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<div class="title">ConstrainedPlanningSphere.py</div> </div>
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<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">#!/usr/bin/env python3</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>  </div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>  </div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  </div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span> <span class="comment"># Author: Mark Moll</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  </div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">from</span> __future__ <span class="keyword">import</span> print_function</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">import</span> argparse</div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">import</span> math</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">import</span> numpy <span class="keyword">as</span> np</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> <span class="keyword">from</span> ConstrainedPlanningCommon <span class="keyword">import</span> *</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  </div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  </div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="classConstrainedPlanningSphere_1_1SphereConstraint.html"> 46</a></span> <span class="keyword">class </span><a class="code" href="classConstrainedPlanningSphere_1_1SphereConstraint.html">SphereConstraint</a>(<a class="code" href="classompl_1_1base_1_1Constraint.html">ob.Constraint</a>):</div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span>  </div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="keyword">def </span>__init__(self):</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  super(SphereConstraint, self).__init__(3, 1)</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  <span class="keyword">def </span>function(self, x, out):</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  out[0] = np.linalg.norm(x) - 1</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  </div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  <span class="keyword">def </span>jacobian(self, x, out):</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  nrm = np.linalg.norm(x)</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  <span class="keywordflow">if</span> np.isfinite(nrm) <span class="keywordflow">and</span> nrm > 0:</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  out[0, :] = x / nrm</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keywordflow">else</span>:</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  out[0, :] = [1, 0, 0]</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  </div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classConstrainedPlanningSphere_1_1SphereProjection.html"> 62</a></span> <span class="keyword">class </span><a class="code" href="classConstrainedPlanningSphere_1_1SphereProjection.html">SphereProjection</a>(<a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html">ob.ProjectionEvaluator</a>):</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  </div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keyword">def </span>__init__(self, space):</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  super(SphereProjection, self).__init__(space)</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  </div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">def </span><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a1f0dda6f86ea99915688c4d59bb12042">getDimension</a>(self):</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="keywordflow">return</span> 2</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">def </span><a class="code" href="classompl_1_1base_1_1ProjectionEvaluator.html#a1a0598137c82fdbedb7a191184d30de1">defaultCellSizes</a>(self):</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  self.<a class="code" href="classConstrainedPlanningSphere_1_1SphereProjection.html#a89c5eed0c5a9b5a748a6f1b3322b58d8">cellSizes_</a> = list2vec([.1, .1])</div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  </div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="keyword">def </span>project(self, state, projection):</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  projection[0] = math.atan2(state[1], state[0])</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  projection[1] = math.acos(state[2])</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  </div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> <span class="keyword">def </span>obstacles(x):</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="keywordflow">if</span> x[2] > -0.8 <span class="keywordflow">and</span> x[2] < -0.6:</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="keywordflow">if</span> x[1] > -0.05 <span class="keywordflow">and</span> x[1] < 0.05:</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keywordflow">return</span> x[0] > 0</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  <span class="keywordflow">return</span> <span class="keyword">False</span></div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  <span class="keywordflow">elif</span> x[2] > -0.1 <span class="keywordflow">and</span> x[2] < 0.1:</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">if</span> x[0] > -0.05 <span class="keywordflow">and</span> x[0] < 0.05:</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  <span class="keywordflow">return</span> x[1] < 0</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  <span class="keywordflow">return</span> <span class="keyword">False</span></div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <span class="keywordflow">elif</span> x[2] > 0.6 <span class="keywordflow">and</span> x[2] < 0.8:</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keywordflow">if</span> x[1] > -0.05 <span class="keywordflow">and</span> x[1] < 0.05:</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  <span class="keywordflow">return</span> x[0] < 0</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  <span class="keywordflow">return</span> <span