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MultiLevelPlanningRigidBody2D.cpp
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35
36/* Author: Andreas Orthey */
37
38#include <ompl/base/spaces/SE2StateSpace.h>
39#include <ompl/base/spaces/RealVectorStateSpace.h>
40#include <ompl/base/SpaceInformation.h>
41#include <ompl/base/StateSpace.h>
42#include <ompl/multilevel/planners/qrrt/QRRT.h>
43#include <iostream>
44#include <boost/math/constants/constants.hpp>
45
46using namespace ompl::base;
47
48// Path Planning on fiber bundle SE2 \rightarrow R2
49
50bool boxConstraint(const double values[])
51{
52 const double &x = values[0] - 0.5;
53 const double &y = values[1] - 0.5;
54 double pos_cnstr = sqrt(x * x + y * y);
55 return (pos_cnstr > 0.2);
56}
57bool isStateValid_SE2(const State *state)
58{
59 const auto *SE2state = state->as<SE2StateSpace::StateType>();
60 const auto *R2 = SE2state->as<RealVectorStateSpace::StateType>(0);
61 const auto *SO2 = SE2state->as<SO2StateSpace::StateType>(1);
62 return boxConstraint(R2->values) && (SO2->value < boost::math::constants::pi<double>() / 2.0);
63}
64bool isStateValid_R2(const State *state)
65{
66 const auto *R2 = state->as<RealVectorStateSpace::StateType>();
67 return boxConstraint(R2->values);
68}
69
70int main()
71{
72 // Setup SE2
73 auto SE2(std::make_shared<SE2StateSpace>());
74 RealVectorBounds bounds(2);
75 bounds.setLow(0);
76 bounds.setHigh(1);
77 SE2->setBounds(bounds);
78 SpaceInformationPtr si_SE2(std::make_shared<SpaceInformation>(SE2));
79 si_SE2->setStateValidityChecker(isStateValid_SE2);
80
81 // Setup Quotient-Space R2
82 auto R2(std::make_shared<RealVectorStateSpace>(2));
83 R2->setBounds(0, 1);
84 SpaceInformationPtr si_R2(std::make_shared<SpaceInformation>(R2));
85 si_R2->setStateValidityChecker(isStateValid_R2);
86
87 // Create vector of spaceinformationptr
88 std::vector<SpaceInformationPtr> si_vec;
89 si_vec.push_back(si_R2);
90 si_vec.push_back(si_SE2);
91
92 // Define Planning Problem
93 using SE2State = ScopedState<SE2StateSpace>;
94 SE2State start_SE2(SE2);
95 SE2State goal_SE2(SE2);
96 start_SE2->setXY(0, 0);
97 start_SE2->setYaw(0);
98 goal_SE2->setXY(1, 1);
99 goal_SE2->setYaw(0);
100
101 ProblemDefinitionPtr pdef = std::make_shared<ProblemDefinition>(si_SE2);
102 pdef->setStartAndGoalStates(start_SE2, goal_SE2);
103
104 // Setup Planner using vector of spaceinformationptr
105 auto planner = std::make_shared<ompl::multilevel::QRRT>(si_vec);
106
107 // Planner can be used as any other OMPL algorithm
108 planner->setProblemDefinition(pdef);
109 planner->setup();
110
111 PlannerStatus solved = planner->Planner::solve(1.0);
112
113 if (solved)
114 {
115 std::cout << std::string(80, '-') << std::endl;
116 std::cout << "Bundle Space Path (SE2):" << std::endl;
117 std::cout << std::string(80, '-') << std::endl;
118 pdef->getSolutionPath()->print(std::cout);
119
120 std::cout << std::string(80, '-') << std::endl;
121 std::cout << "Base Space Path (R2) :" << std::endl;
122 std::cout << std::string(80, '-') << std::endl;
123 const ProblemDefinitionPtr pdefR2 = planner->getProblemDefinition(0);
124 pdefR2->getSolutionPath()->print(std::cout);
125 std::cout << std::string(80, '-') << std::endl;
126 }
127 return 0;
128}
A shared pointer wrapper for ompl::base::ProblemDefinition.
The lower and upper bounds for an Rn space.
A state in SE(2): (x, y, yaw)
The definition of a state in SO(2)
Definition of a scoped state.
Definition ScopedState.h:57
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66
This namespace contains sampling based planning routines shared by both planning under geometric cons...
A class to store the exit status of Planner::solve()