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// |
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// Copyright (c) 2014 CNRS |
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// Authors: Florent Lamiraux |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#ifndef HPP_MANIPULATION_PROBLEM_TARGET_ASTAR_HH |
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#define HPP_MANIPULATION_PROBLEM_TARGET_ASTAR_HH |
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#include <hpp/core/distance.hh> |
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#include <hpp/core/edge.hh> |
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#include <hpp/core/node.hh> |
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#include <hpp/core/path-vector.hh> |
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#include <hpp/manipulation/config.hh> |
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#include <hpp/manipulation/fwd.hh> |
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#include <hpp/manipulation/roadmap-node.hh> |
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#include <hpp/manipulation/roadmap.hh> |
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#include <hpp/util/exception-factory.hh> |
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#include <limits> |
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namespace hpp { |
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namespace manipulation { |
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namespace problemTarget { |
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class HPP_MANIPULATION_LOCAL Astar { |
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typedef core::PathVectorPtr_t PathVectorPtr_t; |
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typedef core::EdgePtr_t EdgePtr_t; |
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typedef std::vector<RoadmapNodePtr_t> Nodes_t; |
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typedef std::list<EdgePtr_t> Edges_t; |
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typedef std::map<core::NodePtr_t, EdgePtr_t> Parent_t; |
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Nodes_t closed_; |
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Nodes_t open_; |
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std::map<RoadmapNodePtr_t, value_type> costFromStart_; |
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std::map<RoadmapNodePtr_t, value_type> estimatedCostToGoal_; |
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Parent_t parent_; |
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core::RoadmapPtr_t roadmap_; |
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core::DistancePtr_t distance_; |
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graph::StatePtr_t state_; |
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public: |
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Astar(const core::RoadmapPtr_t& roadmap, const core::DistancePtr_t distance, |
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graph::StatePtr_t state) |
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: roadmap_(roadmap), distance_(distance), state_(state) {} |
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PathVectorPtr_t solution() { |
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core::NodePtr_t node = findPath(); |
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Edges_t edges; |
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while (node) { |
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Parent_t::const_iterator itEdge = parent_.find(node); |
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if (itEdge != parent_.end()) { |
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EdgePtr_t edge = itEdge->second; |
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edges.push_front(edge); |
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node = edge->from(); |
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} else |
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node = RoadmapNodePtr_t(0x0); |
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} |
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PathVectorPtr_t pathVector; |
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for (Edges_t::const_iterator itEdge = edges.begin(); itEdge != edges.end(); |
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++itEdge) { |
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const core::PathPtr_t& path((*itEdge)->path()); |
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if (!pathVector) |
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pathVector = core::PathVector::create(path->outputSize(), |
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path->outputDerivativeSize()); |
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pathVector->appendPath(path); |
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} |
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return pathVector; |
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} |
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private: |
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struct SortFunctor { |
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std::map<RoadmapNodePtr_t, value_type>& cost_; |
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SortFunctor(std::map<RoadmapNodePtr_t, value_type>& cost) : cost_(cost) {} |
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bool operator()(const RoadmapNodePtr_t& n1, const RoadmapNodePtr_t& n2) { |
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return cost_[n1] < cost_[n2]; |
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} |
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}; // struc SortFunctor |
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bool isGoal(const RoadmapNodePtr_t node) { |
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return node->graphState() == state_; |
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} |
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RoadmapNodePtr_t findPath() { |
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closed_.clear(); |
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open_.clear(); |
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parent_.clear(); |
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estimatedCostToGoal_.clear(); |
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costFromStart_.clear(); |
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assert(dynamic_cast<RoadmapNodePtr_t>(roadmap_->initNode())); |
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open_.push_back(static_cast<RoadmapNodePtr_t>(roadmap_->initNode())); |
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while (!open_.empty()) { |
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std::sort(open_.begin(), open_.end(), SortFunctor(estimatedCostToGoal_)); |
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Nodes_t::iterator itv = open_.begin(); |
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RoadmapNodePtr_t current(*itv); |
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if (isGoal(current)) { |
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return current; |
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} |
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open_.erase(itv); |
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closed_.push_back(current); |
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for (Edges_t::const_iterator itEdge = current->outEdges().begin(); |
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itEdge != current->outEdges().end(); ++itEdge) { |
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value_type transitionCost = edgeCost(*itEdge); |
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assert(dynamic_cast<RoadmapNodePtr_t>((*itEdge)->to())); |
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RoadmapNodePtr_t child = static_cast<RoadmapNodePtr_t>((*itEdge)->to()); |
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if (std::find(closed_.begin(), closed_.end(), child) == closed_.end()) { |
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// node is not in closed set |
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value_type tmpCost = costFromStart_[current] + transitionCost; |
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bool childNotInOpenSet = |
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(std::find(open_.begin(), open_.end(), child) == open_.end()); |
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if ((childNotInOpenSet) || (tmpCost < costFromStart_[child])) { |
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parent_[child] = *itEdge; |
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costFromStart_[child] = tmpCost; |
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estimatedCostToGoal_[child] = |
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costFromStart_[child] + heuristic(child); |
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if (childNotInOpenSet) open_.push_back(child); |
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} |
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} |
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} |
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} |
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throw std::runtime_error("A* failed to find a solution to the goal."); |
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} |
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value_type heuristic(const RoadmapNodePtr_t node) const { |
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const Configuration_t& config = node->configuration(); |
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value_type res = std::numeric_limits<value_type>::infinity(); |
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for (core::NodeVector_t::const_iterator itGoal = |
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roadmap_->goalNodes().begin(); |
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itGoal != roadmap_->goalNodes().end(); ++itGoal) { |
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const Configuration_t& goal = (*itGoal)->configuration(); |
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value_type dist = (*distance_)(config, goal); |
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if (dist < res) { |
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res = dist; |
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} |
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} |
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return res; |
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} |
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value_type edgeCost(const EdgePtr_t& edge) { return edge->path()->length(); } |
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}; // class Astar |
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} // namespace problemTarget |
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} // namespace manipulation |
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} // namespace hpp |
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#endif // HPP_MANIPULATION_PROBLEM_TARGET_ASTAR_HH |
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