ompl::base::PlannerStatus ompl::geometric::FMT::solve(const base::PlannerTerminationCondition &ptc)
{
if (lastGoalMotion_) {
OMPL_INFORM("solve() called before clear(); returning previous solution");
traceSolutionPathThroughTree(lastGoalMotion_);
OMPL_DEBUG("Final path cost: %f", lastGoalMotion_->getCost().value());
return base::PlannerStatus(true, false);
}
else if (Open_.size() > 0)
{
OMPL_INFORM("solve() called before clear(); no previous solution so starting afresh");
clear();
}
checkValidity();
base::GoalSampleableRegion *goal = dynamic_cast<base::GoalSampleableRegion*>(pdef_->getGoal().get());
Motion *initMotion = nullptr;
if (!goal)
{
OMPL_ERROR("%s: Unknown type of goal", getName().c_str());
return base::PlannerStatus::UNRECOGNIZED_GOAL_TYPE;
}
// Add start states to V (nn_) and Open
while (const base::State *st = pis_.nextStart())
{
initMotion = new Motion(si_);
si_->copyState(initMotion->getState(), st);
Open_.insert(initMotion);
initMotion->setSetType(Motion::SET_OPEN);
initMotion->setCost(opt_->initialCost(initMotion->getState()));
nn_->add(initMotion); // V <-- {x_init}
}
if (!initMotion)
{
OMPL_ERROR("Start state undefined");
return base::PlannerStatus::INVALID_START;
}
// Sample N free states in the configuration space
if (!sampler_)
sampler_ = si_->allocStateSampler();
sampleFree(ptc);
assureGoalIsSampled(goal);
OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
// Calculate the nearest neighbor search radius
/// \todo Create a PRM-like connection strategy
if (nearestK_)
{
NNk_ = std::ceil(std::pow(2.0 * radiusMultiplier_, (double)si_->getStateDimension()) *
(boost::math::constants::e<double>() / (double)si_->getStateDimension()) *
log((double)nn_->size()));
OMPL_DEBUG("Using nearest-neighbors k of %d", NNk_);
}
else
{
NNr_ = calculateRadius(si_->getStateDimension(), nn_->size());
OMPL_DEBUG("Using radius of %f", NNr_);
}
// Execute the planner, and return early if the planner returns a failure
bool plannerSuccess = false;
bool successfulExpansion = false;
Motion *z = initMotion; // z <-- xinit
saveNeighborhood(z);
while (!ptc)
{
if ((plannerSuccess = goal->isSatisfied(z->getState())))
break;
successfulExpansion = expandTreeFromNode(&z);
if (!extendedFMT_ && !successfulExpansion)
break;
else if (extendedFMT_ && !successfulExpansion)
{
//Apply RRT*-like connections: sample and connect samples to tree
std::vector<Motion*> nbh;
std::vector<base::Cost> costs;
std::vector<base::Cost> incCosts;
std::vector<std::size_t> sortedCostIndices;
// our functor for sorting nearest neighbors
CostIndexCompare compareFn(costs, *opt_);
Motion *m = new Motion(si_);
while (!ptc && Open_.empty())
{
sampler_->sampleUniform(m->getState());
if (!si_->isValid(m->getState()))
continue;
if (nearestK_)
nn_->nearestK(m, NNk_, nbh);
else
nn_->nearestR(m, NNr_, nbh);
// Get neighbours in the tree.
std::vector<Motion*> yNear;
yNear.reserve(nbh.size());
for (std::size_t j = 0; j < nbh.size(); ++j)
{
if (nbh[j]->getSetType() == Motion::SET_CLOSED)
{
if (nearestK_)
{
// Only include neighbors that are mutually k-nearest
// Relies on NN datastructure returning k-nearest in sorted order
const base::Cost connCost = opt_->motionCost(nbh[j]->getState(), m->getState());
const base::Cost worstCost = opt_->motionCost(neighborhoods_[nbh[j]].back()->getState(), nbh[j]->getState());
if (opt_->isCostBetterThan(worstCost, connCost))
continue;
else
yNear.push_back(nbh[j]);
}
else
yNear.push_back(nbh[j]);
}
}
// Sample again if the new sample does not connect to the tree.
