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plugin.cpp
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#include <functional>
#include <iostream>
#include <sstream>
#include <vector>
#include <map>
#include <ompl/config.h>
#include <ompl/base/Goal.h>
#include <ompl/base/goals/GoalState.h>
#include <ompl/base/goals/GoalStates.h>
#include <ompl/base/ProjectionEvaluator.h>
#include <ompl/base/StateSpace.h>
#include <ompl/geometric/PathSimplifier.h>
#include <ompl/base/samplers/UniformValidStateSampler.h>
#include <ompl/base/spaces/RealVectorStateSpace.h>
#include <ompl/base/spaces/SE2StateSpace.h>
#include <ompl/base/spaces/SE3StateSpace.h>
#include <ompl/base/spaces/DubinsStateSpace.h>
#include <ompl/geometric/planners/kpiece/BKPIECE1.h>
#include <ompl/geometric/planners/cforest/CForest.h>
#include <ompl/geometric/planners/est/EST.h>
#include <ompl/geometric/planners/fmt/FMT.h>
#include <ompl/geometric/planners/kpiece/KPIECE1.h>
#include <ompl/geometric/planners/prm/LazyPRM.h>
#include <ompl/geometric/planners/prm/LazyPRMstar.h>
#include <ompl/geometric/planners/rrt/LazyRRT.h>
#include <ompl/geometric/planners/kpiece/LBKPIECE1.h>
#include <ompl/geometric/planners/rrt/LBTRRT.h>
//#include <ompl/geometric/planners/experience/LightningRetrieveRepair.h>
#include <ompl/geometric/planners/pdst/PDST.h>
#include <ompl/geometric/planners/prm/PRM.h>
#include <ompl/geometric/planners/prm/PRMstar.h>
#include <ompl/geometric/planners/rrt/pRRT.h>
#include <ompl/geometric/planners/sbl/pSBL.h>
#include <ompl/geometric/planners/rrt/RRT.h>
#include <ompl/geometric/planners/rrt/RRTConnect.h>
#include <ompl/geometric/planners/rrt/RRTstar.h>
#include <ompl/geometric/planners/sbl/SBL.h>
#include <ompl/geometric/planners/prm/SPARS.h>
#include <ompl/geometric/planners/prm/SPARStwo.h>
#include <ompl/geometric/planners/stride/STRIDE.h>
#include <ompl/geometric/planners/rrt/TRRT.h>
#if OMPL_VERSION_VALUE >= 1001000 // 1.1.0
#include <ompl/geometric/planners/rrt/BiTRRT.h>
#if OMPL_VERSION_VALUE >= 1005000 // 1.5.0
#include <ompl/geometric/planners/informedtrees/BITstar.h>
#else
#include <ompl/geometric/planners/bitstar/BITstar.h>
#endif
#endif
#include "simPlusPlus/Plugin.h"
#include "simPlusPlus/Handle.h"
#include "config.h"
#include "plugin.h"
#include "stubs.h"
namespace ob = ompl::base;
namespace og = ompl::geometric;
#if OMPL_VERSION_VALUE >= 1004000 // 1.4.0
typedef Eigen::Ref<Eigen::VectorXd> OMPLProjection;
#else // All other versions
typedef ompl::base::EuclideanProjection& OMPLProjection;
#endif
struct LuaCallbackFunction
{
// name of the Lua function
std::string function;
// id of the script where the function is defined in
simInt scriptId;
};
struct StateSpaceDef
{
// name of this object:
std::string name;
// type of this state space:
StateSpaceType type;
// handle of the object (object, or joint if type = joint_position/cyclic_joint_position):
simInt objectHandle;
// object handle in order to specify optional reference frame that is not absolute
// for sim_ompl_statespace_pose2d, etc.
