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rlPrmDemo.cpp
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rlPrmDemo.cpp
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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
#include <iostream>
#include <memory>
#include <stdexcept>
#include <boost/lexical_cast.hpp>
#include <rl/kin/Kinematics.h>
#include <rl/math/Unit.h>
#include <rl/plan/KdtreeNearestNeighbors.h>
#include <rl/plan/Prm.h>
#include <rl/plan/RecursiveVerifier.h>
#include <rl/plan/SimpleModel.h>
#include <rl/plan/UniformSampler.h>
#include <rl/sg/XmlFactory.h>
#if defined(RL_SG_SOLID)
#include <rl/sg/solid/Model.h>
#include <rl/sg/solid/Scene.h>
#elif defined(RL_SG_BULLET)
#include <rl/sg/bullet/Model.h>
#include <rl/sg/bullet/Scene.h>
#elif defined(RL_SG_ODE)
#include <rl/sg/ode/Model.h>
#include <rl/sg/ode/Scene.h>
#endif
int
main(int argc, char** argv)
{
if (argc < 3)
{
std::cout << "Usage: rlPrmDemo SCENEFILE KINEMATICSFILE START1 ... STARTn GOAL1 ... GOALn" << std::endl;
return EXIT_FAILURE;
}
try
{
rl::sg::XmlFactory factory;
#if defined(RL_SG_SOLID)
rl::sg::solid::Scene scene;
#elif defined(RL_SG_BULLET)
rl::sg::bullet::Scene scene;
#elif defined(RL_SG_ODE)
rl::sg::ode::Scene scene;
#endif
factory.load(argv[1], &scene);
std::shared_ptr<rl::kin::Kinematics> kinematics(rl::kin::Kinematics::create(argv[2]));
rl::plan::SimpleModel model;
model.kin = kinematics.get();
model.model = scene.getModel(0);
model.scene = &scene;
rl::plan::KdtreeNearestNeighbors nearestNeighbors(&model);
rl::plan::Prm planner;
rl::plan::UniformSampler sampler;
rl::plan::RecursiveVerifier verifier;
planner.model = &model;
planner.setNearestNeighbors(&nearestNeighbors);
planner.sampler = &sampler;
planner.verifier = &verifier;
sampler.model = &model;
verifier.delta = 1 * rl::math::DEG2RAD;
verifier.model = &model;
rl::math::Vector start(kinematics->getDof());
for (std::size_t i = 0; i < kinematics->getDof(); ++i)
{
start(i) = boost::lexical_cast<rl::math::Real>(argv[i + 3]) * rl::math::DEG2RAD;
}
planner.start = &start;
rl::math::Vector goal(kinematics->getDof());
for (std::size_t i = 0; i < kinematics->getDof(); ++i)
{
goal(i) = boost::lexical_cast<rl::math::Real>(argv[kinematics->getDof() + i + 3]) * rl::math::DEG2RAD;
}
planner.goal = &goal;
std::cout << "start: " << start.transpose() * rl::math::RAD2DEG << std::endl;;
std::cout << "goal: " << goal.transpose() * rl::math::RAD2DEG << std::endl;;
std::cout << "construct() ... " << std::endl;;
std::chrono::steady_clock::time_point startTime = std::chrono::steady_clock::now();
planner.construct(15);
std::chrono::steady_clock::time_point stopTime = std::chrono::steady_clock::now();
std::cout << "construct() " << std::chrono::duration_cast<std::chrono::duration<double>>(stopTime - startTime).count() * 1000 << " ms" << std::endl;
std::cout << "solve() ... " << std::endl;;
startTime = std::chrono::steady_clock::now();
bool solved = planner.solve();
stopTime = std::chrono::steady_clock::now();
std::cout << "solve() " << (solved ? "true" : "false") << " " << std::chrono::duration_cast<std::chrono::duration<double>>(stopTime - startTime).count() * 1000 << " ms" << std::endl;
return EXIT_SUCCESS;
}
catch (const std::exception& e)
{
std::cerr << e.what() << std::endl;
return EXIT_FAILURE;
}
}