if (yNear.empty())
continue;
// cache for distance computations
//
// Our cost caches only increase in size, so they're only
// resized if they can't fit the current neighborhood
if (costs.size() < yNear.size())
{
costs.resize(yNear.size());
incCosts.resize(yNear.size());
sortedCostIndices.resize(yNear.size());
}
// Finding the nearest neighbor to connect to
// By default, neighborhood states are sorted by cost, and collision checking
// is performed in increasing order of cost
//
// calculate all costs and distances
for (std::size_t i = 0 ; i < yNear.size(); ++i)
{
incCosts[i] = opt_->motionCost(yNear[i]->getState(), m->getState());
costs[i] = opt_->combineCosts(yNear[i]->getCost(), incCosts[i]);
}
// sort the nodes
//
// we're using index-value pairs so that we can get at
// original, unsorted indices
for (std::size_t i = 0; i < yNear.size(); ++i)
sortedCostIndices[i] = i;
std::sort(sortedCostIndices.begin(), sortedCostIndices.begin() + yNear.size(),
compareFn);
// collision check until a valid motion is found
for (std::vector<std::size_t>::const_iterator i = sortedCostIndices.begin();
i != sortedCostIndices.begin() + yNear.size();
++i)
{
if (si_->checkMotion(yNear[*i]->getState(), m->getState()))
{
m->setParent(yNear[*i]);
yNear[*i]->getChildren().push_back(m);
const base::Cost incCost = opt_->motionCost(yNear[*i]->getState(), m->getState());
m->setCost(opt_->combineCosts(yNear[*i]->getCost(), incCost));
m->setHeuristicCost(opt_->motionCostHeuristic(m->getState(), goalState_));
m->setSetType(Motion::SET_OPEN);
nn_->add(m);
saveNeighborhood(m);
updateNeighborhood(m,nbh);
Open_.insert(m);
z = m;
break;
}
}
} // while (!ptc && Open_.empty())
} // else if (extendedFMT_ && !successfulExpansion)
} // While not at goal
if (plannerSuccess)
{
// Return the path to z, since by definition of planner success, z is in the goal region
lastGoalMotion_ = z;
traceSolutionPathThroughTree(lastGoalMotion_);
OMPL_DEBUG("Final path cost: %f", lastGoalMotion_->getCost().value());
return base::PlannerStatus(true, false);
} // if plannerSuccess
else
{
// Planner terminated without accomplishing goal
return base::PlannerStatus(false, false);
}
}
ompl::base::PlannerStatus ompl::geometric::RRTsharp::solve(const base::PlannerTerminationCondition &ptc)
{
checkValidity();
base::Goal *goal = pdef_->getGoal().get();
base::GoalSampleableRegion *goal_s = dynamic_cast<base::GoalSampleableRegion*>(goal);
bool symCost = opt_->isSymmetric();
while (const base::State *st = pis_.nextStart())
{
Motion *motion = new Motion(si_);
si_->copyState(motion->state, st);
motion->cost = opt_->identityCost();
nn_->add(motion);
startMotion_ = motion;
}
if (nn_->size() == 0)
{
OMPL_ERROR("%s: There are no valid initial states!", getName().c_str());
return base::PlannerStatus::INVALID_START;
}
if (!sampler_)
sampler_ = si_->allocStateSampler();
OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
if (prune_ && !si_->getStateSpace()->isMetricSpace())
OMPL_WARN("%s: tree pruning was activated but since the state space %s is not a metric space, "
"the optimization objective might not satisfy the triangle inequality. You may need to disable pruning."
, getName().c_str(), si_->getStateSpace()->getName().c_str());
const base::ReportIntermediateSolutionFn intermediateSolutionCallback = pdef_->getIntermediateSolutionCallback();
Motion *solution = lastGoalMotion_;
// \todo Make this variable unnecessary, or at least have it
// persist across solve runs
base::Cost bestCost = opt_->infiniteCost();
bestCost_ = opt_->infiniteCost();
Motion *approximation = NULL;
double approximatedist = std::numeric_limits<double>::infinity();
bool sufficientlyShort = false;
Motion *rmotion = new Motion(si_);
base::State *rstate = rmotion->state;
base::State *xstate = si_->allocState();
// e+e/d. K-nearest RRT*
double k_rrg = boost::math::constants::e<double>() +
(boost::math::constants::e<double>() / (double)si_->getStateSpace()->getDimension());
std::vector<Motion*> nbh;
std::vector<base::Cost> costs;
std::vector<base::Cost> incCosts;
std::vector<std::size_t> sortedCostIndices;
std::vector<int> valid;
rewireTest = 0;
statesGenerated = 0;
if (solution)
OMPL_INFORM("%s: Starting planning with existing solution of cost %.5f", getName().c_str(), solution->cost.value());
OMPL_INFORM("%s: Initial k-nearest value of %u", getName().c_str(), (unsigned int)std::ceil(k_rrg * log((double)(nn_->size() + 1))));
// our functor for sorting nearest neighbors
CostIndexCompare compareFn(costs, *opt_);
while (ptc == false)
{
iterations_++;
// sample random state (with goal biasing)
// Goal samples are only sampled until maxSampleCount() goals are in the tree, to prohibit duplicate goal states.