simInt refFrameHandle;
// weight of this state space component (used for state distance calculation):
simFloat weight;
// lower bounds of search space:
std::vector<simFloat> boundsLow;
// upper bounds of search space:
std::vector<simFloat> boundsHigh;
// use this state space as the default projection:
bool defaultProjection;
// (specific to dubins state space) turning radius:
double dubinsTurningRadius;
// (specific to dubins state space) symmetric:
bool dubinsIsSymmetric;
};
struct TaskDef
{
// name of this object:
std::string name;
// state space is a composition of elementary state spaces (internal handles to StateSpaceDef objects):
std::vector<std::string> stateSpaces;
// handle of the collision pairs:
std::vector<simInt> collisionPairHandles;
// start state:
std::vector<simFloat> startState;
// goal can be specified in different ways:
struct Goal
{
enum {STATE, DUMMY_PAIR, CLLBACK} type;
// goal ref. dummy:
int refDummy;
// goal metric:
float metric[4]; // x,y,z,angle(orientation), relative to refDummy
// goal tolerance:
float tolerance;
// goal state:
std::vector<std::vector<simFloat> > states;
// goal dummy pair:
struct {simInt goalDummy, robotDummy;} dummyPair;
// goal callback:
LuaCallbackFunction callback;
} goal;
// state validation:
struct StateValidation
{
enum {DEFAULT, CLLBACK} type;
// state validation callback:
LuaCallbackFunction callback;
} stateValidation;
// resolution at which state validity needs to be verified in order for a
// motion between two states to be considered valid (specified as a
// fraction of the space's extent)
float stateValidityCheckingResolution;
// state sampling:
struct ValidStateSampling
{
enum {DEFAULT, CLLBACK} type;
// state sampling callback:
LuaCallbackFunction callback;
// "near" state sampling callback:
LuaCallbackFunction callbackNear;
} validStateSampling;
// projection evaluation:
struct ProjectionEvaluation
{
enum {DEFAULT, CLLBACK} type;
// projection evaluation callback:
LuaCallbackFunction callback;
// size of the projection (for callback)
int dim;
} projectionEvaluation;
// search algorithm to use:
Algorithm algorithm;
// state space dimension:
int dim;
// how many things we should say in the console? (0 = stay silent)
int verboseLevel;
// OMPL classes (created with the setup() command):
// state space
ob::StateSpacePtr stateSpacePtr;
// space information
ob::SpaceInformationPtr spaceInformationPtr;
// projection evaluator object
ob::ProjectionEvaluatorPtr projectionEvaluatorPtr;
// problem definition
ob::ProblemDefinitionPtr problemDefinitionPtr;
// planner
ob::PlannerPtr planner;
};
template<> std::string sim::Handle<StateSpaceDef>::tag() { return "OMPL.StateSpace"; }
template<> std::string sim::Handle<TaskDef>::tag() { return "OMPL.Task"; }
class ProjectionEvaluator : public ob::ProjectionEvaluator
{
public:
ProjectionEvaluator(sim::Handles<StateSpaceDef> &ssh, const ob::StateSpacePtr& space, TaskDef *task)
: ob::ProjectionEvaluator(space), stateSpaceHandles(ssh), statespace(space)
{
this->task = task;
dim = 0;
switch(task->projectionEvaluation.type)
{
case TaskDef::ProjectionEvaluation::DEFAULT:
switch(task->goal.type)
{
case TaskDef::Goal::STATE:
case TaskDef::Goal::CLLBACK:
dim = defaultProjectionSize();
break;
case TaskDef::Goal::DUMMY_PAIR:
dim = dummyPairProjectionSize();
break;
default:
// this will never happen
dim = 0;
break;
}
break;
case TaskDef::ProjectionEvaluation::CLLBACK:
dim = luaProjectCallbackSize();
break;
default:
// this will never happen
dim = 0;
break;
}
}
virtual unsigned int getDimension(void) const
{
return dim;
}
virtual void defaultCellSizes(void)
{
// TODO: handle this in the plugin API
cellSizes_.resize(dim);
for(int i = 0; i < dim; i++)
cellSizes_[i] = 0.05;
}
virtual void project(const ob::State *state, OMPLProjection projection) const
