CForestCircleGridBenchmark.cpp
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34 
35 /* Author: Javier V. Gomez, Mark Moll */
36 
37 #include <ompl/base/spaces/DubinsStateSpace.h>
38 #include <ompl/base/spaces/ReedsSheppStateSpace.h>
39 #include <ompl/geometric/planners/rrt/RRTstar.h>
40 #include <ompl/geometric/planners/cforest/CForest.h>
41 #include <ompl/base/objectives/PathLengthOptimizationObjective.h>
42 #include <ompl/geometric/SimpleSetup.h>
43 #include <ompl/tools/benchmark/Benchmark.h>
44 #include <boost/program_options.hpp>
45 
46 namespace ob = ompl::base;
47 namespace og = ompl::geometric;
48 namespace ot = ompl::tools;
49 namespace po = boost::program_options;
50 
51 bool isStateValid(double radiusSquared, const ob::State *state)
52 {
53  const auto *s = state->as<ob::SE2StateSpace::StateType>();
54  double x=s->getX(), y=s->getY();
55  x = std::abs(x - std::floor(x));
56  y = std::abs(y - std::floor(y));
57  x = std::min(x, 1. - x);
58  y = std::min(y, 1. - y);
59  return x*x + y*y > radiusSquared;
60 }
61 
62 int main(int argc, char **argv)
63 {
64  int distance, gridLimit, runCount;
65  double obstacleRadius, turningRadius, runtimeLimit;
66 
67  auto space(std::make_shared<ob::SE2StateSpace>());
68 
69  po::options_description desc("Options");
70 
71  desc.add_options()
72  ("help", "show help message")
73  ("dubins", "use Dubins state space")
74  ("dubinssym", "use symmetrized Dubins state space")
75  ("reedsshepp", "use Reeds-Shepp state space")
76  ("distance", po::value<int>(&distance)->default_value(3), "integer grid distance between start and goal")
77  ("obstacle-radius", po::value<double>(&obstacleRadius)->default_value(.25), "radius of obstacles")
78  ("turning-radius", po::value<double>(&turningRadius)->default_value(.5), "turning radius of robot (ignored for default point robot)")
79  ("grid-limit", po::value<int>(&gridLimit)->default_value(10), "size of the grid")
80  ("runtime-limit", po::value<double>(&runtimeLimit)->default_value(2), "time limit for every test")
81  ("run-count", po::value<int>(&runCount)->default_value(100), "number of times to run each planner")
82  ;
83 
84  po::variables_map vm;
85  po::store(po::parse_command_line(argc, argv, desc), vm);
86  po::notify(vm);
87 
88  if (vm.count("help") != 0u)
89  {
90  std::cout << desc << "\n";
91  return 1;
92  }
93 
94  if (vm.count("dubins") != 0u)
95  space = std::make_shared<ob::DubinsStateSpace>(turningRadius);
96  if (vm.count("dubinssym") != 0u)
97  space = std::make_shared<ob::DubinsStateSpace>(turningRadius, true);
98  if (vm.count("reedsshepp") != 0u)
99  space = std::make_shared<ob::ReedsSheppStateSpace>(turningRadius);
100 
101  // set the bounds for the R^2 part of SE(2)
102  ob::RealVectorBounds bounds(2);
103  bounds.setLow(-.5 * gridLimit);
104  bounds.setHigh(.5 * gridLimit);
105  space->setBounds(bounds);
106 
107  // define a simple setup class
108  og::SimpleSetup ss(space);
109 
110  // set state validity checking for this space
111  double radiusSquared = obstacleRadius * obstacleRadius;
112  ss.setStateValidityChecker(
113  [radiusSquared](const ob::State *state)
114  {
115  return isStateValid(radiusSquared, state);
116  });
117 
118  // define start & goal states
119  ob::ScopedState<ob::SE2StateSpace> start(space), goal(space);
120  start->setXY(0., 0.5);
121  start->setYaw(0.);
122  goal->setXY(0., (double)distance + .5);
123  goal->setYaw(0);
124  ss.setStartAndGoalStates(start, goal);
125 
126  // setting collision checking resolution to 0.05 (absolute)
127  ss.getSpaceInformation()->setStateValidityCheckingResolution(0.05 / gridLimit);
128  ss.getProblemDefinition()->setOptimizationObjective(
129  std::make_shared<ompl::base::PathLengthOptimizationObjective>(ss.getSpaceInformation()));
130 
131  // by default, use the Benchmark class
132  double memoryLimit = 4096;
133  ot::Benchmark::Request request(runtimeLimit, memoryLimit, runCount);
134  ot::Benchmark b(ss, "CircleGrid");
135 
136  b.addPlanner(std::make_shared<og::RRTstar>(ss.getSpaceInformation()));
137  b.addPlanner(std::make_shared<og::CForest>(ss.getSpaceInformation()));
138  b.benchmark(request);
139  b.saveResultsToFile("circleGrid.log");
140 
141  exit(0);
142 }
143 
144 
Definition of a scoped state.
Definition: ScopedState.h:56
Includes various tools such as self config, benchmarking, etc.
Benchmark a set of planners on a problem instance.
Definition: Benchmark.h:48
Create the set of classes typically needed to solve a geometric problem.
Definition: SimpleSetup.h:63
const T * as() const
Cast this instance to a desired type.
Definition: State.h:66
ompl::base::CompoundState StateType
Define the type of state allocated by this state space.
Definition: StateSpace.h:577
Definition of an abstract state.
Definition: State.h:49
This namespace contains sampling based planning routines shared by both planning under geometric cons...
The lower and upper bounds for an Rn space.
This namespace contains code that is specific to planning under geometric constraints.
Definition: GeneticSearch.h:47