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SBPL example
#include <cstring>
#include <iostream>
#include <string>
using namespace std;
#include <sbpl/headers.h>
// creating the footprint
void createFootprint(vector<sbpl_2Dpt_t>& perimeter){
sbpl_2Dpt_t pt_m;
double halfwidth = 0.01;
double halflength = 0.01;
pt_m.x = -halflength;
pt_m.y = -halfwidth;
pt_m.x = halflength;
pt_m.y = -halfwidth;
pt_m.x = halflength;
pt_m.y = halfwidth;
pt_m.x = -halflength;
pt_m.y = halfwidth;
void initializeEnv(EnvironmentNAVXYTHETALAT& env,
vector<sbpl_2Dpt_t>& perimeter,
char* envCfgFilename, char* motPrimFilename){
if (!env.InitializeEnv(envCfgFilename, perimeter, motPrimFilename)) {
printf("ERROR: InitializeEnv failed\n");
throw SBPL_Exception();
void setEnvStartGoal(EnvironmentNAVXYTHETALAT& env,
double start_x, double start_y, double start_theta,
double goal_x, double goal_y, double goal_theta,
int& start_id, int& goal_id){
start_id = env.SetStart(start_x, start_y, start_theta);
goal_id = env.SetGoal(goal_x, goal_y, goal_theta);
void initializePlanner(SBPLPlanner*& planner,
EnvironmentNAVXYTHETALAT& env,
int start_id, int goal_id,
double initialEpsilon,
bool bsearchuntilfirstsolution){
// work this out later, what is bforwardsearch?
bool bsearch = false;
planner = new ARAPlanner(&env, bsearch);
// set planner properties
if (planner->set_start(start_id) == 0) {
printf("ERROR: failed to set start state\n");
throw new SBPL_Exception();
if (planner->set_goal(goal_id) == 0) {
printf("ERROR: failed to set goal state\n");
throw new SBPL_Exception();
int runPlanner(SBPLPlanner* planner, int allocated_time_secs,
int bRet = planner->replan(allocated_time_secs, &solution_stateIDs);
if (bRet)
printf("Solution is found\n");
printf("Solution does not exist\n");
return bRet;
void writeSolution(EnvironmentNAVXYTHETALAT& env, vector<int> solution_stateIDs,
const char* filename){
std::string discrete_filename(std::string(filename) + std::string(".discrete"));
FILE* fSol_discrete = fopen(discrete_filename.c_str(), "w");
FILE* fSol = fopen(filename, "w");
if (fSol == NULL) {
printf("ERROR: could not open solution file\n");
throw SBPL_Exception();
// write the discrete solution to file
for (size_t i = 0; i < solution_stateIDs.size(); i++) {
int x, y, theta;
env.GetCoordFromState(solution_stateIDs[i], x, y, theta);
double cont_x, cont_y, cont_theta;
cont_x = DISCXY2CONT(x, 0.1);
cont_y = DISCXY2CONT(y, 0.1);
cont_theta = DiscTheta2Cont(theta, 16);
fprintf(fSol_discrete, "%d %d %d\n", x, y, theta);
// write the continuous solution to file
vector<sbpl_xy_theta_pt_t> xythetaPath;
env.ConvertStateIDPathintoXYThetaPath(&solution_stateIDs, &xythetaPath);
for (unsigned int i = 0; i < xythetaPath.size(); i++) {
fprintf(fSol, "%.3f %.3f %.3f\n",,,;
void planxythetalat(char* envCfgFilename, char* motPrimFilename){
// set the perimeter of the robot
vector<sbpl_2Dpt_t> perimeter;
// initialize an environment
EnvironmentNAVXYTHETALAT env;
initializeEnv(env, perimeter, envCfgFilename, motPrimFilename);
// specify a start and goal state
int start_id, goal_id;
setEnvStartGoal(env, .11, .11, 0, 35, 47.5, 0, start_id, goal_id);
// initialize a planner with start and goal state
SBPLPlanner* planner = NULL;
double initialEpsilon = 3.0;
bool bsearchuntilfirstsolution = false;
initializePlanner(planner, env, start_id, goal_id, initialEpsilon,
// plan
vector<int> solution_stateIDs;
double allocated_time_secs = 10.0; // in seconds
runPlanner(planner, allocated_time_secs, solution_stateIDs);
// print stats
// write out solutions
std::string filename("sol.txt");
writeSolution(env, solution_stateIDs, filename.c_str());
delete planner;
int main(int argc, char *argv[])
planxythetalat(argv[1], argv[2]);
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