{
for(int i = 0; i < dim; i++)
projection(i) = 0.0;
const ob::CompoundState *s = state->as<ob::CompoundStateSpace::StateType>();
switch(task->projectionEvaluation.type)
{
case TaskDef::ProjectionEvaluation::DEFAULT:
switch(task->goal.type)
{
case TaskDef::Goal::STATE:
case TaskDef::Goal::CLLBACK:
defaultProjection(state, projection);
break;
case TaskDef::Goal::DUMMY_PAIR:
dummyPairProjection(state, projection);
break;
}
break;
case TaskDef::ProjectionEvaluation::CLLBACK:
luaProjectCallback(state, projection);
break;
}
}
protected:
virtual int defaultProjectionSize() const
{
for(size_t i = 0; i < task->stateSpaces.size(); i++)
{
StateSpaceDef *stateSpace = stateSpaceHandles.get(task->stateSpaces[i]);
if(!stateSpace->defaultProjection) continue;
switch(stateSpace->type)
{
case sim_ompl_statespacetype_pose2d:
case sim_ompl_statespacetype_position2d:
return 2;
case sim_ompl_statespacetype_pose3d:
case sim_ompl_statespacetype_position3d:
return 3;
case sim_ompl_statespacetype_joint_position:
case sim_ompl_statespacetype_cyclic_joint_position:
return 1;
case sim_ompl_statespacetype_dubins:
return 2;
}
}
return 0;
}
virtual void defaultProjection(const ob::State *state, OMPLProjection projection) const
{
const ob::CompoundState *s = state->as<ob::CompoundStateSpace::StateType>();
for(size_t i = 0; i < task->stateSpaces.size(); i++)
{
StateSpaceDef *stateSpace = stateSpaceHandles.get(task->stateSpaces[i]);
if(!stateSpace->defaultProjection) continue;
switch(stateSpace->type)
{
case sim_ompl_statespacetype_pose2d:
projection(0) = s->as<ob::SE2StateSpace::StateType>(i)->getX();
projection(1) = s->as<ob::SE2StateSpace::StateType>(i)->getY();
break;
case sim_ompl_statespacetype_pose3d:
projection(0) = s->as<ob::SE3StateSpace::StateType>(i)->getX();
projection(1) = s->as<ob::SE3StateSpace::StateType>(i)->getY();
projection(2) = s->as<ob::SE3StateSpace::StateType>(i)->getZ();
break;
case sim_ompl_statespacetype_position2d:
projection(0) = s->as<ob::RealVectorStateSpace::StateType>(i)->values[0];
projection(1) = s->as<ob::RealVectorStateSpace::StateType>(i)->values[1];
break;
case sim_ompl_statespacetype_position3d:
projection(0) = s->as<ob::RealVectorStateSpace::StateType>(i)->values[0];
projection(1) = s->as<ob::RealVectorStateSpace::StateType>(i)->values[1];
projection(2) = s->as<ob::RealVectorStateSpace::StateType>(i)->values[2];
break;
case sim_ompl_statespacetype_joint_position:
projection(0) = s->as<ob::RealVectorStateSpace::StateType>(i)->values[0];
break;
case sim_ompl_statespacetype_cyclic_joint_position:
projection(0) = s->as<ob::SO2StateSpace::StateType>(i)->value;
break;
case sim_ompl_statespacetype_dubins:
projection(0) = s->as<ob::SE2StateSpace::StateType>(i)->getX();
projection(1) = s->as<ob::SE2StateSpace::StateType>(i)->getY();
break;
}
break;
}
}
virtual int dummyPairProjectionSize() const
{
/*
return 3;
*/
int s = 0;
for(int i = 0; i < 3; i++)
{
if(task->goal.metric[i] != 0.0)
s++;
}
if(s == 0)
s = 1; // if X/Y/Z are ignored
return s;
}
virtual void dummyPairProjection(const ob::State *state, OMPLProjection projection) const
{
/*
simFloat pos[3];
simGetObjectPosition(task->goal.dummyPair.robotDummy, -1, &pos[0]);
projection(0) = pos[0];
projection(1) = pos[1];
projection(2) = pos[2];
*/
// TODO: don't we need to apply the provided state to the robot, read the tip dummy's position, then project it?
// do projection, only for axis that should not be ignored:
simFloat pos[3];
simGetObjectPosition(task->goal.dummyPair.robotDummy, task->goal.refDummy, &pos[0]);
int ind = 0;
for(int i = 0; i < 3; i++)
{
if(task->goal.metric[i] != 0.0)
projection(ind++) = pos[i];
}
if(ind == 0)
projection(0) = 0.0; // if X/Y/Z are ignored
// TODO: restore original state, no?
