def allocatePlanner(si, plannerType):
if plannerType.lower() == "bfmtstar":
return og.BFMT(si)
elif plannerType.lower() == "bitstar":
return og.BITstar(si)
elif plannerType.lower() == "fmtstar":
return og.FMT(si)
elif plannerType.lower() == "informedrrtstar":
return og.InformedRRTstar(si)
elif plannerType.lower() == "prmstar":
return og.PRMstar(si)
elif plannerType.lower() == "rrtstar":
return og.RRTstar(si)
elif plannerType.lower() == "sorrtstar":
return og.SORRTstar(si)
elif plannerType.lower() == "rrtxstatic":
return og.RRTXstatic(si)
elif plannerType.lower() == "rrtsharp":
return og.RRTsharp(si)
# multi-query
elif plannerType.lower() == "lazyprmstar":
return og.LazyPRMstar(si)
# single-query
elif plannerType.lower() == "rrtconnect":
return og.RRTConnect(si)
elif plannerType.lower() == "lbtrrt":
return og.LBTRRT(si)
elif plannerType.lower() == "lazylbtrrt":
return og.LazyLBTRRT(si)
else:
ou.OMPL_ERROR(
"Planner-type is not implemented in allocation function.")
def choose_planner(self, si, plannerType):
if plannerType.lower() == "bfmtstar":
return og.BFMT(si)
elif plannerType.lower() == "bitstar":
return og.BITstar(si)
elif plannerType.lower() == "fmtstar":
return og.FMT(si)
elif plannerType.lower() == "informedrrtstar":
return og.InformedRRTstar(si)
elif plannerType.lower() == "prmstar":
return og.PRMstar(si)
elif plannerType.lower() == "rrtconnect":
return og.RRTConnect(si)
elif plannerType.lower() == "rrtsharp":
return og.RRTsharp(si)
elif plannerType.lower() == "rrtstar":
return og.RRTstar(si)
elif plannerType.lower() == "sorrtstar":
return og.SORRTstar(si)
else:
OMPL_ERROR("Planner-type is not implemented in allocation function.")
def plan(grid):
#agent and goal are represented by a point(x,y) and radius
global x
global time
x = grid
agent: Agent = grid.agent
goal: Goal = grid.goal
# Construct the robot state space in which we're planning. R2
space = ob.RealVectorStateSpace(2)
# Set the bounds of space to be inside Map
bounds = ob.RealVectorBounds(2)
# projection
pj = ProjectionEvaluator(space)
print('pj=', pj)
pj.setCellSizes(list2vec([1.0, 1.0]))
space.registerDefaultProjection(pj)
# Construct the robot state space in which we're planning.
bounds.setLow(0, 0) #set min x to _ 0
bounds.setHigh(0, grid.size.width) #set max x to _ x width
bounds.setLow(1, 0) #set min y to _ 0
bounds.setHigh(1, grid.size.height) #set max y to _ y height
space.setBounds(bounds)
print("bounds=", bounds.getVolume())
# Construct a space information instance for this state space
si = ob.SpaceInformation(space)
# Set the object used to check which states in the space are valid
si.setStateValidityChecker(ob.StateValidityCheckerFn(isStateValid))
# Set robot's starting state to agent's position (x,y) -> e.g. (0,0)
start = ob.State(space)
start[0] = float(agent.position.x)
start[1] = float(agent.position.y)
print(start[0], start[1])
# Set robot's goal state (x,y) -> e.g. (1.0,0.0)
goal = ob.State(space)
goal[0] = float(grid.goal.position.x)
goal[1] = float(grid.goal.position.y)
# Create a problem instance
pdef = ob.ProblemDefinition(si)
# Set the start and goal states
pdef.setStartAndGoalStates(start, goal)
# Create the optimization objective specified by our command-line argument.
# This helper function is simply a switch statement.
#pdef.setOptimizationObjective(allocateObjective(si, objectiveType))
# ******create a planner for the defined space
planner = og.RRTsharp(si)
# set the problem we are trying to solve for the planner
planner.setProblemDefinition(pdef)
print(planner)
#print('checking projection',planner.getProjectionEvaluator())
print("__________________________________________________________")
# perform setup steps for the planner
planner.setup()
# print the settings for this space
print("space settings\n")
print(si.settings())
print("****************************************************************")
print("problem settings\n")
# print the problem settings
print(pdef)
# attempt to solve the problem within ten second of planning time
solved = planner.solve(time)
# For troubleshooting
if solved:
# get the goal representation from the problem definition (not the same as the goal state)
# and inquire about the found path
path = pdef.getSolutionPath()
print("Found solution:\n%s" % path)
#return trace for _find_path_internal method
print(
"$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$$"
)
if path is None:
return None
x = pdef.getSolutionPath().printAsMatrix()
lst = x.split()
lst = [int(round(float(x), 0)) for x in lst]
print(x)
print(lst)
trace = []
for i in range(0, len(lst), 2):
trace.append(Point(lst[i], lst[i + 1]))
print(trace)
return trace
else:
print("No solution found")