if (goal_s && goalMotions_.size() < goal_s->maxSampleCount() && rng_.uniform01() < goalBias_ && goal_s->canSample())
goal_s->sampleGoal(rstate);
else
{
sampler_->sampleUniform(rstate);
if (prune_ && opt_->isCostBetterThan(bestCost_, costToGo(rmotion)))
continue;
}
// find closest state in the tree
Motion *nmotion = nn_->nearest(rmotion);
if (intermediateSolutionCallback && si_->equalStates(nmotion->state, rstate))
continue;
base::State *dstate = rstate;
// find state to add to the tree
double d = si_->distance(nmotion->state, rstate);
if (d > maxDistance_)
{
si_->getStateSpace()->interpolate(nmotion->state, rstate, maxDistance_ / d, xstate);
dstate = xstate;
}
// Check if the motion between the nearest state and the state to add is valid
if (si_->checkMotion(nmotion->state, dstate))
{
// create a motion
Motion *motion = new Motion(si_);
si_->copyState(motion->state, dstate);
motion->parent = nmotion;
motion->incCost = opt_->motionCost(nmotion->state, motion->state);
motion->cost = opt_->combineCosts(nmotion->cost, motion->incCost);
// Find nearby neighbors of the new motion - k-nearest RRT*
unsigned int k = std::ceil(k_rrg * log((double)(nn_->size() + 1)));
nn_->nearestK(motion, k, nbh);
rewireTest += nbh.size();
statesGenerated++;
// cache for distance computations
//
// Our cost caches only increase in size, so they're only
// resized if they can't fit the current neighborhood
if (costs.size() < nbh.size())
{
costs.resize(nbh.size());
incCosts.resize(nbh.size());
sortedCostIndices.resize(nbh.size());
}
// cache for motion validity (only useful in a symmetric space)
//
// Our validity caches only increase in size, so they're
// only resized if they can't fit the current neighborhood
if (valid.size() < nbh.size())
valid.resize(nbh.size());
std::fill(valid.begin(), valid.begin() + nbh.size(), 0);
// Finding the nearest neighbor to connect to
// By default, neighborhood states are sorted by cost, and collision checking
// is performed in increasing order of cost
if (delayCC_)
{
// calculate all costs and distances
for (std::size_t i = 0 ; i < nbh.size(); ++i)
{
incCosts[i] = opt_->motionCost(nbh[i]->state, motion->state);
costs[i] = opt_->combineCosts(nbh[i]->cost, incCosts[i]);
}
// sort the nodes
//
// we're using index-value pairs so that we can get at
// original, unsorted indices
for (std::size_t i = 0; i < nbh.size(); ++i)
sortedCostIndices[i] = i;
std::sort(sortedCostIndices.begin(), sortedCostIndices.begin() + nbh.size(),
compareFn);
// collision check until a valid motion is found
//
// ASYMMETRIC CASE: it's possible that none of these
// neighbors are valid. This is fine, because motion
// already has a connection to the tree through
// nmotion (with populated cost fields!).
for (std::vector<std::size_t>::const_iterator i = sortedCostIndices.begin();
i != sortedCostIndices.begin() + nbh.size();
++i)
{
if (nbh[*i] == nmotion || si_->checkMotion(nbh[*i]->state, motion->state))
{
motion->incCost = incCosts[*i];
motion->cost = costs[*i];
motion->parent = nbh[*i];
valid[*i] = 1;
break;
}
else valid[*i] = -1;
}
}
else // if not delayCC
{
motion->incCost = opt_->motionCost(nmotion->state, motion->state);
motion->cost = opt_->combineCosts(nmotion->cost, motion->incCost);
// find which one we connect the new state to
for (std::size_t i = 0 ; i < nbh.size(); ++i)
{
if (nbh[i] != nmotion)
{
incCosts[i] = opt_->motionCost(nbh[i]->state, motion->state);
costs[i] = opt_->combineCosts(nbh[i]->cost, incCosts[i]);
if (opt_->isCostBetterThan(costs[i], motion->cost))
{
if (si_->checkMotion(nbh[i]->state, motion->state))
{
motion->incCost = incCosts[i];
motion->cost = costs[i];
motion->parent = nbh[i];
valid[i] = 1;
}
else valid[i] = -1;
}
}
else
{
incCosts[i] = motion->incCost;
costs[i] = motion->cost;
valid[i] = 1;
}
}
}
if (prune_)
{
if (opt_->isCostBetterThan(costToGo(motion, false), bestCost_))
{
nn_->add(motion);
motion->parent->children.push_back(motion);
}
else // If the new motion does not improve the best cost it is ignored.
{
--statesGenerated;
si_->freeState(motion->state);
delete motion;
continue;
}
}
else
{
// add motion to the tree
nn_->add(motion);
motion->parent->children.push_back(motion);
}
this->nodesToAnalyzeForRewiring = std::priority_queue< Motion* ,std::vector<Motion*>, std::greater<Motion*>>();
assert(nodesToAnalyzeForRewiring.empty());
this->visitedMotions.clear();
this->toVisitMotions.clear();
bool checkForSolution = false;
toVisitMotions.insert(motion);
nodesToAnalyzeForRewiring.push(motion);
while (!nodesToAnalyzeForRewiring.empty())
{
// if (((int)nn_->size())>7000)
// usleep(200000);
Motion* mc = nodesToAnalyzeForRewiring.top();
nodesToAnalyzeForRewiring.pop();
visitedMotions.insert(mc);
toVisitMotions.erase(mc);
nn_->nearestK(mc, k, nbh);
// Cost minNbhCost = mc->cost;
bool updatedWiring = false;
if (mc!=motion){
for (std::size_t i = 0; i < nbh.size(); ++i){
rewireTest++;
// TODO: add if(symCost) option
base::Cost temp_incCost = opt_->motionCost(nbh[i]->state, mc->state);
base::Cost temp_Cost = opt_->combineCosts(nbh[i]->cost, temp_incCost);
if (opt_->isCostBetterThan(temp_Cost,mc->cost)){
if (si_->checkMotion(nbh[i]->state, mc->state))
{
removeFromParent (mc);
mc->parent = nbh[i];
mc->cost = temp_Cost;
mc->incCost = temp_incCost;
mc->parent->children.push_back(mc);
updatedWiring = true;
checkForSolution = true;
}
}
}
} else {
updatedWiring = true;
}
if (updatedWiring){
