Line |
Branch |
Exec |
Source |
1 |
|
|
// |
2 |
|
|
// Copyright (c) 2015 CNRS |
3 |
|
|
// Authors: Florent Lamiraux, Joseph Mirabel |
4 |
|
|
// |
5 |
|
|
|
6 |
|
|
// Redistribution and use in source and binary forms, with or without |
7 |
|
|
// modification, are permitted provided that the following conditions are |
8 |
|
|
// met: |
9 |
|
|
// |
10 |
|
|
// 1. Redistributions of source code must retain the above copyright |
11 |
|
|
// notice, this list of conditions and the following disclaimer. |
12 |
|
|
// |
13 |
|
|
// 2. Redistributions in binary form must reproduce the above copyright |
14 |
|
|
// notice, this list of conditions and the following disclaimer in the |
15 |
|
|
// documentation and/or other materials provided with the distribution. |
16 |
|
|
// |
17 |
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
18 |
|
|
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
19 |
|
|
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
20 |
|
|
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
21 |
|
|
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
22 |
|
|
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
23 |
|
|
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
24 |
|
|
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
25 |
|
|
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
26 |
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
27 |
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
28 |
|
|
// DAMAGE. |
29 |
|
|
|
30 |
|
|
#ifndef HPP_MANIPULATION_ASTAR_HH |
31 |
|
|
#define HPP_MANIPULATION_ASTAR_HH |
32 |
|
|
|
33 |
|
|
#include <hpp/core/distance.hh> |
34 |
|
|
#include <hpp/core/edge.hh> |
35 |
|
|
#include <hpp/core/node.hh> |
36 |
|
|
#include <hpp/manipulation/fwd.hh> |
37 |
|
|
#include <hpp/manipulation/graph/state-selector.hh> |
38 |
|
|
#include <hpp/manipulation/roadmap-node.hh> |
39 |
|
|
#include <limits> |
40 |
|
|
// # include <hpp/core/path-vector.hh> |
41 |
|
|
|
42 |
|
|
namespace hpp { |
43 |
|
|
namespace manipulation { |
44 |
|
|
class Astar { |
45 |
|
|
public: |
46 |
|
|
typedef std::map<RoadmapNodePtr_t, value_type> CostMap_t; |
47 |
|
|
struct CostMapCompFunctor { |
48 |
|
|
CostMap_t& cost_; |
49 |
|
✗ |
CostMapCompFunctor(CostMap_t& cost) : cost_(cost) {} |
50 |
|
✗ |
bool operator()(const RoadmapNodePtr_t& n1, const RoadmapNodePtr_t& n2) { |
51 |
|
✗ |
return cost_[n1] < cost_[n2]; |
52 |
|
|
} |
53 |
|
✗ |
bool operator()(const RoadmapNodePtr_t& n1, const value_type& val) { |
54 |
|
✗ |
return cost_[n1] < val; |
55 |
|
|
} |
56 |
|
|
}; // struc CostMapCompFunctor |
57 |
|
|
|
58 |
|
|
typedef std::list<graph::StatePtr_t> States_t; |
59 |
|
|
typedef std::list<RoadmapNodePtr_t> RoadmapNodes_t; |
60 |
|
|
typedef std::list<core::EdgePtr_t> RoadmapEdges_t; |
61 |
|
|
typedef std::map<RoadmapNodePtr_t, core::EdgePtr_t> Parent_t; |
62 |
|
|
|
63 |
|
✗ |
Astar(const core::DistancePtr_t distance, |
64 |
|
|
const graph::StateSelectorPtr_t& stateSelector, RoadmapNodePtr_t from) |
65 |
|
✗ |
: distance_(distance), selector_(stateSelector), from_(from) { |
66 |
|
✗ |
open_.push_back(from); |
67 |
|
✗ |
costFromStart_[from] = 0; |
68 |
|
|
} |
69 |
|
|
|
70 |
|
✗ |
States_t solution(RoadmapNodePtr_t to) { |
71 |
|
✗ |
if (parent_.find(to) != parent_.end() || findPath(to)) { |
72 |
|
✗ |
RoadmapNodePtr_t node = to; |
73 |
|
✗ |
States_t states; |
74 |
|
|
|
75 |
|
✗ |
states.push_front(selector_->getState(to)); |
76 |
|
✗ |
while (node) { |
77 |
|
✗ |
Parent_t::const_iterator itNode = parent_.find(node); |
78 |
|
✗ |
if (itNode != parent_.end()) { |
79 |
|
✗ |
node = static_cast<RoadmapNodePtr_t>(itNode->second->from()); |
80 |
|
✗ |
states.push_front(selector_->getState(node)); |
