static void
path_cleanup( struct aa_rx_mp *mp, ompl::geometric::PathGeometric &path )
{
amino::sgSpaceInformation::Ptr &si = mp->space_information;
if( mp->simplify ) {
ompl::geometric::PathSimplifier ps(si);
int n = (int)path.getStateCount();
path.interpolate(n*10);
for( int i = 0; i < 10; i ++ ) {
ps.reduceVertices(path);
ps.collapseCloseVertices(path);
ps.shortcutPath(path);
}
ps.smoothBSpline(path, 3, path.length()/100.0);
}
}
EReturn OMPLsolver::getSimplifiedPath(ompl::geometric::PathGeometric &pg,
Eigen::MatrixXd & traj, ob::PlannerTerminationCondition &ptc)
{
if (smooth_->data)
{
HIGHLIGHT("Simplifying solution");
int original_cnt = pg.getStateCount();
ros::Time start = ros::Time::now();
//ompl_simple_setup_->simplifySolution(d);
// Lets do our own simplifier ~:)
if (original_cnt >= 3)
{
og::PathSimplifierPtr psf_ = ompl_simple_setup_->getPathSimplifier();
const ob::SpaceInformationPtr &si =
ompl_simple_setup_->getSpaceInformation();
bool tryMore = false;
if (ptc == false) tryMore = psf_->reduceVertices(pg);
if (ptc == false) psf_->collapseCloseVertices(pg);
int times = 0;
while (tryMore && ptc == false)
{
tryMore = psf_->reduceVertices(pg);
times++;
}
if (si->getStateSpace()->isMetricSpace())
{
if (ptc == false)
tryMore = psf_->shortcutPath(pg);
else
tryMore = false;
times = 0;
while (tryMore && ptc == false)
{
tryMore = psf_->shortcutPath(pg);
times++;
}
}
std::vector<ob::State*> &states = pg.getStates();
// Calculate number of states required
unsigned int length = 0;
const int n1 = states.size() - 1;
for (int i = 0; i < n1; ++i)
length += si->getStateSpace()->validSegmentCount(states[i],
states[i + 1]);
// // Forward reducing
// HIGHLIGHT("States before forward reducing: "<<pg.getStateCount());
// pg.interpolate(length);
//
// bool need_backward = true;
// for (int i = states.size() - 1; i > 0; i--)
// {
// if (si->checkMotion(states[0], states[i]))
// {
// ob::State *start = si->cloneState(states[0]);
// pg.keepAfter(states[i]);
// pg.prepend(start);
// need_backward = (i == states.size() - 1) ? false : true;
// break;
// }
// }
//
// // Backward reducing
// ob::State *mid;
// if (need_backward)
// {
// HIGHLIGHT("States before backward reducing: "<<pg.getStateCount());
// pg.interpolate(length);
// for (int i = 1; i < states.size(); i++)
// {
// if (si->checkMotion(states[states.size() - 1], states[i]))
// {
// ob::State *goal = si->cloneState(states[states.size() - 1]);
// pg.keepBefore(states[i]);
// pg.append(goal);
// mid = si->cloneState(states[i]);
// break;
// }
// }
// }
pg.interpolate(length);
}
// if (ompl_simple_setup_->haveSolutionPath())
// {
// pg.interpolate();
// }
HIGHLIGHT_NAMED("OMPLSolver",
"Simplification took "<<ros::Duration(ros::Time::now()-start).toSec()<<"sec. States: "<<original_cnt<<"->"<<pg.getStateCount());
}
convertPath(pg, traj);
return SUCCESS;
}