}
virtual int luaProjectCallbackSize() const
{
return task->projectionEvaluation.dim;
}
virtual void luaProjectCallback(const ob::State *state, OMPLProjection projection) const
{
std::vector<double> stateVec;
statespace->copyToReals(stateVec, state);
const ob::CompoundState *s = state->as<ob::CompoundStateSpace::StateType>();
projectionEvaluationCallback_in in_args;
projectionEvaluationCallback_out out_args;
for(size_t i = 0; i < stateVec.size(); i++)
in_args.state.push_back((float)stateVec[i]);
if(projectionEvaluationCallback(task->projectionEvaluation.callback.scriptId, task->projectionEvaluation.callback.function.c_str(), &in_args, &out_args))
{
for(size_t i = 0; i < out_args.projection.size(); i++)
{
projection(i) = out_args.projection[i];
}
}
else
{
throw ompl::Exception("Projection evaluation callback " + task->projectionEvaluation.callback.function + " returned an error");
}
}
sim::Handles<StateSpaceDef> stateSpaceHandles;
TaskDef *task;
const ob::StateSpacePtr& statespace;
int dim;
};
class StateSpace : public ob::CompoundStateSpace
{
public:
StateSpace(sim::Handles<StateSpaceDef> &ssh, TaskDef *task)
: ob::CompoundStateSpace(), stateSpaceHandles(ssh), task(task)
{
setName("SimCompoundStateSpace");
type_ = ompl::base::STATE_SPACE_TYPE_COUNT + 1;
for(size_t i = 0; i < task->stateSpaces.size(); i++)
{
StateSpaceDef *stateSpace = stateSpaceHandles.get(task->stateSpaces[i]);
ob::StateSpacePtr subSpace;
switch(stateSpace->type)
{
case sim_ompl_statespacetype_pose2d:
subSpace = ob::StateSpacePtr(new ob::SE2StateSpace());
subSpace->as<ob::CompoundStateSpace>()->getSubspace(0)->setName(stateSpace->name + ".position");
subSpace->as<ob::CompoundStateSpace>()->getSubspace(1)->setName(stateSpace->name + ".orientation");
break;
case sim_ompl_statespacetype_pose3d:
subSpace = ob::StateSpacePtr(new ob::SE3StateSpace());
subSpace->as<ob::CompoundStateSpace>()->getSubspace(0)->setName(stateSpace->name + ".position");
subSpace->as<ob::CompoundStateSpace>()->getSubspace(1)->setName(stateSpace->name + ".orientation");
break;
case sim_ompl_statespacetype_position2d:
subSpace = ob::StateSpacePtr(new ob::RealVectorStateSpace(2));
break;
case sim_ompl_statespacetype_position3d:
subSpace = ob::StateSpacePtr(new ob::RealVectorStateSpace(3));
break;
case sim_ompl_statespacetype_joint_position:
subSpace = ob::StateSpacePtr(new ob::RealVectorStateSpace(1));
break;
case sim_ompl_statespacetype_cyclic_joint_position:
subSpace = ob::StateSpacePtr(new ob::SO2StateSpace());
break;
case sim_ompl_statespacetype_dubins:
subSpace = ob::StateSpacePtr(new ob::DubinsStateSpace(stateSpace->dubinsTurningRadius, stateSpace->dubinsIsSymmetric));
subSpace->as<ob::CompoundStateSpace>()->getSubspace(0)->setName(stateSpace->name + ".position");
subSpace->as<ob::CompoundStateSpace>()->getSubspace(1)->setName(stateSpace->name + ".orientation");
break;
}
subSpace->setName(stateSpace->name);
addSubspace(subSpace, stateSpace->weight);
// set bounds:
ob::RealVectorBounds bounds(stateSpace->boundsLow.size());;
for(size_t j = 0; j < stateSpace->boundsLow.size(); j++)
bounds.setLow(j, stateSpace->boundsLow[j]);
for(size_t j = 0; j < stateSpace->boundsHigh.size(); j++)
bounds.setHigh(j, stateSpace->boundsHigh[j]);
switch(stateSpace->type)
{
case sim_ompl_statespacetype_pose2d:
as<ob::SE2StateSpace>(i)->setBounds(bounds);
break;
case sim_ompl_statespacetype_pose3d:
as<ob::SE3StateSpace>(i)->setBounds(bounds);
break;
case sim_ompl_statespacetype_position2d:
as<ob::RealVectorStateSpace>(i)->setBounds(bounds);
break;
case sim_ompl_statespacetype_position3d:
as<ob::RealVectorStateSpace>(i)->setBounds(bounds);
break;
case sim_ompl_statespacetype_joint_position:
as<ob::RealVectorStateSpace>(i)->setBounds(bounds);
break;
case sim_ompl_statespacetype_cyclic_joint_position:
if(!stateSpace->boundsLow.empty() || !stateSpace->boundsHigh.empty())
sim::addLog(sim_verbosity_warnings, "cyclic_joint_position state space has no bounds");
break;
