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DiscreteMotionValidator.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/base/DiscreteMotionValidator.h"
38#include "ompl/util/Exception.h"
39#include <queue>
40
41void ompl::base::DiscreteMotionValidator::defaultSettings()
42{
43 stateSpace_ = si_->getStateSpace().get();
44 if (stateSpace_ == nullptr)
45 throw Exception("No state space for motion validator");
46}
47
49 std::pair<State *, double> &lastValid) const
50{
51 /* assume motion starts in a valid configuration so s1 is valid */
52
53 bool result = true;
54 int nd = stateSpace_->validSegmentCount(s1, s2);
55
56 if (nd > 1)
57 {
58 /* temporary storage for the checked state */
59 State *test = si_->allocState();
60
61 for (int j = 1; j < nd; ++j)
62 {
63 stateSpace_->interpolate(s1, s2, (double)j / (double)nd, test);
64 if (!si_->isValid(test))
65 {
66 lastValid.second = (double)(j - 1) / (double)nd;
67 if (lastValid.first != nullptr)
68 stateSpace_->interpolate(s1, s2, lastValid.second, lastValid.first);
69 result = false;
70 break;
71 }
72 }
73 si_->freeState(test);
74 }
75
76 if (result)
77 if (!si_->isValid(s2))
78 {
79 lastValid.second = (double)(nd - 1) / (double)nd;
80 if (lastValid.first != nullptr)
81 stateSpace_->interpolate(s1, s2, lastValid.second, lastValid.first);
82 result = false;
83 }
84
85 if (result)
86 valid_++;
87 else
88 invalid_++;
89
90 return result;
91}
92
94{
95 /* assume motion starts in a valid configuration so s1 is valid */
96 if (!si_->isValid(s2))
97 {
98 invalid_++;
99 return false;
100 }
101
102 bool result = true;
103 int nd = stateSpace_->validSegmentCount(s1, s2);
104
105 /* initialize the queue of test positions */
106 std::queue<std::pair<int, int>> pos;
107 if (nd >= 2)
108 {
109 pos.emplace(1, nd - 1);
110
111 /* temporary storage for the checked state */
112 State *test = si_->allocState();
113
114 /* repeatedly subdivide the path segment in the middle (and check the middle) */
115 while (!pos.empty())
116 {
117 std::pair<int, int> x = pos.front();
118
119 int mid = (x.first + x.second) / 2;
120 stateSpace_->interpolate(s1, s2, (double)mid / (double)nd, test);
121
122 if (!si_->isValid(test))
123 {
124 result = false;
125 break;
126 }
127
128 pos.pop();
129
130 if (x.first < mid)
131 pos.emplace(x.first, mid - 1);
132 if (x.second > mid)
133 pos.emplace(mid + 1, x.second);
134 }
135
136 si_->freeState(test);
137 }
138
139 if (result)
140 valid_++;
141 else
142 invalid_++;
143
144 return result;
145}
bool checkMotion(const State *s1, const State *s2) const override
Check if the path between two states (from s1 to s2) is valid. This function assumes s1 is valid.
SpaceInformation * si_
The instance of space information this state validity checker operates on.
unsigned int valid_
Number of valid segments.
unsigned int invalid_
Number of invalid segments.
Definition of an abstract state.
Definition State.h:50