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<div class="title">CollisionCheckers.cpp</div> </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">/*********************************************************************</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment"> * Rice University Software Distribution License</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment"> * Copyright (c) 2012, Rice University</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment"> * All Rights Reserved.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment"> * For a full description see the file named LICENSE.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment"> *********************************************************************/</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>  </div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">/* Author: Ryan Luna */</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>  </div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="preprocessor">#include <ompl/geometric/planners/rrt/RRT.h></span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span> <span class="preprocessor">#include <<a class="code" href="Console_8h.html">ompl/util/Console.h</a>></span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#include <omplapp/apps/SE3RigidBodyPlanning.h></span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#include <omplapp/config.h></span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include <omplapp/geometry/detail/FCLContinuousMotionValidator.h></span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="preprocessor">#include <vector></span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>  </div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="keyword">using namespace </span><a class="code" href="namespaceompl.html">ompl</a>;</div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>  </div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="keywordtype">void</span> configureApartmentProblem(<a class="code" href="classompl_1_1app_1_1SE3RigidBodyPlanning.html">app::SE3RigidBodyPlanning</a> &setup)</div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> {</div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>  std::string problem = <span class="stringliteral">"Apartment"</span>;</div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>  std::string environment_mesh = std::string(OMPLAPP_RESOURCE_DIR) + <span class="stringliteral">"/3D/"</span> + problem + <span class="stringliteral">"_env.dae"</span>;</div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>  std::string robot_mesh = std::string(OMPLAPP_RESOURCE_DIR) + <span class="stringliteral">"/3D/"</span> + problem + <span class="stringliteral">"_robot.dae"</span>;</div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>  </div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>  <span class="comment">// load the robot and the environment</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>  setup.setEnvironmentMesh(environment_mesh);</div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>  setup.setRobotMesh(robot_mesh);</div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span>  </div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>  <span class="comment">// Bounds for Apartment environment</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"> 33</span>  <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html">base::RealVectorBounds</a> bounds(3);</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  bounds.low[0] = -73.76;</div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  bounds.low[1] = -179.59;</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  bounds.low[2] = -0.03;</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  bounds.high[0] = 295.77;</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  bounds.high[1] = 168.26;</div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  bounds.high[2] = 90.39;</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  </div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="comment">// Start/Goal pair for the Apartment environment</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<base::SE3StateSpace></a> start(setup.getSpaceInformation());</div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  start->setX(-31.19);</div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  start->setY(-99.85);</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span>  start->setZ(36.46);</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  start->rotation().setIdentity();</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>  <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<base::SE3StateSpace></a> goal(setup.getSpaceInformation());</div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span>  goal->setX(140.0);</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  goal->setY(0.0);</div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span>  goal->setZ(36.46);</div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  goal->rotation().setIdentity();</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="comment">// Set start and goal</span></div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  setup.setStartAndGoalStates(start, goal);</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  </div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="comment">// Bound the state space</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  