class="keyword">False</span></div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="keywordflow">return</span> <span class="keyword">True</span></div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  </div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  </div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="keyword">def </span>spherePlanningOnce(cp, plannername, output):</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  cp.setPlanner(plannername, <span class="stringliteral">"sphere"</span>)</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  </div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  <span class="comment"># Solve the problem</span></div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  stat = cp.solveOnce(output, <span class="stringliteral">"sphere"</span>)</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  </div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordflow">if</span> output:</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  ou.OMPL_INFORM(<span class="stringliteral">"Dumping problem information to `sphere_info.txt`."</span>)</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keyword">with</span> open(<span class="stringliteral">"sphere_info.txt"</span>, <span class="stringliteral">"w"</span>) <span class="keyword">as</span> infofile:</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  print(cp.spaceType, file=infofile)</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  </div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  cp.atlasStats()</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="keywordflow">if</span> output:</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  cp.dumpGraph(<span class="stringliteral">"sphere"</span>)</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  <span class="keywordflow">return</span> stat</div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  </div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  </div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> <span class="keyword">def </span>spherePlanningBench(cp, planners):</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  cp.setupBenchmark(planners, <span class="stringliteral">"sphere"</span>)</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  cp.runBenchmark()</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  </div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  </div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span> <span class="keyword">def </span>spherePlanning(options):</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  <span class="comment"># Create the ambient space state space for the problem.</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  rvss = <a class="code" href="classompl_1_1base_1_1RealVectorStateSpace.html">ob.RealVectorStateSpace</a>(3)</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  bounds = <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html">ob.RealVectorBounds</a>(3)</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  bounds.setLow(-2)</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  bounds.setHigh(2)</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  rvss.setBounds(bounds)</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  </div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="comment"># Create our constraint.</span></div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  constraint = <a class="code" href="classConstrainedPlanningSphere_1_1SphereConstraint.html">SphereConstraint</a>()</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  </div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  cp = <a class="code" href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html">ConstrainedProblem</a>(options.space, rvss, constraint, options)</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  cp.css.registerProjection(<span class="stringliteral">"sphere"</span>, <a class="code" href="classConstrainedPlanningSphere_1_1SphereProjection.html">SphereProjection</a>(cp.css))</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  </div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  start = <a class="code" href="classompl_1_1base_1_1State.html">ob.State</a>(cp.css)</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  goal = <a class="code" href="classompl_1_1base_1_1State.html">ob.State</a>(cp.css)</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  start[0] = 0</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  start[1] = 0</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  start[2] = -1</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  goal[0] = 0</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  goal[1] = 0</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  goal[2] = 1</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  cp.setStartAndGoalStates(start, goal)</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  cp.ss.setStateValidityChecker(<a class="code" href="namespaceompl_1_1base.html#a7cd31d19ef5b789b0bff97bf6e249ebf">ob.StateValidityCheckerFn</a>(obstacles))</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  </div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  planners = options.planner.split(<span class="stringliteral">","</span>)</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  <span class="keywordflow">if</span> <span class="keywordflow">not</span> options.bench:</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  spherePlanningOnce(cp, planners[0], options.output)</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  <span class="keywordflow">else</span>:</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  spherePlanningBench(cp, planners)</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="keywordflow">if</span> __name__ == <span class="stringliteral">"__main__"</span>:</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  parser = argparse.ArgumentParser()</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  parser.add_argument(<span class="stringliteral">"-o"</span>, <span class="stringliteral">"--output"</span>, action=<span class="stringliteral">"store_true"</span>,</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  help=<span class="stringliteral">"Dump found solution path (if one exists) in plain text and planning "</span></div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="stringliteral">"graph in GraphML to `sphere_path.txt` and `sphere_graph.graphml` "</span></div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="stringliteral">"respectively."