// add children to update list
for (std::size_t j = 0; j < mc->children.size(); ++j){
if (toVisitMotions.count(mc->children[j])==0 && visitedMotions.count(mc->children[j])==0){
nodesToAnalyzeForRewiring.push(mc->children[j]);
toVisitMotions.insert(mc->children[j]);
}
}
for (std::size_t i = 0; i < nbh.size(); ++i){
// TODO: avoid repeated calculation of same value
if (opt_->isCostBetterThan(opt_->combineCosts(mc->cost, opt_->motionCost(mc->state, nbh[i]->state)),nbh[i]->cost) && toVisitMotions.count(nbh[i])==0 && visitedMotions.count(nbh[i])==0){
nodesToAnalyzeForRewiring.push(nbh[i]);
toVisitMotions.insert(nbh[i]);
}
}
}
}
// Add the new motion to the goalMotion_ list, if it satisfies the goal
double distanceFromGoal;
if (goal->isSatisfied(motion->state, &distanceFromGoal))
{
goalMotions_.push_back(motion);
checkForSolution = true;
}
// Checking for solution or iterative improvement
if (checkForSolution)
{
bool updatedSolution = false;
for (size_t i = 0; i < goalMotions_.size(); ++i)
{
if (opt_->isCostBetterThan(goalMotions_[i]->cost, bestCost))
{
bestCost = goalMotions_[i]->cost;
bestCost_ = bestCost;
updatedSolution = true;
}
sufficientlyShort = opt_->isSatisfied(goalMotions_[i]->cost);
if (sufficientlyShort)
{
solution = goalMotions_[i];
break;
}
else if (!solution ||
opt_->isCostBetterThan(goalMotions_[i]->cost,solution->cost))
{
solution = goalMotions_[i];
updatedSolution = true;
}
}
if (updatedSolution)
{
if (prune_)
{
int n = pruneTree(bestCost_);
statesGenerated -= n;
}
if (intermediateSolutionCallback)
{
std::vector<const base::State *> spath;
Motion *intermediate_solution = solution->parent; // Do not include goal state to simplify code.
do
{
spath.push_back(intermediate_solution->state);
intermediate_solution = intermediate_solution->parent;
} while (intermediate_solution->parent != 0); // Do not include the start state.
intermediateSolutionCallback(this, spath, bestCost_);
}
}
}
// Checking for approximate solution (closest state found to the goal)
if (goalMotions_.size() == 0 && distanceFromGoal < approximatedist)
{
approximation = motion;
approximatedist = distanceFromGoal;
}
}
// terminate if a sufficient solution is found
if (solution && sufficientlyShort)
break;
}
bool approximate = (solution == NULL);
bool addedSolution = false;
if (approximate)
solution = approximation;
else
lastGoalMotion_ = solution;
if (solution != NULL)
{
ptc.terminate();
// construct the solution path
std::vector<Motion*> mpath;
while (solution != NULL)
{
mpath.push_back(solution);
solution = solution->parent;
}
// set the solution path
PathGeometric *geoPath = new PathGeometric(si_);
for (int i = mpath.size() - 1 ; i >= 0 ; --i)
geoPath->append(mpath[i]->state);
base::PathPtr path(geoPath);
// Add the solution path.
base::PlannerSolution psol(path);
psol.setPlannerName(getName());
if (approximate)
psol.setApproximate(approximatedist);
// Does the solution satisfy the optimization objective?
psol.setOptimized(opt_, bestCost, sufficientlyShort);
pdef_->addSolutionPath(psol);
addedSolution = true;
}
si_->freeState(xstate);
if (rmotion->state)
si_->freeState(rmotion->state);
delete rmotion;
OMPL_INFORM("%s: Created %u new states. Checked %u rewire options. %u goal states in tree.", getName().c_str(), statesGenerated, rewireTest, goalMotions_.size());
return base::PlannerStatus(addedSolution, approximate);
}
ompl::base::PlannerStatus ompl::geometric::RRTstar::solve(const base::PlannerTerminationCondition &ptc)
{
checkValidity();
base::Goal *goal = pdef_->getGoal().get();
base::GoalSampleableRegion *goal_s = dynamic_cast<base::GoalSampleableRegion*>(goal);
bool symCost = opt_->isSymmetric();
while (const base::State *st = pis_.nextStart())
{
Motion *motion = new Motion(si_);
si_->copyState(motion->state, st);
motion->cost = opt_->identityCost();
nn_->add(motion);
}
if (nn_->size() == 0)
{
OMPL_ERROR("%s: There are no valid initial states!", getName().c_str());
return base::PlannerStatus::INVALID_START;
}
if (!sampler_)
sampler_ = si_->allocStateSampler();
OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
Motion *solution = lastGoalMotion_;
// \TODO Make this variable unnecessary, or at least have it
// persist across solve runs
base::Cost bestCost = opt_->infiniteCost();
Motion *approximation = NULL;
double approximatedist = std::numeric_limits<double>::infinity();
bool sufficientlyShort = false;
Motion *rmotion = new Motion(si_);
base::State *rstate = rmotion->state;
base::State *xstate = si_->allocState();
// e+e/d. K-nearest RRT*
double k_rrg = boost::math::constants::e<double>() +
(boost::math::constants::e<double>() / (double)si_->getStateSpace()->getDimension());
std::vector<Motion*> nbh;
std::vector<base::Cost> costs;
std::vector<base::Cost> incCosts;
std::vector<std::size_t> sortedCostIndices;
std::vector<int> valid;
unsigned int rewireTest = 0;
unsigned int statesGenerated = 0;
if (solution)
OMPL_INFORM("%s: Starting planning with existing solution of cost %.5f", getName().c_str(), solution->cost.v);
OMPL_INFORM("%s: Initial k-nearest value of %u", getName().c_str(), (unsigned int)std::ceil(k_rrg * log((double)(nn_->size()+1))));
// our functor for sorting nearest neighbors
CostIndexCompare compareFn(costs, *opt_);
while (ptc == false)
{
iterations_++;
// sample random state (with goal biasing)
// Goal samples are only sampled until maxSampleCount() goals are in the tree, to prohibit duplicate goal states.