setup.getSpaceInformation()->getStateSpace()->as<<a class="code" href="classompl_1_1base_1_1SE3StateSpace.html">base::SE3StateSpace</a>>()->setBounds(bounds);</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span> }</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> <span class="keywordtype">void</span> configureEasyProblem(<a class="code" href="classompl_1_1app_1_1SE3RigidBodyPlanning.html">app::SE3RigidBodyPlanning</a> &setup)</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span> {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  std::string problem = <span class="stringliteral">"Easy"</span>;</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  std::string environment_mesh = std::string(OMPLAPP_RESOURCE_DIR) + <span class="stringliteral">"/3D/"</span> + problem + <span class="stringliteral">"_env.dae"</span>;</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  std::string robot_mesh = std::string(OMPLAPP_RESOURCE_DIR) + <span class="stringliteral">"/3D/"</span> + problem + <span class="stringliteral">"_robot.dae"</span>;</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="comment">// load the robot and the environment</span></div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  setup.setEnvironmentMesh(environment_mesh);</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  setup.setRobotMesh(robot_mesh);</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  </div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">// Bounds for Easy/TwistyCool environment</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html">base::RealVectorBounds</a> bounds(3);</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  bounds.low[0] = 14.46;</div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  bounds.low[1] = -24.25;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  bounds.low[2] = -504.86;</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  bounds.high[0] = 457.96;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  bounds.high[1] = 321.25;</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  bounds.high[2] = -72.86;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  </div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  <span class="comment">// Start/Goal pair for the Easy/TwistyCool environment</span></div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<base::SE3StateSpace></a> start(setup.getSpaceInformation());</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  start->setX(270.4);</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  start->setY(50.0);</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  start->setZ(-406.82);</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  start->rotation().setIdentity();</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  </div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<base::SE3StateSpace></a> goal(setup.getSpaceInformation());</div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  goal->setX(270.4);</div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  goal->setY(50.0);</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  goal->setZ(-186.82);</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  goal->rotation().setIdentity();</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>  <span class="comment">// Set start and goal</span></div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  setup.setStartAndGoalStates(start, goal);</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  </div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">// Bound the state space</span></div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  setup.getSpaceInformation()->getStateSpace()->as<<a class="code" href="classompl_1_1base_1_1SE3StateSpace.html">base::SE3StateSpace</a>>()->setBounds(bounds);</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</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="keywordtype">void</span> configureCubiclesProblem(<a class="code" href="classompl_1_1app_1_1SE3RigidBodyPlanning.html">app::SE3RigidBodyPlanning</a> &setup)</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span> {</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  std::string problem = <span class="stringliteral">"cubicles"</span>;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  std::string environment_mesh = std::string(OMPLAPP_RESOURCE_DIR) + <span class="stringliteral">"/3D/"</span> + problem + <span class="stringliteral">"_env.dae"</span>;</div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  std::string robot_mesh = std::string(OMPLAPP_RESOURCE_DIR) + <span class="stringliteral">"/3D/"</span> + problem + <span class="stringliteral">"_robot.dae"</span>;</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  </div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  <span class="comment">// load the robot and the environment</span></div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  setup.setEnvironmentMesh(environment_mesh);</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  setup.setRobotMesh(robot_mesh);</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>  <span class="comment">// Bounds for cubicles environment</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <a class="code" href="classompl_1_1base_1_1RealVectorBounds.html">base::RealVectorBounds</a> bounds(3);</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  bounds.low[0] = -508.88;</div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  