</span>)</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  parser.add_argument(<span class="stringliteral">"--bench"</span>, action=<span class="stringliteral">"store_true"</span>,</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  help=<span class="stringliteral">"Do benchmarking on provided planner list."</span>)</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  addSpaceOption(parser)</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  addPlannerOption(parser)</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  addConstrainedOptions(parser)</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  addAtlasOptions(parser)</div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  spherePlanning(parser.parse_args())</div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="aclassompl_1_1base_1_1Constraint_html"><div class="ttname"><a href="classompl_1_1base_1_1Constraint.html">ompl::base::Constraint</a></div><div class="ttdoc">Definition of a differentiable holonomic constraint on a configuration space. See Constrained Plannin...</div><div class="ttdef"><b>Definition:</b> <a href="Constraint_8h_source.html#l00107">Constraint.h:107</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1State_html"><div class="ttname"><a href="classompl_1_1base_1_1State.html">ompl::base::State</a></div><div class="ttdoc">Definition of an abstract state.</div><div class="ttdef"><b>Definition:</b> <a href="base_2State_8h_source.html#l00113">State.h:113</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningSphere_1_1SphereConstraint_html"><div class="ttname"><a href="classConstrainedPlanningSphere_1_1SphereConstraint.html">ConstrainedPlanningSphere.SphereConstraint</a></div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningSphere_8py_source.html#l00046">ConstrainedPlanningSphere.py:46</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ProjectionEvaluator_html_a1f0dda6f86ea99915688c4d59bb12042"><div class="ttname"><a href="classompl_1_1base_1_1ProjectionEvaluator.html#a1f0dda6f86ea99915688c4d59bb12042">ompl::base::ProjectionEvaluator::getDimension</a></div><div class="ttdeci">virtual unsigned int getDimension() const =0</div><div class="ttdoc">Return the dimension of the projection defined by this evaluator.</div></div>
<div class="ttc" id="aclassompl_1_1base_1_1RealVectorStateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1RealVectorStateSpace.html">ompl::base::RealVectorStateSpace</a></div><div class="ttdoc">A state space representing Rn. The distance function is the L2 norm.</div><div class="ttdef"><b>Definition:</b> <a href="RealVectorStateSpace_8h_source.html#l00137">RealVectorStateSpace.h:137</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningSphere_1_1SphereProjection_html"><div class="ttname"><a href="classConstrainedPlanningSphere_1_1SphereProjection.html">ConstrainedPlanningSphere.SphereProjection</a></div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningSphere_8py_source.html#l00062">ConstrainedPlanningSphere.py:62</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ProjectionEvaluator_html"><div class="ttname"><a href="classompl_1_1base_1_1ProjectionEvaluator.html">ompl::base::ProjectionEvaluator</a></div><div class="ttdoc">Abstract definition for a class computing projections to Rn. Implicit integer grids are imposed on th...</div><div class="ttdef"><b>Definition:</b> <a href="ProjectionEvaluator_8h_source.html#l00194">ProjectionEvaluator.h:194</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningCommon_1_1ConstrainedProblem_html"><div class="ttname"><a href="classConstrainedPlanningCommon_1_1ConstrainedProblem.html">ConstrainedPlanningCommon.ConstrainedProblem</a></div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningCommon_8py_source.html#l00140">ConstrainedPlanningCommon.py:140</a></div></div>
<div class="ttc" id="aclassConstrainedPlanningSphere_1_1SphereProjection_html_a89c5eed0c5a9b5a748a6f1b3322b58d8"><div class="ttname"><a href="classConstrainedPlanningSphere_1_1SphereProjection.html#a89c5eed0c5a9b5a748a6f1b3322b58d8">ConstrainedPlanningSphere.SphereProjection.cellSizes_</a></div><div class="ttdeci">cellSizes_</div><div class="ttdef"><b>Definition:</b> <a href="ConstrainedPlanningSphere_8py_source.html#l00071">ConstrainedPlanningSphere.py:71</a></div></div>
<div class="ttc" id="anamespaceompl_1_1base_html_a7cd31d19ef5b789b0bff97bf6e249ebf"><div class="ttname"><a href="namespaceompl_1_1base.html#a7cd31d19ef5b789b0bff97bf6e249ebf">ompl::base::StateValidityCheckerFn</a></div><div class="ttdeci">std::function< bool(const State *)> StateValidityCheckerFn</div><div class="ttdoc">If no state validity checking class is specified (StateValidityChecker), a std::function can be speci...</div><div class="ttdef"><b>Definition:</b> <a href="base_2SpaceInformation_8h_source.html#l00140">SpaceInformation.h:140</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ProjectionEvaluator_html_a1a0598137c82fdbedb7a191184d30de1"><div class="ttname"><a href="classompl_1_1base_1_1ProjectionEvaluator.html#a1a0598137c82fdbedb7a191184d30de1">ompl::base::ProjectionEvaluator::defaultCellSizes</a></div><div class="ttdeci">virtual void defaultCellSizes()</div><div class="ttdoc">Set the default cell dimensions for this projection. The default implementation of this function is e...</div><div class="ttdef"><b>Definition:</b> <a href="ProjectionEvaluator_8cpp_source.html#l00189">ProjectionEvaluator.cpp:189</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1RealVectorBounds_html"><div class="ttname"><a href="classompl_1_1base_1_1RealVectorBounds.html">ompl::base::RealVectorBounds</a></div><div class="ttdoc">The lower and upper bounds for an Rn space.</div><div class="ttdef"><b>Definition:</b> <a href="RealVectorBounds_8h_source.html#l00111">RealVectorBounds.h:111</a></div></div>
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