::base::GoalPtr& goal = getGoal(); si_->setDirectedControlSamplerAllocator( [&goal, isPDST](const ompl::control::SpaceInformation *si) { return KoulesDirectedControlSamplerAllocator(si, goal, isPDST); }); // set planner setPlanner(getConfiguredPlannerInstance(plannerName)); // set validity checker setStateValidityChecker(std::make_shared<KoulesStateValidityChecker>(si_)); // set state propagator setStatePropagator(std::make_shared<KoulesStatePropagator>(si_)); }
void SuperBotSetup::initialize(RobotBasePtr probot) { const ob::StateSpacePtr &sSpace = getStateSpace(); sSpace->setup(); ob::ScopedState<> start(sSpace); ob::ScopedState<> goal(sSpace); std::vector<double> startVec(sSpace->getDimension(), 0.); std::vector<double> goalVec(sSpace->getDimension(), 0.); unsigned int ndof = si_->getStateSpace()->as<SuperBotStateSpace>()->_probot->GetActiveDOF(); for (unsigned int i = 0; i < ndof; i++) goalVec[i] = 1.0; sSpace->copyFromReals(start.get(), startVec); sSpace->copyFromReals(goal.get(), goalVec); // set start, goal, and threshold setStartAndGoalStates(start, goal, threshold); // set propagation step size and min-max propagation steps si_->setPropagationStepSize(propagationStepSize); si_->setMinMaxControlDuration(propagationMinSteps, propagationMaxSteps); // initialize a new KPIECE planner setPlanner(ob::PlannerPtr(new oc::KPIECE1(si_))); // set default parameters getPlanner()->as<oc::KPIECE1>()->setMaxCloseSamplesCount(maxCloseSamplesCount); getPlanner()->as<oc::KPIECE1>()->setGoalBias(goalBias); // set a state validity checker setStateValidityChecker(ob::StateValidityCheckerPtr(new SuperBotStateValidityChecker(si_))); si_->setStateValidityCheckingResolution(0.05); //5% // set a state propagator setStatePropagator(oc::StatePropagatorPtr(new SuperBotStatePropagator(si_))); }