81 |
|
|
} else |
82 |
|
✗ |
node = RoadmapNodePtr_t(0); |
83 |
|
|
} |
84 |
|
|
// We may want to clean it a little |
85 |
|
|
// std::unique (states.begin(), states.end ()); |
86 |
|
|
|
87 |
|
✗ |
states.push_front(selector_->getState(from_)); |
88 |
|
✗ |
return states; |
89 |
|
|
} |
90 |
|
✗ |
return States_t(); |
91 |
|
|
} |
92 |
|
|
|
93 |
|
|
private: |
94 |
|
✗ |
bool findPath(RoadmapNodePtr_t to) { |
95 |
|
|
// Recompute the estimated cost to goal |
96 |
|
✗ |
for (CostMap_t::iterator it = estimatedCostToGoal_.begin(); |
97 |
|
✗ |
it != estimatedCostToGoal_.end(); ++it) { |
98 |
|
✗ |
it->second = getCostFromStart(it->first) + heuristic(it->first, to); |
99 |
|
|
} |
100 |
|
✗ |
open_.sort(CostMapCompFunctor(estimatedCostToGoal_)); |
101 |
|
|
|
102 |
|
✗ |
while (!open_.empty()) { |
103 |
|
✗ |
RoadmapNodes_t::iterator itv = open_.begin(); |
104 |
|
✗ |
RoadmapNodePtr_t current(*itv); |
105 |
|
✗ |
if (current == to) { |
106 |
|
✗ |
return true; |
107 |
|
|
} |
108 |
|
✗ |
open_.erase(itv); |
109 |
|
✗ |
closed_.push_back(current); |
110 |
|
✗ |
for (RoadmapEdges_t::const_iterator itEdge = current->outEdges().begin(); |
111 |
|
✗ |
itEdge != current->outEdges().end(); ++itEdge) { |
112 |
|
✗ |
RoadmapNodePtr_t child = static_cast<RoadmapNodePtr_t>((*itEdge)->to()); |
113 |
|
✗ |
if (std::find(closed_.begin(), closed_.end(), child) == closed_.end()) { |
114 |
|
|
// node is not in closed set |
115 |
|
✗ |
value_type transitionCost = edgeCost(*itEdge); |
116 |
|
✗ |
value_type tmpCost = getCostFromStart(current) + transitionCost; |
117 |
|
|
bool childNotInOpenSet = |
118 |
|
✗ |
(std::find(open_.begin(), open_.end(), child) == open_.end()); |
119 |
|
✗ |
if ((childNotInOpenSet) || (tmpCost < getCostFromStart(child))) { |
120 |
|
✗ |
parent_[child] = *itEdge; |
121 |
|
✗ |
costFromStart_[child] = tmpCost; |
122 |
|
✗ |
value_type estimatedCost = tmpCost + heuristic(child, to); |
123 |
|
✗ |
estimatedCostToGoal_[child] = estimatedCost; |
124 |
|
✗ |
if (childNotInOpenSet) { |
125 |
|
|
// Find the first element not strictly smaller than child |
126 |
|
|
RoadmapNodes_t::iterator pos = |
127 |
|
✗ |
std::lower_bound(open_.begin(), open_.end(), estimatedCost, |
128 |
|
✗ |
CostMapCompFunctor(estimatedCostToGoal_)); |
129 |
|
✗ |
open_.insert(pos, child); |
130 |
|
|
} |
131 |
|
|
} |
132 |
|
|
} |
133 |
|
|
} |
134 |
|
|
} |
135 |
|
✗ |
return false; |
136 |
|
|
} |
137 |
|
|
|
138 |
|
✗ |
inline value_type heuristic(RoadmapNodePtr_t node, |
139 |
|
|
RoadmapNodePtr_t to) const { |
140 |
|
✗ |
const Configuration_t& config = node->configuration(); |
141 |
|
✗ |
return (*distance_)(config, to->configuration()); |
142 |
|
|
} |
143 |
|
|
|
144 |
|
✗ |
inline value_type edgeCost(const core::EdgePtr_t& edge) const { |
145 |
|
✗ |
return edge->path()->length(); |
146 |
|
|
} |
147 |
|
|
|
148 |
|
✗ |
value_type getCostFromStart(RoadmapNodePtr_t to) const { |
149 |
|
✗ |
CostMap_t::const_iterator it = costFromStart_.find(to); |
150 |
|
✗ |
if (it == costFromStart_.end()) |
151 |
|
✗ |
return std::numeric_limits<value_type>::max(); |
152 |
|
✗ |
return it->second; |
153 |
|
|
} |
154 |
|
|
|
155 |
|
|
RoadmapNodes_t closed_; |
156 |
|
|
RoadmapNodes_t open_; |
157 |
|
|
std::map<RoadmapNodePtr_t, value_type> costFromStart_; |
158 |
|
|
std::map<RoadmapNodePtr_t, value_type> estimatedCostToGoal_; |
159 |
|
|
Parent_t parent_; |
160 |
|
|
core::DistancePtr_t distance_; |
161 |
|
|
graph::StateSelectorPtr_t selector_; |
162 |
|
|
RoadmapNodePtr_t from_; |
163 |
|
|
|
164 |
|
|
}; // class Astar |
165 |
|
|
} // namespace manipulation |
166 |
|
|
} // namespace hpp |
167 |
|
|
|
168 |
|
|
#endif // HPP_MANIPULATION_ASTAR_HH |
169 |
|
|
|