case sim_ompl_statespacetype_dubins:
as<ob::SE2StateSpace>(i)->setBounds(bounds);
break;
}
}
}
// writes state s to CoppeliaSim:
void writeState(const ob::ScopedState<ob::CompoundStateSpace>& s)
{
int j = 0;
simFloat pos[3], orient[4], value;
for(size_t i = 0; i < task->stateSpaces.size(); i++)
{
StateSpaceDef *stateSpace = stateSpaceHandles.get(task->stateSpaces[i]);
switch(stateSpace->type)
{
case sim_ompl_statespacetype_pose2d:
simGetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
simGetObjectOrientation(stateSpace->objectHandle, stateSpace->refFrameHandle, &orient[0]); // Euler angles
pos[0] = (float)s->as<ob::SE2StateSpace::StateType>(i)->getX();
pos[1] = (float)s->as<ob::SE2StateSpace::StateType>(i)->getY();
orient[2] = (float)s->as<ob::SE2StateSpace::StateType>(i)->getYaw();
simSetObjectOrientation(stateSpace->objectHandle, stateSpace->refFrameHandle, &orient[0]);
simSetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
break;
case sim_ompl_statespacetype_pose3d:
pos[0] = (float)s->as<ob::SE3StateSpace::StateType>(i)->getX();
pos[1] = (float)s->as<ob::SE3StateSpace::StateType>(i)->getY();
pos[2] = (float)s->as<ob::SE3StateSpace::StateType>(i)->getZ();
orient[0] = (float)s->as<ob::SE3StateSpace::StateType>(i)->rotation().x;
orient[1] = (float)s->as<ob::SE3StateSpace::StateType>(i)->rotation().y;
orient[2] = (float)s->as<ob::SE3StateSpace::StateType>(i)->rotation().z;
orient[3] = (float)s->as<ob::SE3StateSpace::StateType>(i)->rotation().w;
simSetObjectQuaternion(stateSpace->objectHandle, stateSpace->refFrameHandle, &orient[0]);
simSetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
break;
case sim_ompl_statespacetype_position2d:
simGetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
pos[0] = (float)s->as<ob::RealVectorStateSpace::StateType>(i)->values[0];
pos[1] = (float)s->as<ob::RealVectorStateSpace::StateType>(i)->values[1];
simSetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
break;
case sim_ompl_statespacetype_position3d:
pos[0] = (float)s->as<ob::RealVectorStateSpace::StateType>(i)->values[0];
pos[1] = (float)s->as<ob::RealVectorStateSpace::StateType>(i)->values[1];
pos[2] = (float)s->as<ob::RealVectorStateSpace::StateType>(i)->values[2];
simSetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
break;
case sim_ompl_statespacetype_joint_position:
value = (float)s->as<ob::RealVectorStateSpace::StateType>(i)->values[0];
simSetJointPosition(stateSpace->objectHandle, value);
break;
case sim_ompl_statespacetype_cyclic_joint_position:
value = (float)s->as<ob::SO2StateSpace::StateType>(i)->value;
simSetJointPosition(stateSpace->objectHandle, value);
break;
case sim_ompl_statespacetype_dubins:
simGetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
simGetObjectOrientation(stateSpace->objectHandle, stateSpace->refFrameHandle, &orient[0]); // Euler angles
pos[0] = (float)s->as<ob::SE2StateSpace::StateType>(i)->getX();
pos[1] = (float)s->as<ob::SE2StateSpace::StateType>(i)->getY();
orient[2] = (float)s->as<ob::SE2StateSpace::StateType>(i)->getYaw();
simSetObjectOrientation(stateSpace->objectHandle, stateSpace->refFrameHandle, &orient[0]);
simSetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
break;
}
}
}
// reads state s from CoppeliaSim:
void readState(ob::ScopedState<ob::CompoundStateSpace>& s)
{
simFloat pos[3], orient[4], value;
for(size_t i = 0; i < task->stateSpaces.size(); i++)
{
StateSpaceDef *stateSpace = stateSpaceHandles.get(task->stateSpaces[i]);
switch(stateSpace->type)
{
case sim_ompl_statespacetype_pose2d:
simGetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
simGetObjectOrientation(stateSpace->objectHandle, stateSpace->refFrameHandle, &orient[0]); // Euler angles
s->as<ob::SE2StateSpace::StateType>(i)->setXY(pos[0], pos[1]);
s->as<ob::SE2StateSpace::StateType>(i)->setYaw(orient[2]);
break;
case sim_ompl_statespacetype_pose3d:
simGetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
simGetObjectQuaternion(stateSpace->objectHandle, stateSpace->refFrameHandle, &orient[0]);
