constrained_valid_state_sampler.cpp

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/* Author: Ioan Sucan */
 
#include <moveit/ompl_interface/detail/constrained_valid_state_sampler.h>
#include <moveit/ompl_interface/model_based_planning_context.h>
 
#include <utility>
 
namespace ompl_interface
{
static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit.ompl_planning.constrained_valid_state_sampler");
}  // namespace ompl_interface
 
ompl_interface::ValidConstrainedSampler::ValidConstrainedSampler(const ModelBasedPlanningContext* pc,
                                                                 kinematic_constraints::KinematicConstraintSetPtr ks,
                                                                 constraint_samplers::ConstraintSamplerPtr cs)
  : ob::ValidStateSampler(pc->getOMPLSimpleSetup()->getSpaceInformation().get())
  , planning_context_(pc)
  , kinematic_constraint_set_(std::move(ks))
  , constraint_sampler_(std::move(cs))
  , work_state_(pc->getCompleteInitialRobotState())
{
  if (!constraint_sampler_)
    default_sampler_ = si_->allocStateSampler();
  inv_dim_ = si_->getStateSpace()->getDimension() > 0 ? 1.0 / (double)si_->getStateSpace()->getDimension() : 1.0;
  RCLCPP_DEBUG(LOGGER, "Constructed a ValidConstrainedSampler instance at address %p", this);
}
 
bool ompl_interface::ValidConstrainedSampler::project(ompl::base::State* state)
{
  if (constraint_sampler_)
  {
    planning_context_->getOMPLStateSpace()->copyToRobotState(work_state_, state);
    if (constraint_sampler_->project(work_state_, planning_context_->getMaximumStateSamplingAttempts()))
    {
      if (kinematic_constraint_set_->decide(work_state_).satisfied)
      {
        planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_state_);
        return true;
      }
    }
  }
  return false;
}
 
bool ompl_interface::ValidConstrainedSampler::sample(ob::State* state)
{
  if (constraint_sampler_)
  {
    if (constraint_sampler_->sample(work_state_, planning_context_->getCompleteInitialRobotState(),
                                    planning_context_->getMaximumStateSamplingAttempts()))
    {
      if (kinematic_constraint_set_->decide(work_state_).satisfied)
      {
        planning_context_->getOMPLStateSpace()->copyToOMPLState(state, work_state_);
        return true;
      }
    }
  }
  else
  {
    default_sampler_->sampleUniform(state);
    planning_context_->getOMPLStateSpace()->copyToRobotState(work_state_, state);
    if (kinematic_constraint_set_->decide(work_state_).satisfied)
      return true;
  }
 
  return false;
}
 
bool ompl_interface::ValidConstrainedSampler::sampleNear(ompl::base::State* state, const ompl::base::State* near,
                                                         const double distance)
{
  if (!sample(state))
    return false;
  double total_d = si_->distance(state, near);
  if (total_d > distance)
  {
    double dist = pow(rng_.uniform01(), inv_dim_) * distance;
    si_->getStateSpace()->interpolate(near, state, dist / total_d, state);
    planning_context_->getOMPLStateSpace()->copyToRobotState(work_state_, state);
    if (!kinematic_constraint_set_->decide(work_state_).satisfied)
      return false;
  }
  return true;
}