红色是ompl库中RRT搜索路径,蓝色是简化后的路径。
RigidBodyPlanning.cpp
#include <ompl/base/SpaceInformation.h>
#include <ompl/base/spaces/SE3StateSpace.h>
#include <ompl/geometric/planners/rrt/RRT.h>
#include <ompl/geometric/SimpleSetup.h>
#include <ompl/config.h>
#include <iostream>
#include <fstream>
#include <ostream>
#include "boost/bind.hpp"
using namespace std;
namespace ob = ompl::base;
namespace og = ompl::geometric;
bool isStateValid(const ob::State *state)
{
// cast the abstract state type to the type we expect
const ob::SE3StateSpace::StateType *se3state = state->as<ob::SE3StateSpace::StateType>();
// extract the first component of the state and cast it to what we expect
const ob::RealVectorStateSpace::StateType *pos = se3state->as<ob::RealVectorStateSpace::StateType>(0);
// extract the second component of the state and cast it to what we expect
const ob::SO3StateSpace::StateType *rot = se3state->as<ob::SO3StateSpace::StateType>(1);
// check validity of state defined by pos & rot
// return a value that is always true but uses the two variables we define, so we avoid compiler
// warnings
return (const void *)rot != (const void *)pos;
}
void planWithSimpleSetup(void)
{
// construct the state space we are planning in
ob::StateSpacePtr space(new ob::SE3StateSpace());
// set the bounds for the R^3 part of SE(3)
ob::RealVectorBounds bounds(3);
bounds.setLow(-1);
bounds.setHigh(1);
space->as<ob::SE3StateSpace>()->setBounds(bounds);
// define a simple setup class
og::SimpleSetup ss(space);
// set state validity checking for this space
ss.setStateValidityChecker(boost::bind(&isStateValid, _1));
// create a random start state
ob::ScopedState<> start(space);
start.random();
// create a random goal state
ob::ScopedState<> goal(space);
goal.random();
// set the start and goal states
ss.setStartAndGoalStates(start, goal);
ob::PlannerPtr planner(new og::RRT(ss.getSpaceInformation()));
ss.setPlanner(planner);
// attempt to solve the problem within one second of planning time
ob::PlannerStatus solved = ss.solve(1.0);
if (solved) {
std::cout << "Found solution:" << std::endl;
// print the path to screen
std::ofstream ofs0("../plot/path0.dat");
ss.getSolutionPath().printAsMatrix(ofs0);
ss.simplifySolution();
ss.getSolutionPath().print(std::cout);
std::ofstream ofs("../plot/path.dat");
ss.getSolutionPath().printAsMatrix(ofs);
} else
std::cout << "No solution found" << std::endl;
}
int main(int, char **)
{
std::cout << "OMPL version: " << OMPL_VERSION << std::endl;
planWithSimpleSetup();
return 0;
}
17-33行是检测当前状态是否可行。ob::SE3StateSpace::StateType *se3state是3维情况,ob::SE2StateSpace::StateType *se2state则表示二维。38-43设置边界范围。54-59为设置初始和目标随机位置。64-65设置用什么算法解决。可用算法参考可用算法。68期望解决的时间。
CMakeLists.txt
cmake_minimum_required(VERSION 2.8)
ADD_DEFINITIONS(
-Wall
-g
-O2
-std=c++11
)
project(RigidBodyPlanning)
find_package(OMPL REQUIRED)
include_directories(${OMPL_INCLUDE_DIRS})
link_directories(${OMPL_LIBRARY_DIRS})
add_definitions(${OMPL_DEFINITIONS})
FIND_PACKAGE(Boost COMPONENTS system REQUIRED)
add_executable (RigidBodyPlanning RigidBodyPlanning.cpp)
target_link_libraries (RigidBodyPlanning ${Boost_LIBRARIES} ${OMPL_LIBRARIES})
python画图
from mpl_toolkits.mplot3d import Axes3D
import numpy
import matplotlib.pyplot as plt
data = numpy.loadtxt('path.dat')
data1 = numpy.loadtxt('path0.dat')
fig = plt.figure()
ax = fig.gca(projection='3d')
ax.plot(data[:,0],data[:,1],data[:,2],'.-')
plt.hold('on')
plt.grid('on')
ax.plot(data1[:,0],data1[:,1],data1[:,2],'r-')
plt.show()