s->as<ob::SE3StateSpace::StateType>(i)->setXYZ(pos[0], pos[1], pos[2]);
s->as<ob::SE3StateSpace::StateType>(i)->rotation().x = orient[0];
s->as<ob::SE3StateSpace::StateType>(i)->rotation().y = orient[1];
s->as<ob::SE3StateSpace::StateType>(i)->rotation().z = orient[2];
s->as<ob::SE3StateSpace::StateType>(i)->rotation().w = orient[3];
break;
case sim_ompl_statespacetype_position2d:
simGetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
s->as<ob::RealVectorStateSpace::StateType>(i)->values[0] = pos[0];
s->as<ob::RealVectorStateSpace::StateType>(i)->values[1] = pos[1];
break;
case sim_ompl_statespacetype_position3d:
simGetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
s->as<ob::RealVectorStateSpace::StateType>(i)->values[0] = pos[0];
s->as<ob::RealVectorStateSpace::StateType>(i)->values[1] = pos[1];
s->as<ob::RealVectorStateSpace::StateType>(i)->values[2] = pos[2];
break;
case sim_ompl_statespacetype_joint_position:
simGetJointPosition(stateSpace->objectHandle, &value);
s->as<ob::RealVectorStateSpace::StateType>(i)->values[0] = value;
break;
case sim_ompl_statespacetype_cyclic_joint_position:
simGetJointPosition(stateSpace->objectHandle, &value);
s->as<ob::SO2StateSpace::StateType>(i)->value = value;
break;
case sim_ompl_statespacetype_dubins:
simGetObjectPosition(stateSpace->objectHandle, stateSpace->refFrameHandle, &pos[0]);
simGetObjectOrientation(stateSpace->objectHandle, stateSpace->refFrameHandle, &orient[0]); // Euler angles
s->as<ob::SE2StateSpace::StateType>(i)->setXY(pos[0], pos[1]);
s->as<ob::SE2StateSpace::StateType>(i)->setYaw(orient[2]);
break;
}
}
}
// Store relative pose of objects:
void saveRelPoseState(std::vector<float>& p)
{
for(size_t i = 0; i < task->stateSpaces.size(); i++)
{
StateSpaceDef *stateSpace = stateSpaceHandles.get(task->stateSpaces[i]);
if(stateSpace->type == sim_ompl_statespacetype_pose2d ||
stateSpace->type == sim_ompl_statespacetype_pose3d ||
stateSpace->type == sim_ompl_statespacetype_position2d ||
stateSpace->type == sim_ompl_statespacetype_position3d)
{
p.resize(p.size() + 7);
simGetObjectPosition(stateSpace->objectHandle, sim_handle_parent, &p[p.size() - 7]);
simGetObjectQuaternion(stateSpace->objectHandle, sim_handle_parent, &p[p.size() - 4]);
}
}
}
// Restore relative pose of objects:
void restoreRelPoseState(const std::vector<float>& p)
{
int pt = 0;
for(size_t i = 0; i < task->stateSpaces.size(); i++)
{
StateSpaceDef *stateSpace = stateSpaceHandles.get(task->stateSpaces[i]);
if(stateSpace->type == sim_ompl_statespacetype_pose2d ||
stateSpace->type == sim_ompl_statespacetype_pose3d ||
stateSpace->type == sim_ompl_statespacetype_position2d ||
stateSpace->type == sim_ompl_statespacetype_position3d)
{
simSetObjectPosition(stateSpace->objectHandle, sim_handle_parent, &p[pt+0]);
simSetObjectQuaternion(stateSpace->objectHandle, sim_handle_parent, &p[pt+3]);
pt += 7;
}
}
}
protected:
sim::Handles<StateSpaceDef> &stateSpaceHandles;
TaskDef *task;
};
class StateValidityChecker : public ob::StateValidityChecker
{
public:
StateValidityChecker(const ob::SpaceInformationPtr &si, TaskDef *task)
: ob::StateValidityChecker(si), statespace(si->getStateSpace()), task(task)
{
}
virtual ~StateValidityChecker()
{
}
virtual bool isValid(const ob::State *state) const
{
switch(task->stateValidation.type)
{
case TaskDef::StateValidation::DEFAULT:
return checkDefault(state);
case TaskDef::StateValidation::CLLBACK:
return checkCallback(state);
}
return false;
}
protected:
virtual bool checkDefault(const ob::State *state) const
{
//ob::CompoundStateSpace *ss = statespace->as<ob::CompoundStateSpace>();
ob::ScopedState<ob::CompoundStateSpace> s(statespace);
s = state;
// save old state:
ob::ScopedState<ob::CompoundStateSpace> s_old(statespace);
statespace->as<StateSpace>()->readState(s_old);
std::vector<float> pose_old;
statespace->as<StateSpace>()->saveRelPoseState(pose_old);
// write query state:
statespace->as<StateSpace>()->writeState(s);
