Point2DPlanning.py

#!/usr/bin/env python

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# Author: Ioan Sucan, Mark Moll

try:
    from ompl import util as ou
    from ompl import base as ob
    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."
    sys.path.insert(0, join(dirname(dirname(abspath(__file__))),'py-bindings'))
    from ompl import util as ou
    from ompl import base as ob
    from ompl import geometric as og
from os.path import abspath, dirname, join
import sys
from functools import partial

class Plane2DEnvironment:
    def __init__(self, ppm_file):
        self.ppm_ = ou.PPM()
        self.ppm_.loadFile(ppm_file)
        space = ob.RealVectorStateSpace()
        space.addDimension(0.0, self.ppm_.getWidth())
        space.addDimension(0.0, self.ppm_.getHeight())
        self.maxWidth_ = self.ppm_.getWidth() - 1
        self.maxHeight_ = self.ppm_.getHeight() - 1
        self.ss_ = og.SimpleSetup(space)

        # set state validity checking for this space
        self.ss_.setStateValidityChecker(ob.StateValidityCheckerFn(
            partial(Plane2DEnvironment.isStateValid, self)))
        space.setup()
        self.ss_.getSpaceInformation().setStateValidityCheckingResolution(1.0 / space.getMaximumExtent())
        #      self.ss_.setPlanner(og.RRTConnect(self.ss_.getSpaceInformation()))

    def plan(self, start_row, start_col, goal_row, goal_col):
        if not self.ss_:
            return false
        start = ob.State(self.ss_.getStateSpace())
        start()[0] = start_row
        start()[1] = start_col
        goal = ob.State(self.ss_.getStateSpace())
        goal()[0] = goal_row
        goal()[1] = goal_col
        self.ss_.setStartAndGoalStates(start, goal)
        # generate a few solutions; all will be added to the goal
        for i in range(10):
            if self.ss_.getPlanner():
                self.ss_.getPlanner().clear()
            self.ss_.solve()
        ns = self.ss_.getProblemDefinition().getSolutionCount()
        print("Found %d solutions" % ns)
        if self.ss_.haveSolutionPath():
            self.ss_.simplifySolution()
            p = self.ss_.getSolutionPath()
            ps = og.PathSimplifier(self.ss_.getSpaceInformation())
            ps.simplifyMax(p)
            ps.smoothBSpline(p)
            return True
        else:
            return False

    def recordSolution(self):
        if not self.ss_ or not self.ss_.haveSolutionPath():
            return
        p = self.ss_.getSolutionPath()
        p.interpolate()
        for i in range(p.getStateCount()):
            w = min(self.maxWidth_, int(p.getState(i)[0]))
            h = min(self.maxHeight_, int(p.getState(i)[1]))
            c = self.ppm_.getPixel(h, w)
            c.red = 255
            c.green = 0
            c.blue = 0

    def save(self, filename):
        if not self.ss_:
            return
        self.ppm_.saveFile(filename)

    def isStateValid(self, state):
        w = min(int(state[0]), self.maxWidth_)
        h = min(int(state[1]), self.maxHeight_)

        c = self.ppm_.getPixel(h, w)
        return c.red > 127 and c.green > 127 and c.blue > 127


if __name__ == "__main__":
    fname = join(join(join(join(dirname(dirname(abspath(__file__))),
        'tests'), 'resources'), 'ppm'), 'floor.ppm')
    env = Plane2DEnvironment(fname)

    if env.plan(0, 0, 777, 1265):
        env.recordSolution()
        env.save("result_demo.ppm")