bounds.low[1] = -230.13;</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  bounds.low[2] = -123.75;</div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  bounds.high[0] = 319.62;</div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  bounds.high[1] = 531.87;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  bounds.high[2] = 101.00;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  </div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  <span class="comment">// Start/Goal pair for cubicles environment</span></div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<base::SE3StateSpace></a> start(setup.getSpaceInformation());</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  start->setX(-4.96);</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  start->setY(-40.62);</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  start->setZ(70.57);</div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  start->rotation().setIdentity();</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  </div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <a class="code" href="classompl_1_1base_1_1ScopedState.html">base::ScopedState<base::SE3StateSpace></a> goal(setup.getSpaceInformation());</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  goal->setX(200.00);</div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  goal->setY(-40.62);</div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  goal->setZ(70.57);</div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  goal->rotation().setIdentity();</div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  </div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  <span class="comment">// Set start and goal</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  setup.setStartAndGoalStates(start, goal);</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  </div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="comment">// Bound the state space</span></div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  setup.getSpaceInformation()->getStateSpace()->as<<a class="code" href="classompl_1_1base_1_1SE3StateSpace.html">base::SE3StateSpace</a>>()->setBounds(bounds);</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span> }</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  </div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> <span class="keywordtype">void</span> test(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> tries, std::vector<std::vector<double>> &times, std::vector<int> &attempts, <span class="keywordtype">bool</span> fcl = <span class="keyword">false</span>,</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  <span class="keywordtype">bool</span> continuous = <span class="keyword">false</span>)</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> {</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  std::cout << <span class="stringliteral">"Evaluating "</span> << (continuous ? <span class="stringliteral">"continuous"</span> : <span class="stringliteral">"discrete"</span>) << <span class="stringliteral">" "</span> << (fcl ? <span class="stringliteral">"FCL"</span> : <span class="stringliteral">"PQP"</span>) << <span class="stringliteral">" checker"</span></div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  << std::endl;</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  </div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  std::vector<double> time;</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> successful = 0;</div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> problem = 0;</div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span>  </div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  <span class="keywordflow">while</span> (problem != 3)</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  {</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_attempts = 0;</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  </div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordflow">if</span> (problem == 0)</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  std::cout << <span class="stringliteral">"- Apartment problem "</span> << std::flush;</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (problem == 1)</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  std::cout << <span class="stringliteral">"- Cubicles problem "</span> << std::flush;</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (problem == 2)</div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  std::cout << R<span class="stringliteral">"(- 'Easy' problem )" << std::flush;</span></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> <span class="stringliteral"></span> </div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> <span class="stringliteral"> </span><span class="comment">// plan in SE3</span></div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <a class="code" href="classompl_1_1app_1_1SE3RigidBodyPlanning.html">app::SE3RigidBodyPlanning</a> setup;</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  </div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordflow">switch</span> (problem)</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  {</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">case</span> 0:</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  configureApartmentProblem(setup);</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="keywordflow">case</span> 1:</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  configureCubiclesProblem(setup);</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">case</span> 2:</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  configureEasyProblem(setup);</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  }</div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  </div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  setup.setStateValidityCheckerType(fcl ? app::FCL : app::PQP);</div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span>  </div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span>  <span class="keywordflow">if</span> (continuous)</div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  {</div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  setup.setup(); <span class="comment">// FCLContinuousMotionValidator extracts goodies from the state validity checker.