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Better OMPL error logging and fail on start/goal in collision #552

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Better OMPL error logging and fail on start/goal in collision #552

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b15175a
Better OMPL error logging and fail on start/goal in collision
marrts Dec 13, 2024
41fc0e8
Ran clang-format
marip8 Dec 18, 2024
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32 changes: 24 additions & 8 deletions tesseract_motion_planners/ompl/src/profile/ompl_default_plan_profile.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -479,6 +479,7 @@ void OMPLDefaultPlanProfile::applyGoalStates(OMPLProblem& prob,
else
{
CONSOLE_BRIDGE_logDebug("In OMPLDefaultPlanProfile: Goal state has invalid bounds");
throw std::runtime_error("In OMPLDefaultPlanProfile: Goal state has invalid bounds");
}

// Get discrete contact manager for testing provided start and end position
Expand All @@ -487,12 +488,19 @@ void OMPLDefaultPlanProfile::applyGoalStates(OMPLProblem& prob,
tesseract_collision::ContactResultMap contact_map;
if (checkStateInCollision(prob, solution, contact_map))
{
CONSOLE_BRIDGE_logError("In OMPLDefaultPlanProfile: Goal state is in collision");
std::stringstream contact_msg;
contact_msg << "In OMPLPlannerFreespaceConfig: Goal state (";
contact_msg << solution.transpose().matrix() << ") is in collision. ";

for (const auto& contact_vec : contact_map)
for (const auto& contact : contact_vec.second)
CONSOLE_BRIDGE_logError(("Links: " + contact.link_names[0] + ", " + contact.link_names[1] +
" Distance: " + std::to_string(contact.distance))
.c_str());
{
contact_msg << "Links: " << contact.link_names[0] << ", " << contact.link_names[1]
<< " Distance: " << std::to_string(contact.distance);
CONSOLE_BRIDGE_logError(contact_msg.str().c_str());
}

throw std::runtime_error(contact_msg.str());
}

ompl::base::ScopedState<> goal_state(prob.simple_setup->getStateSpace());
Expand Down Expand Up @@ -616,6 +624,7 @@ void OMPLDefaultPlanProfile::applyStartStates(OMPLProblem& prob,
else
{
CONSOLE_BRIDGE_logDebug("In OMPLDefaultPlanProfile: Start state is outside limits");
throw std::runtime_error("In OMPLDefaultPlanProfile: Start state is outside limits");
}

// Get discrete contact manager for testing provided start and end position
Expand All @@ -624,12 +633,19 @@ void OMPLDefaultPlanProfile::applyStartStates(OMPLProblem& prob,
tesseract_collision::ContactResultMap contact_map;
if (checkStateInCollision(prob, joint_waypoint, contact_map))
{
CONSOLE_BRIDGE_logError("In OMPLPlannerFreespaceConfig: Start state is in collision");
std::stringstream contact_msg;
contact_msg << "In OMPLPlannerFreespaceConfig: Start state (";
contact_msg << solution.transpose().matrix() << ") is in collision. ";

for (const auto& contact_vec : contact_map)
for (const auto& contact : contact_vec.second)
CONSOLE_BRIDGE_logError(("Links: " + contact.link_names[0] + ", " + contact.link_names[1] +
" Distance: " + std::to_string(contact.distance))
.c_str());
{
contact_msg << "Links: " << contact.link_names[0] << ", " << contact.link_names[1]
<< " Distance: " << std::to_string(contact.distance);
CONSOLE_BRIDGE_logError(contact_msg.str().c_str());
}

throw std::runtime_error(contact_msg.str());
}

ompl::base::ScopedState<> start_state(prob.simple_setup->getStateSpace());
Expand Down
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