if (goal_s && goalMotions_.size() < goal_s->maxSampleCount() && rng_.uniform01() < goalBias_ && goal_s->canSample())
goal_s->sampleGoal(rstate);
else
sampler_->sampleUniform(rstate);
// find closest state in the tree
Motion *nmotion = nn_->nearest(rmotion);
base::State *dstate = rstate;
// find state to add to the tree
double d = si_->distance(nmotion->state, rstate);
if (d > maxDistance_)
{
si_->getStateSpace()->interpolate(nmotion->state, rstate, maxDistance_ / d, xstate);
dstate = xstate;
}
// Check if the motion between the nearest state and the state to add is valid
++collisionChecks_;
if (si_->checkMotion(nmotion->state, dstate))
{
// create a motion
Motion *motion = new Motion(si_);
si_->copyState(motion->state, dstate);
motion->parent = nmotion;
motion->incCost = opt_->motionCost(nmotion->state, motion->state);
motion->cost = opt_->combineCosts(nmotion->cost, motion->incCost);
// Find nearby neighbors of the new motion - k-nearest RRT*
unsigned int k = std::ceil(k_rrg * log((double)(nn_->size() + 1)));
nn_->nearestK(motion, k, nbh);
rewireTest += nbh.size();
statesGenerated++;
// cache for distance computations
//
// Our cost caches only increase in size, so they're only
// resized if they can't fit the current neighborhood
if (costs.size() < nbh.size())
{
costs.resize(nbh.size());
incCosts.resize(nbh.size());
sortedCostIndices.resize(nbh.size());
}
// cache for motion validity (only useful in a symmetric space)
//
// Our validity caches only increase in size, so they're
// only resized if they can't fit the current neighborhood
if (valid.size() < nbh.size())
valid.resize(nbh.size());
std::fill(valid.begin(), valid.begin() + nbh.size(), 0);
// Finding the nearest neighbor to connect to
// By default, neighborhood states are sorted by cost, and collision checking
// is performed in increasing order of cost
if (delayCC_)
{
// calculate all costs and distances
for (std::size_t i = 0 ; i < nbh.size(); ++i)
{
incCosts[i] = opt_->motionCost(nbh[i]->state, motion->state);
costs[i] = opt_->combineCosts(nbh[i]->cost, incCosts[i]);
}
// sort the nodes
//
// we're using index-value pairs so that we can get at
// original, unsorted indices
for (std::size_t i = 0; i < nbh.size(); ++i)
sortedCostIndices[i] = i;
std::sort(sortedCostIndices.begin(), sortedCostIndices.begin() + nbh.size(),
compareFn);
// collision check until a valid motion is found
//
// ASYMMETRIC CASE: it's possible that none of these
// neighbors are valid. This is fine, because motion
// already has a connection to the tree through
// nmotion (with populated cost fields!).