</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span>  <span class="comment">// Instantiate the svc here.</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span>  setup.getSpaceInformation()->setMotionValidator(std::make_shared<app::FCLContinuousMotionValidator>(</div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span>  setup.getSpaceInformation(), setup.getMotionModel()));</div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span>  }</div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  </div>
<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  setup.getSpaceInformation()->setStateValidityCheckingResolution(0.01);</div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span>  setup.setPlanner(std::make_shared<geometric::RRT>(setup.getSpaceInformation()));</div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span>  setup.setup();</div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span>  </div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span>  <span class="keywordflow">while</span> (successful < tries)</div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  {</div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  setup.clear();</div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span>  setup.solve(30.0);</div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span>  </div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span>  <span class="comment">// Retry if the planner failed, except for the continuous collision checker case.</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span>  <span class="keywordflow">if</span> (setup.haveExactSolutionPath() || continuous)</div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  {</div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  successful++;</div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span>  time.push_back(setup.getLastPlanComputationTime());</div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span>  std::cout << <span class="charliteral">'.'</span> << std::flush;</div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span>  }</div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  std::cout << <span class="charliteral">'x'</span> << std::flush;</div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  nr_attempts++;</div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span>  }</div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span>  </div>
<div class="line"><a name="l00207"></a><span class="lineno"> 207</span>  times.push_back(time);</div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span>  time.clear();</div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span>  successful = 0;</div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span>  problem++;</div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span>  attempts.push_back(nr_attempts);</div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span>  std::cout << std::endl;</div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span>  }</div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> }</div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span>  </div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="preprocessor">#if OMPL_HAS_PQP</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> <span class="comment">// Compares discrete and continuous collision checkers in OMPL.app</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">int</span> main(<span class="keywordtype">int</span> argc, <span class="keywordtype">char</span> **argv)</div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> {</div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span>  <span class="comment">// User can supply number of tries as 2nd command line argument. Otherwise, use default NR_TRIES.</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span>  <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nr_tries;</div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span>  <span class="keywordflow">if</span> (argc == 2)</div>
<div class="line"><a name="l00223"></a><span class="lineno"> 223</span>  {</div>
<div class="line"><a name="l00224"></a><span class="lineno"> 224</span>  nr_tries = atoi(argv[1]);</div>
<div class="line"><a name="l00225"></a><span class="lineno"> 225</span>  </div>
<div class="line"><a name="l00226"></a><span class="lineno"> 226</span>  <span class="comment">// make sure command line input is valid</span></div>
<div class="line"><a name="l00227"></a><span class="lineno"> 227</span>  <span class="keywordflow">if</span> (nr_tries == std::numeric_limits<unsigned int>::min() ||</div>
<div class="line"><a name="l00228"></a><span class="lineno"> 228</span>  nr_tries == std::numeric_limits<unsigned int>::max())</div>
