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OpenDEStatePropagator.cpp
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34
35/* Author: Ioan Sucan */
36
37#include "ompl/extensions/ode/OpenDEStatePropagator.h"
38#include "ompl/extensions/ode/OpenDEStateSpace.h"
39#include "ompl/extensions/ode/OpenDEControlSpace.h"
40#include "ompl/util/Exception.h"
41#include "ompl/util/Console.h"
42
44{
45 if (auto *oss = dynamic_cast<OpenDEStateSpace *>(si->getStateSpace().get()))
46 env_ = oss->getEnvironment();
47 else
48 throw Exception("OpenDE State Space needed for OpenDEStatePropagator");
49}
50
52namespace ompl
53{
54 struct CallbackParam
55 {
57 bool collision;
58 };
59
60 void nearCallback(void *data, dGeomID o1, dGeomID o2)
61 {
62 dBodyID b1 = dGeomGetBody(o1);
63 dBodyID b2 = dGeomGetBody(o2);
64
65 if ((b1 != nullptr) && (b2 != nullptr) && (dAreConnectedExcluding(b1, b2, dJointTypeContact) != 0))
66 return;
67
68 auto *cp = reinterpret_cast<CallbackParam *>(data);
69
70 const unsigned int maxContacts = cp->env->getMaxContacts(o1, o2);
71 if (maxContacts <= 0)
72 return;
73
74 auto *contact = new dContact[maxContacts];
75
76 for (unsigned int i = 0; i < maxContacts; ++i)
77 cp->env->setupContact(o1, o2, contact[i]);
78
79 if (int numc = dCollide(o1, o2, maxContacts, &contact[0].geom, sizeof(dContact)))
80 {
81 for (int i = 0; i < numc; ++i)
82 {
83 dJointID c = dJointCreateContact(cp->env->world_, cp->env->contactGroup_, contact + i);
84 dJointAttach(c, b1, b2);
85 bool valid = cp->env->isValidCollision(o1, o2, contact[i]);
86 if (!valid)
87 cp->collision = true;
88 if (cp->env->verboseContacts_)
89 {
90 OMPL_DEBUG("%s contact between %s and %s", (valid ? "Valid" : "Invalid"),
91 cp->env->getGeomName(o1).c_str(), cp->env->getGeomName(o1).c_str());
92 }
93 }
94 }
95
96 delete[] contact;
97 }
98}
100
102 const double duration, base::State *result) const
103{
104 env_->mutex_.lock();
105
106 // place the OpenDE world at the start state
107 si_->getStateSpace()->as<OpenDEStateSpace>()->writeState(state);
108
109 // apply the controls
111
112 // created contacts as needed
113 CallbackParam cp = {env_.get(), false};
114 for (auto &collisionSpace : env_->collisionSpaces_)
115 dSpaceCollide(collisionSpace, &cp, &nearCallback);
116
117 // propagate one step forward
118 dWorldQuickStep(env_->world_, (dReal)duration);
119
120 // remove created contacts
121 dJointGroupEmpty(env_->contactGroup_);
122
123 // read the final state from the OpenDE world
124 si_->getStateSpace()->as<OpenDEStateSpace>()->readState(result);
125
126 env_->mutex_.unlock();
127
128 // update the collision flag for the start state, if needed
130 {
131 if (cp.collision)
134 }
135}
136
138{
139 return false;
140}
The exception type for ompl.
Definition Exception.h:47
A shared pointer wrapper for ompl::base::SpaceInformation.
Definition of an abstract state.
Definition State.h:50
const T * as() const
Cast this instance to a desired type.
Definition State.h:66
Definition of an abstract control.
Definition Control.h:48
This class contains the OpenDE constructs OMPL needs to know about when planning.
bool canPropagateBackward() const override
Some systems can only propagate forward in time (i.e., the duration argument for the propagate() func...
OpenDEEnvironmentPtr env_
The OpenDE environment this state propagator operates on.
void propagate(const base::State *state, const Control *control, double duration, base::State *result) const override
Propagate from a state, given a control, for some specified amount of time (the amount of time can al...
OpenDEStatePropagator(const SpaceInformationPtr &si)
Construct a representation of OpenDE state propagator. If si->getStateSpace() does not cast to an Ope...
OpenDE State. This is a compound state that allows accessing the properties of the bodies the state s...
int collision
Flag containing information about state validity.
State space representing OpenDE states.
@ STATE_COLLISION_VALUE_BIT
Index of bit in StateType::collision indicating whether a state is in collision or not....
@ STATE_COLLISION_KNOWN_BIT
Index of bit in StateType::collision indicating whether it is known if a state is in collision or not...
double * values
An array of length n, representing the value of the control.
SpaceInformation * si_
The instance of space information this state propagator operates on.
StatePropagator(SpaceInformation *si)
Constructor.
#define OMPL_DEBUG(fmt,...)
Log a formatted debugging string.
Definition Console.h:70
This namespace contains sampling based planning routines used by planning under differential constrai...
Definition Control.h:45
Main namespace. Contains everything in this library.