CC_DUBINS and HC_REEDS_SHEPP crashing

[roym899]

I looked a bit more into the crashes that I had for these two steering functions, and they actually happen on the master branch too. So should not be related to the sampler.

I get

benchmark: /home/leo/code/mpb/steering_functions/src/hc_cc_state_space/paths.cpp:259: steer::Control subtract_control(const steer::Control&, const steer::Control&): Assertion `sgn(control1.delta_s) * control1.sigma == sgn(control2.delta_s) * control2.sigma' failed.
Aborted (core dumped)

for both CC_DUBINS and HC_REEDS_SHEPP.

Do they actually work for you? This is the benchmark json I am trying to run (crashes for "steering_type": 5 and "steering_type": 6):

{
  "settings": {
    "auto_choose_distance_computation_method": true,
    "benchmark": {
      "planning": {
        "bfmt": false,
        "bit_star": false,
        "cforest": false,
        "est": false,
        "fmt": false,
        "informed_rrt_star": false,
        "kpiece": false,
        "pdst": false,
        "prm": true,
        "prm_star": false,
        "rrt": false,
        "rrt_sharp": false,
        "rrt_star": false,
        "sbl": false,
        "sbpl_adstar": false,
        "sbpl_anastar": false,
        "sbpl_arastar": false,
        "sbpl_lazy_ara": false,
        "sbpl_mha": false,
        "sorrt_star": false,
        "spars": false,
        "spars2": false,
        "sst": false,
        "stride": false,
        "theta_star": false
      },
      "runs": 1,
      "smoothing": {
        "chomp": false,
        "grips": false,
        "ompl_bspline": false,
        "ompl_shortcut": false,
        "ompl_simplify_max": false
      },
      "steer_functions": []
    },
    "cusp_angle_threshold": 1.0471975511965976,
    "distance_computation_method": 0,
    "env": {
      "collision": {
        "collision_model": 1,
        "robot_shape": [],
        "robot_shape_source": "polygon_mazes/car.svg"
      },
      "goal": {
        "theta": 0.0,
        "x": 0.0,
        "y": 0.0
      },
      "grid": {
        "corridor": {
          "branches": 50,
          "radius": 3.0
        },
        "generator": "corridor",
        "height": 50,
        "random": {
          "obstacle_ratio": 0.1
        },
        "seed": 3,
        "width": 50
      },
      "polygon": {
        "scaling": 0.045454545454545456,
        "source": "polygon_mazes/parking1.svg"
      },
      "start": {
        "theta": 0.0,
        "x": 0.0,
        "y": 0.0
      },
      "type": "grid"
    },
    "estimate_theta": false,
    "evaluate_clearing": true,
    "exact_goal_radius": 0.01,
    "fast_odf_threshold": 10000,
    "interpolation_limit": 500,
    "log_env_distances": false,
    "max_path_length": 10000.0,
    "max_planning_time": 15.0,
    "ompl": {
      "cost_threshold": 100.0,
      "rrt_star": {
        "goal_bias": 0.05,
        "max_distance": 0.0
      },
      "seed": 1,
      "state_equality_tolerance": 0.0001
    },
    "sbpl": {
      "forward_velocity": 0.2,
      "goal_tolerance_theta": 6.283185307179586,
      "goal_tolerance_x": 1.0,
      "goal_tolerance_y": 1.0,
      "initial_solution_eps": 3.0,
      "motion_primitive_filename": "./sbpl_mprim/unicycle_0.25.mprim",
      "num_theta_dirs": 16,
      "resolution": 0.25,
      "scaling": 6.0,
      "search_until_first_solution": false,
      "time_to_turn_45_degs_in_place": 0.6
    },
    "smoothing": {
      "chomp": {
        "alpha": 0.05,
        "epsilon": 4.0,
        "error_tolerance": 1e-06,
        "gamma": 0.8,
        "max_iterations": 1500,
        "nodes": 100,
        "objective_type": 0
      },
      "grips": {
        "eta": 0.9,
        "eta_discount": 0.8,
        "gradient_descent_rounds": 5,
        "max_pruning_rounds": 100,
        "min_node_distance": 3.0
      },
      "ompl": {
        "bspline_epsilon": 0.005,
        "bspline_max_steps": 5,
        "shortcut_max_empty_steps": 0,
        "shortcut_max_steps": 0,
        "shortcut_range_ratio": 0.33,
        "shortcut_snap_to_vertex": 0.005
      }
    },
    "steer": {
      "car_turning_radius": 4.0,
      "hc_cc": {
        "kappa": 0.2,
        "sigma": 0.2
      },
      "posq": {
        "alpha": 3.0,
        "axis_length": 0.54,
        "dt": 0.1,
        "phi": -1.0,
        "rho": 1.0,
        "rho_end_condition": 0.005,
        "v": 1.0,
        "v_max": 1.0
      },
      "sampling_resolution": 0.005,
      "steering_type": 5
    },
    "theta_star": {
      "number_edges": 10
    }
  }
}

[roym899]

Maybe related to #5

[palmieri]

Actually we had in the past the same issue, and for the sake of time decided to use only the CC_RS

[roym899]

I checked and this also happens with the most recent commit of the steering_functions upstream repo, but it is only an assert, so it only crashes in debug mode.