<div class="line"><a name="l00229"></a><span class="lineno"> 229</span>  nr_tries = 20u;</div>
<div class="line"><a name="l00230"></a><span class="lineno"> 230</span>  }</div>
<div class="line"><a name="l00231"></a><span class="lineno"> 231</span>  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00232"></a><span class="lineno"> 232</span>  nr_tries = 20u;</div>
<div class="line"><a name="l00233"></a><span class="lineno"> 233</span>  </div>
<div class="line"><a name="l00234"></a><span class="lineno"> 234</span>  <a class="code" href="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d">ompl::msg::noOutputHandler</a>(); <span class="comment">// Disable console output from OMPL.</span></div>
<div class="line"><a name="l00235"></a><span class="lineno"> 235</span>  </div>
<div class="line"><a name="l00236"></a><span class="lineno"> 236</span>  std::vector<std::vector<double>> pqp_times;</div>
<div class="line"><a name="l00237"></a><span class="lineno"> 237</span>  std::vector<std::vector<double>> dfcl_times;</div>
<div class="line"><a name="l00238"></a><span class="lineno"> 238</span>  std::vector<std::vector<double>> cfcl_times;</div>
<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  std::vector<int> pqp_attempts;</div>
<div class="line"><a name="l00240"></a><span class="lineno"> 240</span>  std::vector<int> dfcl_attempts;</div>
<div class="line"><a name="l00241"></a><span class="lineno"> 241</span>  std::vector<int> cfcl_attempts;</div>
<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  </div>
<div class="line"><a name="l00243"></a><span class="lineno"> 243</span>  std::cout << <span class="stringliteral">"Comparing collision checkers:"</span> << std::endl;</div>
<div class="line"><a name="l00244"></a><span class="lineno"> 244</span>  std::cout << <span class="stringliteral">"Each problem is executed until "</span> << nr_tries << <span class="stringliteral">" attempts are successful (30 sec limit)"</span></div>
<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  << std::endl;</div>
<div class="line"><a name="l00246"></a><span class="lineno"> 246</span>  </div>
<div class="line"><a name="l00247"></a><span class="lineno"> 247</span>  <span class="comment">// PQP Test (discrete)</span></div>
<div class="line"><a name="l00248"></a><span class="lineno"> 248</span>  test(nr_tries, pqp_times, pqp_attempts);</div>
<div class="line"><a name="l00249"></a><span class="lineno"> 249</span>  </div>
<div class="line"><a name="l00250"></a><span class="lineno"> 250</span>  <span class="comment">// Discrete FCL Test</span></div>
<div class="line"><a name="l00251"></a><span class="lineno"> 251</span>  test(nr_tries, dfcl_times, dfcl_attempts, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00252"></a><span class="lineno"> 252</span>  </div>
<div class="line"><a name="l00253"></a><span class="lineno"> 253</span>  <span class="comment">// Continuous FCL Test</span></div>
<div class="line"><a name="l00254"></a><span class="lineno"> 254</span>  test(nr_tries, cfcl_times, cfcl_attempts, <span class="keyword">true</span>, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00255"></a><span class="lineno"> 255</span>  </div>
<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  std::cout << std::endl << <span class="stringliteral">"Analysis:"</span> << std::endl;</div>
<div class="line"><a name="l00257"></a><span class="lineno"> 257</span>  </div>
<div class="line"><a name="l00258"></a><span class="lineno"> 258</span>  <span class="comment">// Assume size of all 3 time vectors are the same</span></div>
<div class="line"><a name="l00259"></a><span class="lineno"> 259</span>  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i < pqp_times.size(); ++i)</div>
<div class="line"><a name="l00260"></a><span class="lineno"> 260</span>  {</div>
<div class="line"><a name="l00261"></a><span class="lineno"> 261</span>  <span class="keywordtype">bool</span> isOdd;</div>
<div class="line"><a name="l00262"></a><span class="lineno"> 262</span>  <span class="keyword">auto</span> pqp_time = pqp_times[i].begin() + pqp_times[i].size() / 2u;</div>
<div class="line"><a name="l00263"></a><span class="lineno"> 263</span>  <span class="keyword">auto</span> dfcl_time = dfcl_times[i].begin() + dfcl_times[i].size() / 2u;</div>
<div class="line"><a name="l00264"></a><span class="lineno"> 264</span>  <span class="keyword">auto</span> cfcl_time = cfcl_times[i].begin() + cfcl_times[i].size() / 2u;</div>
<div class="line"><a name="l00265"></a><span class="lineno"> 265</span>  </div>
<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  std::nth_element(pqp_times[i].begin(), pqp_time, pqp_times[i].end());</div>
<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  std::nth_element(dfcl_times[i].begin(), dfcl_time, dfcl_times[i].end());</div>
<div class="line"><a name="l00268"></a><span class="lineno"> 268</span>  std::nth_element(cfcl_times[i].begin(), cfcl_time, cfcl_times[i].end());</div>
<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  </div>
<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  std::cout << std::endl;</div>
<div class="line"><a name="l00271"></a><span class="lineno"> 271</span>  <span class="keywordflow">if</span> (i == 0)</div>
<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  std::cout << <span class="stringliteral">" Apartment problem - Median Time (s)"</span> << std::endl;</div>
<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (i == 1)</div>
