/usr/share/ompl/demos/RigidBodyPlanningWithControls.py is in ompl-demos 1.0.0+ds2-1build1.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 | #!/usr/bin/env python
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# Author: Mark Moll
from math import sin, cos
from functools import partial
try:
from ompl import util as ou
from ompl import base as ob
from ompl import control as oc
from ompl import geometric as og
except:
# if the ompl module is not in the PYTHONPATH assume it is installed in a
# subdirectory of the parent directory called "py-bindings."
from os.path import abspath, dirname, join
import sys
sys.path.insert(0, join(dirname(dirname(abspath(__file__))),'py-bindings'))
from ompl import util as ou
from ompl import base as ob
from ompl import control as oc
from ompl import geometric as og
## @cond IGNORE
# a decomposition is only needed for SyclopRRT and SyclopEST
class MyDecomposition(oc.GridDecomposition):
def __init__(self, length, bounds):
super(MyDecomposition, self).__init__(length, 2, bounds)
def project(self, s, coord):
coord[0] = s.getX()
coord[1] = s.getY()
def sampleFullState(self, sampler, coord, s):
sampler.sampleUniform(s)
s.setXY(coord[0], coord[1])
## @endcond
def isStateValid(spaceInformation, state):
# perform collision checking or check if other constraints are
# satisfied
return spaceInformation.satisfiesBounds(state)
def propagate(start, control, duration, state):
state.setX( start.getX() + control[0] * duration * cos(start.getYaw()) )
state.setY( start.getY() + control[0] * duration * sin(start.getYaw()) )
state.setYaw(start.getYaw() + control[1] * duration)
def plan():
# construct the state space we are planning in
space = ob.SE2StateSpace()
# set the bounds for the R^2 part of SE(2)
bounds = ob.RealVectorBounds(2)
bounds.setLow(-1)
bounds.setHigh(1)
space.setBounds(bounds)
# create a control space
cspace = oc.RealVectorControlSpace(space, 2)
# set the bounds for the control space
cbounds = ob.RealVectorBounds(2)
cbounds.setLow(-.3)
cbounds.setHigh(.3)
cspace.setBounds(cbounds)
# define a simple setup class
ss = oc.SimpleSetup(cspace)
ss.setStateValidityChecker(ob.StateValidityCheckerFn(partial(isStateValid, ss.getSpaceInformation())))
ss.setStatePropagator(oc.StatePropagatorFn(propagate))
# create a start state
start = ob.State(space)
start().setX(-0.5);
start().setY(0.0);
start().setYaw(0.0);
# create a goal state
goal = ob.State(space);
goal().setX(0.0);
goal().setY(0.5);
goal().setYaw(0.0);
# set the start and goal states
ss.setStartAndGoalStates(start, goal, 0.05)
# (optionally) set planner
si = ss.getSpaceInformation()
#planner = oc.RRT(si)
#planner = oc.EST(si)
#planner = oc.KPIECE1(si) # this is the default
# SyclopEST and SyclopRRT require a decomposition to guide the search
decomp = MyDecomposition(32, bounds)
planner = oc.SyclopEST(si, decomp)
#planner = oc.SyclopRRT(si, decomp)
ss.setPlanner(planner)
# (optionally) set propagation step size
si.setPropagationStepSize(.1)
# attempt to solve the problem
solved = ss.solve(20.0)
if solved:
# print the path to screen
print("Found solution:\n%s" % ss.getSolutionPath().printAsMatrix())
if __name__ == "__main__":
plan()
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