for (std::vector<std::size_t>::const_iterator i = sortedCostIndices.begin();
i != sortedCostIndices.begin() + nbh.size();
++i)
{
if (nbh[*i] != nmotion)
++collisionChecks_;
if (nbh[*i] == nmotion || si_->checkMotion(nbh[*i]->state, motion->state))
{
motion->incCost = incCosts[*i];
motion->cost = costs[*i];
motion->parent = nbh[*i];
valid[*i] = 1;
break;
}
else valid[*i] = -1;
}
}
else // if not delayCC
{
motion->incCost = opt_->motionCost(nmotion->state, motion->state);
motion->cost = opt_->combineCosts(nmotion->cost, motion->incCost);
// find which one we connect the new state to
for (std::size_t i = 0 ; i < nbh.size(); ++i)
{
if (nbh[i] != nmotion)
{
incCosts[i] = opt_->motionCost(nbh[i]->state, motion->state);
costs[i] = opt_->combineCosts(nbh[i]->cost, incCosts[i]);
if (opt_->isCostBetterThan(costs[i], motion->cost))
{
++collisionChecks_;
if (si_->checkMotion(nbh[i]->state, motion->state))
{
motion->incCost = incCosts[i];
motion->cost = costs[i];
motion->parent = nbh[i];
valid[i] = 1;
}
else valid[i] = -1;
}
}
else
{
incCosts[i] = motion->incCost;
costs[i] = motion->cost;
valid[i] = 1;
}
}
}
// add motion to the tree
nn_->add(motion);
motion->parent->children.push_back(motion);
bool checkForSolution = false;
for (std::size_t i = 0; i < nbh.size(); ++i)
{
if (nbh[i] != motion->parent)
{
base::Cost nbhIncCost;
if (symCost)
nbhIncCost = incCosts[i];
else
nbhIncCost = opt_->motionCost(motion->state, nbh[i]->state);
base::Cost nbhNewCost = opt_->combineCosts(motion->cost, nbhIncCost);
if (opt_->isCostBetterThan(nbhNewCost, nbh[i]->cost))
{
bool motionValid;
if (valid[i] == 0)
{
++collisionChecks_;
motionValid = si_->checkMotion(motion->state, nbh[i]->state);
}
else
motionValid = (valid[i] == 1);
if (motionValid)
{
// Remove this node from its parent list
removeFromParent (nbh[i]);
// Add this node to the new parent
nbh[i]->parent = motion;
nbh[i]->incCost = nbhIncCost;
nbh[i]->cost = nbhNewCost;
nbh[i]->parent->children.push_back(nbh[i]);
// Update the costs of the node's children
updateChildCosts(nbh[i]);
checkForSolution = true;
}
}
}
}
// Add the new motion to the goalMotion_ list, if it satisfies the goal
double distanceFromGoal;
if (goal->isSatisfied(motion->state, &distanceFromGoal))
{
goalMotions_.push_back(motion);
checkForSolution = true;
}
// Checking for solution or iterative improvement
if (checkForSolution)
{
for (size_t i = 0; i < goalMotions_.size(); ++i)
{
if (opt_->isCostBetterThan(goalMotions_[i]->cost, bestCost))
{
bestCost = goalMotions_[i]->cost;
bestCost_ = bestCost;
}
sufficientlyShort = opt_->isSatisfied(goalMotions_[i]->cost);
if (sufficientlyShort)
{
solution = goalMotions_[i];
break;
}
else if (!solution ||
opt_->isCostBetterThan(goalMotions_[i]->cost,solution->cost))
solution = goalMotions_[i];
}
}
// Checking for approximate solution (closest state found to the goal)
if (goalMotions_.size() == 0 && distanceFromGoal < approximatedist)
{
approximation = motion;
approximatedist = distanceFromGoal;
}
}
// terminate if a sufficient solution is found
if (solution && sufficientlyShort)
break;
}
bool approximate = (solution == 0);
bool addedSolution = false;
if (approximate)
solution = approximation;
else
lastGoalMotion_ = solution;
if (solution != 0)
{
// construct the solution path
std::vector<Motion*> mpath;
while (solution != 0)
{
mpath.push_back(solution);
solution = solution->parent;
}
// set the solution path
PathGeometric *geoPath = new PathGeometric(si_);
for (int i = mpath.size() - 1 ; i >= 0 ; --i)
geoPath->append(mpath[i]->state);
base::PathPtr path(geoPath);
// Add the solution path, whether it is approximate (not reaching the goal), and the
// distance from the end of the path to the goal (-1 if satisfying the goal).
base::PlannerSolution psol(path, approximate, approximate ? approximatedist : -1.0, getName());
// Does the solution satisfy the optimization objective?
psol.optimized_ = sufficientlyShort;
pdef_->addSolutionPath (psol);
addedSolution = true;
}
si_->freeState(xstate);
if (rmotion->state)
si_->freeState(rmotion->state);
delete rmotion;
OMPL_INFORM("%s: Created %u new states. Checked %u rewire options. %u goal states in tree.", getName().c_str(), statesGenerated, rewireTest, goalMotions_.size());
return base::PlannerStatus(addedSolution, approximate);
}
ompl::base::PlannerStatus ompl::geometric::RRTstar::solve(const base::PlannerTerminationCondition &ptc)
{
checkValidity();
base::Goal *goal = pdef_->getGoal().get();
base::GoalSampleableRegion *goal_s = dynamic_cast<base::GoalSampleableRegion*>(goal);
bool symCost = opt_->isSymmetric();
// Check if there are more starts
if (pis_.haveMoreStartStates() == true)
{
// There are, add them
while (const base::State *st = pis_.nextStart())
{
auto *motion = new Motion(si_);
si_->copyState(motion->state, st);
motion->cost = opt_->identityCost();
nn_->add(motion);
startMotions_.push_back(motion);
}
// And assure that, if we're using an informed sampler, it's reset
infSampler_.reset();
}
// No else
if (nn_->size() == 0)
{
OMPL_ERROR("%s: There are no valid initial states!", getName().c_str());
return base::PlannerStatus::INVALID_START;
}
//Allocate a sampler if necessary
if (!sampler_ && !infSampler_)
{
allocSampler();
}
OMPL_INFORM("%s: Starting planning with %u states already in datastructure", getName().c_str(), nn_->size());
if ((useTreePruning_ || useRejectionSampling_ || useInformedSampling_ || useNewStateRejection_) && !si_->getStateSpace()->isMetricSpace())
OMPL_WARN("%s: The state space (%s) is not metric and as a result the optimization objective may not satisfy the triangle inequality. "
"You may need to disable pruning or rejection."