// check collisions:
bool inCollision = false;
for(size_t i = 0; i < task->collisionPairHandles.size() / 2; i++)
{
if(task->collisionPairHandles[2 * i + 0] >= 0)
{
int r = simCheckCollision(task->collisionPairHandles[2 * i + 0], task->collisionPairHandles[2 * i + 1]);
if(r > 0)
{
inCollision = true;
break;
}
}
if(inCollision) break;
}
// restore original state:
statespace->as<StateSpace>()->writeState(s_old);
statespace->as<StateSpace>()->restoreRelPoseState(pose_old);
return !inCollision;
}
virtual bool checkCallback(const ob::State *state) const
{
std::vector<double> stateVec;
statespace->copyToReals(stateVec, state);
bool ret = false;
stateValidationCallback_in in_args;
stateValidationCallback_out out_args;
for(size_t i = 0; i < stateVec.size(); i++)
in_args.state.push_back((float)stateVec[i]);
if(stateValidationCallback(task->stateValidation.callback.scriptId, task->stateValidation.callback.function.c_str(), &in_args, &out_args))
{
ret = out_args.valid;
}
else
{
throw ompl::Exception("State validation callback " + task->stateValidation.callback.function + " returned an error");
}
return ret;
}
ob::StateSpacePtr statespace;
TaskDef *task;
};
class Goal : public ob::Goal
{
public:
Goal(const ob::SpaceInformationPtr &si, TaskDef *task, double tolerance = 1e-3)
: ob::Goal(si), statespace(si->getStateSpace()), task(task), tolerance(tolerance)
{
}
virtual bool isSatisfied(const ob::State *state) const
{
double distance = 0.0;
return isSatisfied(state, &distance);
}
virtual bool isSatisfied(const ob::State *state, double *distance) const
{
switch(task->goal.type)
{
case TaskDef::Goal::STATE:
// silence -Wswitch warning
// if really type is STATE we are not using this class for goal check
return false;
case TaskDef::Goal::DUMMY_PAIR:
return checkDummyPair(state, distance);
case TaskDef::Goal::CLLBACK:
return checkCallback(state, distance);
}
return false;
}
protected:
virtual bool checkDummyPair(const ob::State *state, double *distance) const
{
ob::ScopedState<ob::CompoundStateSpace> s(statespace);
s = state;
// save old state:
ob::ScopedState<ob::CompoundStateSpace> s_old(statespace);
statespace->as<StateSpace>()->readState(s_old);
std::vector<float> pose_old;
statespace->as<StateSpace>()->saveRelPoseState(pose_old);
// write query state:
statespace->as<StateSpace>()->writeState(s);
if(task->goal.metric[3] == 0.0)
{ // ignore orientation
float goalPos[3];
float robotPos[3];
simGetObjectPosition(task->goal.dummyPair.goalDummy, task->goal.refDummy, &goalPos[0]);
simGetObjectPosition(task->goal.dummyPair.robotDummy, task->goal.refDummy, &robotPos[0]);
*distance = sqrt(pow((goalPos[0] - robotPos[0])*task->goal.metric[0], 2) + pow((goalPos[1] - robotPos[1])*task->goal.metric[1], 2) + pow((goalPos[2] - robotPos[2])*task->goal.metric[2], 2));
}
else
{ // do not ignore orientation
float goalM[12];
float robotM[12];
simGetObjectMatrix(task->goal.dummyPair.goalDummy, task->goal.refDummy, goalM);
simGetObjectMatrix(task->goal.dummyPair.robotDummy, task->goal.refDummy, robotM);
float axis[3];
float angle;
simGetRotationAxis(robotM, goalM, axis, &angle);
*distance = sqrt(pow((goalM[3] - robotM[3])*task->goal.metric[0], 2) + pow((goalM[7] - robotM[7])*task->goal.metric[1], 2) + pow((goalM[11] - robotM[11])*task->goal.metric[2], 2) + pow(angle*task->goal.metric[3], 2));
}
bool satisfied = *distance <= tolerance;
// restore original state:
statespace->as<StateSpace>()->writeState(s_old);
statespace->as<StateSpace>()->restoreRelPoseState(pose_old);
return satisfied;
}
virtual bool checkCallback(const ob::State *state, double *distance) const
{
std::vector<double> stateVec;
statespace->copyToReals(stateVec, state);
bool ret = false;
goalCallback_in in_args;
goalCallback_out out_args;
for(size_t i = 0; i < stateVec.size(); i++)
in_args.state.push_back((float)stateVec[i]);
if(goalCallback(task->goal.callback.scriptId, task->goal.callback.function.c_str(), &in_args, &out_args))
{
ret = out_args.satisfied;
