-
Notifications
You must be signed in to change notification settings - Fork 0
Expand file tree
/
Copy pathSimpleDirectedControlSampler.cpp
More file actions
110 lines (95 loc) · 4.67 KB
/
SimpleDirectedControlSampler.cpp
File metadata and controls
110 lines (95 loc) · 4.67 KB
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Willow Garage, Inc.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Willow Garage nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Ioan Sucan */
#include "ompl/control/SimpleDirectedControlSampler.h"
#include "ompl/control/SpaceInformation.h"
ompl::control::SimpleDirectedControlSampler::SimpleDirectedControlSampler(const SpaceInformation *si, unsigned int k)
: DirectedControlSampler(si), cs_(si->allocControlSampler()), numControlSamples_(k)
{
}
ompl::control::SimpleDirectedControlSampler::~SimpleDirectedControlSampler() = default;
unsigned int ompl::control::SimpleDirectedControlSampler::sampleTo(Control *control, const base::State *source,
base::State *dest)
{
return getBestControl(control, source, dest, nullptr);
}
unsigned int ompl::control::SimpleDirectedControlSampler::sampleTo(Control *control, const Control *previous,
const base::State *source, base::State *dest)
{
return getBestControl(control, source, dest, previous);
}
unsigned int ompl::control::SimpleDirectedControlSampler::getBestControl(Control *control, const base::State *source,
base::State *dest, const Control *previous)
{
// Sample the first control
if (previous != nullptr)
cs_->sampleNext(control, previous, source);
else
cs_->sample(control, source);
const unsigned int minDuration = si_->getMinControlDuration();
const unsigned int maxDuration = si_->getMaxControlDuration();
unsigned int steps = cs_->sampleStepCount(minDuration, maxDuration);
// Propagate the first control, and find how far it is from the target state
base::State *bestState = si_->allocState();
steps = si_->propagateWhileValid(source, control, steps, bestState);
if (numControlSamples_ > 1)
{
Control *tempControl = si_->allocControl();
base::State *tempState = si_->allocState();
double bestDistance = si_->distance(bestState, dest);
// Sample k-1 more controls, and save the control that gets closest to target
for (unsigned int i = 1; i < numControlSamples_; ++i)
{
unsigned int sampleSteps = cs_->sampleStepCount(minDuration, maxDuration);
if (previous != nullptr)
cs_->sampleNext(tempControl, previous, source);
else
cs_->sample(tempControl, source);
sampleSteps = si_->propagateWhileValid(source, tempControl, sampleSteps, tempState);
double tempDistance = si_->distance(tempState, dest);
if (tempDistance < bestDistance)
{
si_->copyState(bestState, tempState);
si_->copyControl(control, tempControl);
bestDistance = tempDistance;
steps = sampleSteps;
}
}
si_->freeState(tempState);
si_->freeControl(tempControl);
}
si_->copyState(dest, bestState);
si_->freeState(bestState);
return steps;
}