, getName().c_str(), si_->getStateSpace()->getName().c_str());
const base::ReportIntermediateSolutionFn intermediateSolutionCallback = pdef_->getIntermediateSolutionCallback();
Motion *solution = lastGoalMotion_;
Motion *approximation = nullptr;
double approximatedist = std::numeric_limits<double>::infinity();
bool sufficientlyShort = false;
auto *rmotion = new Motion(si_);
base::State *rstate = rmotion->state;
base::State *xstate = si_->allocState();
std::vector<Motion*> nbh;
std::vector<base::Cost> costs;
std::vector<base::Cost> incCosts;
std::vector<std::size_t> sortedCostIndices;
std::vector<int> valid;
unsigned int rewireTest = 0;
unsigned int statesGenerated = 0;
if (solution)
OMPL_INFORM("%s: Starting planning with existing solution of cost %.5f", getName().c_str(), solution->cost.value());
if (useKNearest_)
OMPL_INFORM("%s: Initial k-nearest value of %u", getName().c_str(), (unsigned int)std::ceil(k_rrg_ * log((double)(nn_->size() + 1u))));
else
OMPL_INFORM("%s: Initial rewiring radius of %.2f", getName().c_str(), std::min(maxDistance_, r_rrg_*std::pow(log((double)(nn_->size() + 1u))/((double)(nn_->size() + 1u)), 1/(double)(si_->getStateDimension()))));
// our functor for sorting nearest neighbors
CostIndexCompare compareFn(costs, *opt_);
while (ptc == false)
{
iterations_++;
// sample random state (with goal biasing)
// Goal samples are only sampled until maxSampleCount() goals are in the tree, to prohibit duplicate goal states.
if (goal_s && goalMotions_.size() < goal_s->maxSampleCount() && rng_.uniform01() < goalBias_ && goal_s->canSample())
goal_s->sampleGoal(rstate);
else
{
// Attempt to generate a sample, if we fail (e.g., too many rejection attempts), skip the remainder of this loop and return to try again
if (!sampleUniform(rstate))
continue;
}
// find closest state in the tree
Motion *nmotion = nn_->nearest(rmotion);
if (intermediateSolutionCallback && si_->equalStates(nmotion->state, rstate))
continue;
base::State *dstate = rstate;
// find state to add to the tree
double d = si_->distance(nmotion->state, rstate);
if (d > maxDistance_)
{
si_->getStateSpace()->interpolate(nmotion->state, rstate, maxDistance_ / d, xstate);
dstate = xstate;
}
// Check if the motion between the nearest state and the state to add is valid
if (si_->checkMotion(nmotion->state, dstate))
{
// create a motion
auto *motion = new Motion(si_);
si_->copyState(motion->state, dstate);
motion->parent = nmotion;
motion->incCost = opt_->motionCost(nmotion->state, motion->state);
motion->cost = opt_->combineCosts(nmotion->cost, motion->incCost);
// Find nearby neighbors of the new motion
getNeighbors(motion, nbh);
rewireTest += nbh.size();
++statesGenerated;
// cache for distance computations
//
// Our cost caches only increase in size, so they're only
// resized if they can't fit the current neighborhood
if (costs.size() < nbh.size())
{
costs.resize(nbh.size());
incCosts.resize(nbh.size());
sortedCostIndices.resize(nbh.size());
}
// cache for motion validity (only useful in a symmetric space)
//
// Our validity caches only increase in size, so they're
// only resized if they can't fit the current neighborhood
if (valid.size() < nbh.size())
valid.resize(nbh.size());
std::fill(valid.begin(), valid.begin() + nbh.size(), 0);
// Finding the nearest neighbor to connect to
// By default, neighborhood states are sorted by cost, and collision checking
// is performed in increasing order of cost
if (delayCC_)
{
// calculate all costs and distances
for (std::size_t i = 0 ; i < nbh.size(); ++i)
{
incCosts[i] = opt_->motionCost(nbh[i]->state, motion->state);
costs[i] = opt_->combineCosts(nbh[i]->cost, incCosts[i]);
}
// sort the nodes
//
// we're using index-value pairs so that we can get at
// original, unsorted indices
for (std::size_t i = 0; i < nbh.size(); ++i)
sortedCostIndices[i] = i;
std::sort(sortedCostIndices.begin(), sortedCostIndices.begin() + nbh.size(),
compareFn);
// collision check until a valid motion is found
//
// ASYMMETRIC CASE: it's possible that none of these
// neighbors are valid. This is fine, because motion
// already has a connection to the tree through
// nmotion (with populated cost fields!).
for (std::vector<std::size_t>::const_iterator i = sortedCostIndices.begin();
i != sortedCostIndices.begin() + nbh.size();
++i)
{
if (nbh[*i] == nmotion || si_->checkMotion(nbh[*i]->state, motion->state))
{
motion->incCost = incCosts[*i];
motion->cost = costs[*i];
motion->parent = nbh[*i];
valid[*i] = 1;
break;
}
else valid[*i] = -1;
}
}
else // if not delayCC
{
motion->incCost = opt_->motionCost(nmotion->state, motion->state);
motion->cost = opt_->combineCosts(nmotion->cost, motion->incCost);
// find which one we connect the new state to
for (std::size_t i = 0 ; i < nbh.size(); ++i)
{
if (nbh[i] != nmotion)
{
incCosts[i] = opt_->motionCost(nbh[i]->state, motion->state);
costs[i] = opt_->combineCosts(nbh[i]->cost, incCosts[i]);
if (opt_->isCostBetterThan(costs[i], motion->cost))
{
if (si_->checkMotion(nbh[i]->state, motion->state))
{
motion->incCost = incCosts[i];
motion->cost = costs[i];
motion->parent = nbh[i];
valid[i] = 1;
}
else valid[i] = -1;
}
}
else
{
incCosts[i] = motion->incCost;
costs[i] = motion->cost;
valid[i] = 1;
}
}
}
if (useNewStateRejection_)
{
if (opt_->isCostBetterThan(solutionHeuristic(motion), bestCost_))
{
nn_->add(motion);
motion->parent->children.push_back(motion);
}
else // If the new motion does not improve the best cost it is ignored.
