#!/usr/bin/env python

######################################################################
# Software License Agreement (BSD License)
#
#  Copyright (c) 2010, Rice University
#  All rights reserved.
#
#  Redistribution and use in source and binary forms, with or without
#  modification, are permitted provided that the following conditions
#  are met:
#
#   * Redistributions of source code must retain the above copyright
#     notice, this list of conditions and the following disclaimer.
#   * Redistributions in binary form must reproduce the above
#     copyright notice, this list of conditions and the following
#     disclaimer in the documentation and/or other materials provided
#     with the distribution.
#   * Neither the name of the Rice University nor the names of its
#     contributors may be used to endorse or promote products derived
#     from this software without specific prior written permission.
#
#  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
#  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
#  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
#  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
#  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
#  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
#  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
#  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
#  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
#  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
#  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
#  POSSIBILITY OF SUCH DAMAGE.
######################################################################

# Author: Mark Moll

try:
    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."
    from os.path import abspath, dirname, join
    import sys
    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

def isStateValid(state):
    # Some arbitrary condition on the state (note that thanks to
    # dynamic type checking we can just call getX() and do not need
    # to convert state to an SE2State.)
    return state.getX() < .6

def planWithSimpleSetup():
    # create an SE2 state space
    space = ob.SE2StateSpace()

    # set lower and upper bounds
    bounds = ob.RealVectorBounds(2)
    bounds.setLow(-1)
    bounds.setHigh(1)
    space.setBounds(bounds)

    # create a simple setup object
    ss = og.SimpleSetup(space)
    ss.setStateValidityChecker(ob.StateValidityCheckerFn(isStateValid))

    start = ob.State(space)
    # we can pick a random start state...
    start.random()
    # ... or set specific values
    start().setX(.5)

    goal = ob.State(space)
    # we can pick a random goal state...
    goal.random()
    # ... or set specific values
    goal().setX(-.5)

    ss.setStartAndGoalStates(start, goal)

    # this will automatically choose a default planner with
    # default parameters
    solved = ss.solve(1.0)

    if solved:
        # try to shorten the path
        ss.simplifySolution()
        # print the simplified path
        print(ss.getSolutionPath())


def planTheHardWay():
    # create an SE2 state space
    space = ob.SE2StateSpace()
    # set lower and upper bounds
    bounds = ob.RealVectorBounds(2)
    bounds.setLow(-1)
    bounds.setHigh(1)
    space.setBounds(bounds)
    # construct an instance of space information from this state space
    si = ob.SpaceInformation(space)
    # set state validity checking for this space
    si.setStateValidityChecker(ob.StateValidityCheckerFn(isStateValid))
    # create a random start state
    start = ob.State(space)
    start.random()
    # create a random goal state
    goal = ob.State(space)
    goal.random()
    # create a problem instance
    pdef = ob.ProblemDefinition(si)
    # set the start and goal states
    pdef.setStartAndGoalStates(start, goal)
    # create a planner for the defined space
    planner = og.RRTConnect(si)
    # set the problem we are trying to solve for the planner
    planner.setProblemDefinition(pdef)
    # perform setup steps for the planner
    planner.setup()
    # print the settings for this space
    print(si.settings())
    # print the problem settings
    print(pdef)
    # attempt to solve the problem within one second of planning time
    solved = planner.solve(1.0)

    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)
    else:
        print("No solution found")


if __name__ == "__main__":
    planWithSimpleSetup()
    print("")
    planTheHardWay()