<div class="line"><a name="l00274"></a><span class="lineno"> 274</span>  std::cout << <span class="stringliteral">" Cubicles problem - Median Time (s)"</span> << std::endl;</div>
<div class="line"><a name="l00275"></a><span class="lineno"> 275</span>  <span class="keywordflow">else</span> <span class="keywordflow">if</span> (i == 2)</div>
<div class="line"><a name="l00276"></a><span class="lineno"> 276</span>  std::cout << R<span class="stringliteral">"( 'Easy' problem - Median Time (s))" << std::endl;</span></div>
<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> <span class="stringliteral"></span> </div>
<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> <span class="stringliteral"> isOdd = pqp_times[i].size() % 2 == 1;</span></div>
<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> <span class="stringliteral"> std::cout << </span><span class="stringliteral">" Discrete PQP: "</span> << (isOdd ? *pqp_time : .5 * (*pqp_time + *(pqp_time + 1))) << <span class="stringliteral">" "</span></div>
<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  << nr_tries << <span class="stringliteral">"/"</span> << pqp_attempts[i] << <span class="stringliteral">" planning attempts successful"</span> << std::endl;</div>
<div class="line"><a name="l00281"></a><span class="lineno"> 281</span>  isOdd = dfcl_times[i].size() % 2 == 1;</div>
<div class="line"><a name="l00282"></a><span class="lineno"> 282</span>  std::cout << <span class="stringliteral">" Discrete FCL: "</span> << (isOdd ? *dfcl_time : .5 * (*dfcl_time + *(dfcl_time + 1))) << <span class="stringliteral">" "</span></div>
<div class="line"><a name="l00283"></a><span class="lineno"> 283</span>  << nr_tries << <span class="stringliteral">"/"</span> << dfcl_attempts[i] << <span class="stringliteral">" planning attempts successful"</span> << std::endl;</div>
<div class="line"><a name="l00284"></a><span class="lineno"> 284</span>  isOdd = cfcl_times[i].size() % 2 == 1;</div>
<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  std::cout << <span class="stringliteral">" Continuous FCL: "</span> << (isOdd ? *cfcl_time : .5 * (*cfcl_time + *(cfcl_time + 1))) << <span class="stringliteral">" "</span></div>
<div class="line"><a name="l00286"></a><span class="lineno"> 286</span>  << nr_tries << <span class="stringliteral">" total attempts"</span> << std::endl;</div>
<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  }</div>
<div class="line"><a name="l00288"></a><span class="lineno"> 288</span>  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00289"></a><span class="lineno"> 289</span> }</div>
<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="preprocessor">#else</span></div>
<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="keywordtype">int</span> main(<span class="keywordtype">int</span>, <span class="keywordtype">char</span> **)</div>
<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> {</div>
<div class="line"><a name="l00293"></a><span class="lineno"> 293</span>  std::cerr << <span class="stringliteral">"ERROR: PQP collision checker is not installed"</span> << std::endl;</div>
<div class="line"><a name="l00294"></a><span class="lineno"> 294</span>  <span class="keywordflow">return</span> 0;</div>
<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> }</div>
<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> <span class="preprocessor">#endif</span></div>
</div><!-- fragment --></div><!-- contents -->
<div class="ttc" id="anamespaceompl_1_1msg_html_a83e28f524a5576a73bb062523bbdc53d"><div class="ttname"><a href="namespaceompl_1_1msg.html#a83e28f524a5576a73bb062523bbdc53d">ompl::msg::noOutputHandler</a></div><div class="ttdeci">void noOutputHandler()</div><div class="ttdoc">This function instructs ompl that no messages should be outputted. Equivalent to useOutputHandler(nul...</div><div class="ttdef"><b>Definition:</b> <a href="Console_8cpp_source.html#l00095">Console.cpp:95</a></div></div>
<div class="ttc" id="aclassompl_1_1app_1_1SE3RigidBodyPlanning_html"><div class="ttname"><a href="classompl_1_1app_1_1SE3RigidBodyPlanning.html">ompl::app::SE3RigidBodyPlanning</a></div><div class="ttdoc">Wrapper for ompl::app::RigidBodyPlanning that plans for rigid bodies in SE3.</div><div class="ttdef"><b>Definition:</b> <a href="SE3RigidBodyPlanning_8h_source.html#l00042">SE3RigidBodyPlanning.h:42</a></div></div>
<div class="ttc" id="aConsole_8h_html"><div class="ttname"><a href="Console_8h.html">Console.h</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1SE3StateSpace_html"><div class="ttname"><a href="classompl_1_1base_1_1SE3StateSpace.html">ompl::base::SE3StateSpace</a></div><div class="ttdoc">A state space representing SE(3)</div><div class="ttdef"><b>Definition:</b> <a href="SE3StateSpace_8h_source.html#l00113">SE3StateSpace.h:113</a></div></div>
<div class="ttc" id="aclassompl_1_1base_1_1ScopedState_html"><div class="ttname"><a href="classompl_1_1base_1_1ScopedState.html">ompl::base::ScopedState</a></div><div class="ttdoc">Definition of a scoped state.</div><div class="ttdef"><b>Definition:</b> <a href="ScopedState_8h_source.html#l00120">ScopedState.h:120</a></div></div>
<div class="ttc" id="anamespaceompl_html"><div class="ttname"><a href="namespaceompl.html">ompl</a></div><div class="ttdoc">Main namespace. Contains everything in this library.</div><div class="ttdef"><b>Definition:</b> <a href="AppBase_8h_source.html#l00021">AppBase.h:21</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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