{
si_->freeState(motion->state);
delete motion;
continue;
}
}
else
{
// add motion to the tree
nn_->add(motion);
motion->parent->children.push_back(motion);
}
bool checkForSolution = false;
for (std::size_t i = 0; i < nbh.size(); ++i)
{
if (nbh[i] != motion->parent)
{
base::Cost nbhIncCost;
if (symCost)
nbhIncCost = incCosts[i];
else
nbhIncCost = opt_->motionCost(motion->state, nbh[i]->state);
base::Cost nbhNewCost = opt_->combineCosts(motion->cost, nbhIncCost);
if (opt_->isCostBetterThan(nbhNewCost, nbh[i]->cost))
{
bool motionValid;
if (valid[i] == 0)
{
motionValid = si_->checkMotion(motion->state, nbh[i]->state);
}
else
{
motionValid = (valid[i] == 1);
}
if (motionValid)
{
// Remove this node from its parent list
removeFromParent (nbh[i]);
// Add this node to the new parent
nbh[i]->parent = motion;
nbh[i]->incCost = nbhIncCost;
nbh[i]->cost = nbhNewCost;
nbh[i]->parent->children.push_back(nbh[i]);
// Update the costs of the node's children
updateChildCosts(nbh[i]);
checkForSolution = true;
}
}
}
}
// Add the new motion to the goalMotion_ list, if it satisfies the goal
double distanceFromGoal;
if (goal->isSatisfied(motion->state, &distanceFromGoal))
{
goalMotions_.push_back(motion);
checkForSolution = true;
}
// Checking for solution or iterative improvement
if (checkForSolution)
{
bool updatedSolution = false;
for (auto & goalMotion : goalMotions_)
{
if (opt_->isCostBetterThan(goalMotion->cost, bestCost_))
{
if (opt_->isFinite(bestCost_) == false)
{
OMPL_INFORM("%s: Found an initial solution with a cost of %.2f in %u iterations (%u vertices in the graph)", getName().c_str(), goalMotion->cost.value(), iterations_, nn_->size());
}
bestCost_ = goalMotion->cost;
updatedSolution = true;
}
sufficientlyShort = opt_->isSatisfied(goalMotion->cost);
if (sufficientlyShort)
{
solution = goalMotion;
break;
}
else if (!solution ||
opt_->isCostBetterThan(goalMotion->cost,solution->cost))
{
solution = goalMotion;
updatedSolution = true;
}
}
if (updatedSolution)
{
if (useTreePruning_)
{
pruneTree(bestCost_);
}
if (intermediateSolutionCallback)
{
std::vector<const base::State *> spath;
Motion *intermediate_solution = solution->parent; // Do not include goal state to simplify code.
//Push back until we find the start, but not the start itself
while (intermediate_solution->parent != nullptr)
{
spath.push_back(intermediate_solution->state);
intermediate_solution = intermediate_solution->parent;
}
intermediateSolutionCallback(this, spath, bestCost_);
}
}
}
// Checking for approximate solution (closest state found to the goal)
if (goalMotions_.size() == 0 && distanceFromGoal < approximatedist)
{
approximation = motion;
approximatedist = distanceFromGoal;
}
}
// terminate if a sufficient solution is found
if (solution && sufficientlyShort)
break;
}
bool approximate = (solution == nullptr);
bool addedSolution = false;
if (approximate)
solution = approximation;
else
lastGoalMotion_ = solution;
if (solution != nullptr)
{
ptc.terminate();
// construct the solution path
std::vector<Motion*> mpath;
while (solution != nullptr)
{
mpath.push_back(solution);
solution = solution->parent;
}
// set the solution path
auto *geoPath = new PathGeometric(si_);
for (int i = mpath.size() - 1 ; i >= 0 ; --i)
geoPath->append(mpath[i]->state);
base::PathPtr path(geoPath);
// Add the solution path.
base::PlannerSolution psol(path);
psol.setPlannerName(getName());
if (approximate)
psol.setApproximate(approximatedist);
// Does the solution satisfy the optimization objective?
psol.setOptimized(opt_, bestCost_, sufficientlyShort);
pdef_->addSolutionPath(psol);
addedSolution = true;
}
si_->freeState(xstate);
if (rmotion->state)
si_->freeState(rmotion->state);
delete rmotion;
OMPL_INFORM("%s: Created %u new states. Checked %u rewire options. %u goal states in tree. Final solution cost %.3f", getName().c_str(), statesGenerated, rewireTest, goalMotions_.size(), bestCost_.value());
return base::PlannerStatus(addedSolution, approximate);
}
