EReturn OMPLsolver::convertPath(const ompl::geometric::PathGeometric &pg,
Eigen::MatrixXd & traj)
{
traj.resize(pg.getStateCount(), state_space_->getDimension());
Eigen::VectorXd tmp(state_space_->getDimension());
for (int i = 0; i < (int) pg.getStateCount(); ++i)
{
if (!ok(
compound_ ?
boost::static_pointer_cast<OMPLSE3RNCompoundStateSpace>(
state_space_)->OMPLStateToEigen(pg.getState(i), tmp) :
boost::static_pointer_cast<OMPLStateSpace>(state_space_)->copyFromOMPLState(
pg.getState(i), tmp)))
{
ERROR("Can't copy state "<<i);
return FAILURE;
}
else
{
traj.row(i) = tmp;
}
}
return SUCCESS;
}
void OmnidirectionalMotionModel::generateOpenLoopControlsForPath(const ompl::geometric::PathGeometric path, std::vector<ompl::control::Control*> &openLoopControls)
{
for(int i=0;i<path.getStateCount()-1;i++)
{
std::vector<ompl::control::Control*> olc;
this->generateOpenLoopControls(path.getState(i),path.getState(i+1),olc) ;
openLoopControls.insert(openLoopControls.end(),olc.begin(),olc.end());
}
}
bool ompl::tools::Lightning::reversePathIfNecessary(og::PathGeometric &path1, og::PathGeometric &path2)
{
// Reverse path2 if it matches better
const ob::State* s1 = path1.getState(0);
const ob::State* s2 = path2.getState(0);
const ob::State* g1 = path1.getState(path1.getStateCount()-1);
const ob::State* g2 = path2.getState(path2.getStateCount()-1);
double regularDistance = si_->distance(s1, s2) + si_->distance(g1, g2);
double reversedDistance = si_->distance(s1, g2) + si_->distance(s2, g1);
// Check if path is reversed from normal [start->goal] direction
if ( regularDistance > reversedDistance )
{
// needs to be reversed
path2.reverse();
return true;
}
return false;
}
OpenRAVE::PlannerStatus ToORTrajectory(
OpenRAVE::RobotBasePtr const &robot,
ompl::geometric::PathGeometric& ompl_traj,
OpenRAVE::TrajectoryBasePtr or_traj) {
using ompl::geometric::PathGeometric;
size_t const num_dof = robot->GetActiveDOF();
or_traj->Init(robot->GetActiveConfigurationSpecification("linear"));
ompl::base::StateSpacePtr space = ompl_traj.getSpaceInformation()->getStateSpace();
for (size_t i = 0; i < ompl_traj.getStateCount(); ++i){
std::vector<double> values;
space->copyToReals(values, ompl_traj.getState(i));
or_traj->Insert(i, values, true);
}
return OpenRAVE::PS_HasSolution;
}
bool ompl::geometric::LightningRetrieveRepair::repairPath(const base::PlannerTerminationCondition &ptc,
ompl::geometric::PathGeometric &primaryPath)
{
// \todo: we should reuse our collision checking from the previous step to make this faster
OMPL_INFORM("LightningRetrieveRepair: Repairing path");
// Error check
if (primaryPath.getStateCount() < 2)
{
OMPL_ERROR("LightningRetrieveRepair: Cannot repair a path with less than 2 states");
return false;
}
// Loop through every pair of states and make sure path is valid.
// If not, replan between those states
for (std::size_t toID = 1; toID < primaryPath.getStateCount(); ++toID)
{
std::size_t fromID = toID - 1; // this is our last known valid state
ompl::base::State *fromState = primaryPath.getState(fromID);
ompl::base::State *toState = primaryPath.getState(toID);
// Check if our planner is out of time
if (ptc == true)
{
OMPL_DEBUG("LightningRetrieveRepair: Repair path function interrupted because termination condition is true.");
return false;
}
// Check path between states
if (!si_->checkMotion(fromState, toState))
{
// Path between (from, to) states not valid, but perhaps to STATE is
// Search until next valid STATE is found in existing path
std::size_t subsearchID = toID;
ompl::base::State *new_to;
OMPL_DEBUG("LightningRetrieveRepair: Searching for next valid state, because state %d to %d was not valid out %d total states",
fromID,toID,primaryPath.getStateCount());
while (subsearchID < primaryPath.getStateCount())
{
new_to = primaryPath.getState(subsearchID);
if (si_->isValid(new_to))
{
OMPL_DEBUG("LightningRetrieveRepair: State %d was found to valid, we can now repair between states", subsearchID);
// This future state is valid, we can stop searching
toID = subsearchID;
toState = new_to;
break;
}
++subsearchID; // keep searching for a new state to plan to
}
// Check if we ever found a next state that is valid
if (subsearchID >= primaryPath.getStateCount())
{
// We never found a valid state to plan to, instead we reached the goal state and it too wasn't valid. This is bad.
// I think this is a bug.
OMPL_ERROR("LightningRetrieveRepair: No state was found valid in the remainder of the path. Invalid goal state. This should not happen.");
return false;
}
// Plan between our two valid states
PathGeometric newPathSegment(si_);
// Not valid motion, replan
OMPL_DEBUG("LightningRetrieveRepair: Planning from %d to %d", fromID, toID);
if (!replan(fromState, toState, newPathSegment, ptc))
{
OMPL_INFORM("LightningRetrieveRepair: Unable to repair path between state %d and %d", fromID, toID);
return false;
}
// TODO make sure not approximate solution
// Reference to the path
std::vector<base::State*> &primaryPathStates = primaryPath.getStates();
// Remove all invalid states between (fromID, toID) - not including those states themselves
while (fromID != toID - 1)
{
OMPL_INFORM("LightningRetrieveRepair: Deleting state %d", fromID + 1);
primaryPathStates.erase(primaryPathStates.begin() + fromID + 1);
--toID; // because vector has shrunk
OMPL_INFORM("LightningRetrieveRepair: toID is now %d", toID);
}
// Insert new path segment into current path
OMPL_DEBUG("LightningRetrieveRepair: Inserting new %d states into old path. Previous length: %d",
newPathSegment.getStateCount()-2, primaryPathStates.size());
// Note: skip first and last states because they should be same as our start and goal state, same as `fromID` and `toID`
for (std::size_t i = 1; i < newPathSegment.getStateCount() - 1; ++i)
{
std::size_t insertLocation = toID + i - 1;
OMPL_DEBUG("LightningRetrieveRepair: Inserting newPathSegment state %d into old path at position %d",
i, insertLocation);
primaryPathStates.insert(primaryPathStates.begin() + insertLocation,
si_->cloneState(newPathSegment.getStates()[i]) );
}
OMPL_DEBUG("LightningRetrieveRepair: Inserted new states into old path. New length: %d", primaryPathStates.size());
// Set the toID to jump over the newly inserted states to the next unchecked state. Subtract 2 because we ignore start and goal
toID = toID + newPathSegment.getStateCount() - 2;
OMPL_DEBUG("LightningRetrieveRepair: Continuing searching at state %d", toID);
}
}
OMPL_INFORM("LightningRetrieveRepair: Done repairing");
return true;
}