*distance = out_args.distance;
}
else
{
throw ompl::Exception("Goal callback " + task->goal.callback.function + " returned an error");
}
return ret;
}
ob::StateSpacePtr statespace;
TaskDef *task;
double tolerance;
};
class ValidStateSampler : public ob::UniformValidStateSampler
{
public:
ValidStateSampler(const ob::SpaceInformation *si, TaskDef *task)
: ob::UniformValidStateSampler(si), task(task)
{
name_ = "SimValidStateSampler";
}
bool sample(ob::State *state)
{
if(task->validStateSampling.type == TaskDef::ValidStateSampling::CLLBACK)
{
if(task->validStateSampling.callback.function == "")
{
throw ompl::Exception("Specified empty callback for valid state sampling");
}
bool ret = false;
validStateSamplerCallback_in in_args;
validStateSamplerCallback_out out_args;
if(validStateSamplerCallback(task->validStateSampling.callback.scriptId, task->validStateSampling.callback.function.c_str(), &in_args, &out_args))
{
std::vector<double> stateVec;
for(size_t i = 0; i < out_args.sampledState.size(); i++)
stateVec.push_back((double)out_args.sampledState[i]);
task->stateSpacePtr->copyFromReals(state, stateVec);
ret = true;
}
else
{
throw ompl::Exception("Valid state sampling callback " + task->validStateSampling.callback.function + " returned an error");
}
return ret;
}
else
{
return ob::UniformValidStateSampler::sample(state);
}
}
bool sampleNear(ob::State *state, const ob::State *nearState, const double distance)
{
if(task->validStateSampling.type == TaskDef::ValidStateSampling::CLLBACK)
{
if(task->validStateSampling.callbackNear.function == "")
{
throw ompl::Exception("Specified empty callback for \"near\" valid state sampling");
}
std::vector<double> nearStateVec;
task->stateSpacePtr->copyToReals(nearStateVec, nearState);
bool ret = false;
validStateSamplerCallbackNear_in in_args;
validStateSamplerCallbackNear_out out_args;
for(size_t i = 0; i < nearStateVec.size(); i++)
in_args.state.push_back((float)nearStateVec[i]);
in_args.distance = distance;
if(validStateSamplerCallbackNear(task->validStateSampling.callbackNear.scriptId, task->validStateSampling.callbackNear.function.c_str(), &in_args, &out_args))
{
std::vector<double> stateVec;
for(size_t i = 0; i < out_args.sampledState.size(); i++)
stateVec.push_back((double)out_args.sampledState[i]);
task->stateSpacePtr->copyFromReals(state, stateVec);
ret = true;
}
else
{
throw ompl::Exception("Near valid state sampling callback " + task->validStateSampling.callbackNear.function + " returned an error");
}
return ret;
}
else
{
return ob::UniformValidStateSampler::sampleNear(state, nearState, distance);
}
}
protected:
TaskDef *task;
};
typedef std::shared_ptr<ValidStateSampler> ValidStateSamplerPtr;
ob::ValidStateSamplerPtr allocValidStateSampler(const ob::SpaceInformation *si, TaskDef *task)
{
return ob::ValidStateSamplerPtr(new ValidStateSampler(si, task));
}
class OutputHandler : public ompl::msg::OutputHandler
{
public:
void log(const std::string &text, ompl::msg::LogLevel level, const char *filename, int line)
{
int csim_level = sim_verbosity_none;
switch(level)
{
case ompl::msg::LogLevel::LOG_DEV2:
case ompl::msg::LogLevel::LOG_DEV1:
csim_level = sim_verbosity_trace;
break;
case ompl::msg::LogLevel::LOG_DEBUG:
csim_level = sim_verbosity_debug;
break;
case ompl::msg::LogLevel::LOG_INFO:
csim_level = sim_verbosity_infos;
break;
case ompl::msg::LogLevel::LOG_WARN:
csim_level = sim_verbosity_warnings;
break;
case ompl::msg::LogLevel::LOG_ERROR:
csim_level = sim_verbosity_errors;
break;
case ompl::msg::LogLevel::LOG_NONE:
csim_level = sim_verbosity_none;
break;
default:
csim_level = sim_verbosity_none;
break;
}
sim::addLog(csim_level, "OMPL: %s:%d: %s", filename, line, text);
}
};
class Plugin : public sim::Plugin
{
public:
void onStart()
{
oh = new OutputHandler;
ompl::msg::useOutputHandler(oh);
if(!registerScriptStuff())
throw std::runtime_error("failed to register script stuff");
setExtVersion("OMPL (open motion planning library) Plugin");