/usr/share/ompl/demos/RigidBodyPlanningWithODESolverAndControls.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 | #!/usr/bin/env python
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# Author: Mark Moll
from math import sin, cos, tan
from functools import partial
try:
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 base as ob
from ompl import control as oc
from ompl import geometric as og
def kinematicCarODE(q, u, qdot):
theta = q[2];
carLength = 0.2;
qdot[0] = u[0] * cos(theta)
qdot[1] = u[0] * sin(theta)
qdot[2] = u[0] * tan(u[1]) / carLength
def isStateValid(spaceInformation, state):
# perform collision checking or check if other constraints are
# satisfied
return spaceInformation.satisfiesBounds(state)
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)
validityChecker = ob.StateValidityCheckerFn(partial(isStateValid, ss.getSpaceInformation()))
ss.setStateValidityChecker(validityChecker)
ode = oc.ODE(kinematicCarODE)
odeSolver = oc.ODEBasicSolver(ss.getSpaceInformation(), ode)
propagator = oc.ODESolver.getStatePropagator(odeSolver)
ss.setStatePropagator(propagator)
# 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)
# attempt to solve the problem
solved = ss.solve(120.0)
if solved:
# print the path to screen
print("Found solution:\n%s" % ss.getSolutionPath().asGeometric().printAsMatrix())
if __name__ == "__main__":
plan()
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