Integrate GLKH-Solver

Author: kledom

install/prepare-jenkins-slave.sh

@@ -4,14 +4,12 @@ ROS_VERSION=`rosversion -d`
 echo "ROS version: ${ROS_VERSION}"
 
 # Build dependencies.
-sudo apt-get install -y python-wstool python-catkin-tools
+sudo apt-get install -y python3-wstool python3-catkin-tools
 
 # Package dependencies.
 echo "Installing MAV_COMM dependencies."
 sudo apt-get install -y ros-${ROS_VERSION}-mav-msgs
 echo "Installing CGAL dependencies."
 sudo apt-get install -y libgmp-dev libmpfr-dev
-echo "Installing MONO dependencies."
-sudo apt-get install -y mono-devel
 echo "Installig GLOG dependencices."
 sudo apt-get install -y libgoogle-glog-dev

polygon_coverage_planners/CMakeLists.txt

@@ -12,11 +12,6 @@ set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
 set(CMAKE_BUILD_TYPE Release)
 
-# TODO(rikba): Make catkin package.
-find_package(PkgConfig)
-pkg_check_modules(MONO mono-2 REQUIRED)
-include_directories(${MONO_INCLUDE_DIRS})
-
 #############
 # LIBRARIES #
 #############

polygon_coverage_planners/src/graphs/sweep_plan_graph.cc

@@ -30,7 +30,7 @@
 #include <polygon_coverage_geometry/tcd.h>
 #include <polygon_coverage_geometry/visibility_polygon.h>
 
-#include <polygon_coverage_solvers/gk_ma.h>
+#include <polygon_coverage_solvers/glkh.h>
 
 #include <CGAL/Boolean_set_operations_2.h>
 #include <CGAL/create_offset_polygons_from_polygon_with_holes_2.h>
@@ -522,20 +522,20 @@ bool SweepPlanGraph::solve(const Point_2& start, const Point_2& goal,
   const size_t goal_idx = temp_gtsp_graph.size() - 1;
   const size_t start_idx = temp_gtsp_graph.size() - 2;
 
-  // Solve using GK MA.
+  // Solve using GLKH.
   std::vector<std::vector<int>> m = temp_gtsp_graph.getAdjacencyMatrix();
   std::vector<std::vector<int>> clusters;
   if (!temp_gtsp_graph.getClusters(&clusters)) {
     ROS_ERROR("Cannot get clusters.");
     return false;
   }
-  gk_ma::Task task(m, clusters);
-  gk_ma::GkMa& solver = gk_ma::GkMa::getInstance();
+  glkh::Task task(m, clusters);
+  glkh::Glkh& solver = glkh::Glkh::getInstance();
   solver.setSolver(task);
 
   ROS_INFO("Start solving GTSP");
   if (!solver.solve()) {
-    ROS_ERROR("GkMa solution failed.");
+    ROS_ERROR("GLKH solution failed.");
     return false;
   }
   ROS_INFO("Finished solving GTSP");

polygon_coverage_planners/src/planners/polygon_stripmap_planner.cc

@@ -99,7 +99,7 @@ bool PolygonStripmapPlanner::runSolver(const Point_2& start,
                                        std::vector<Point_2>* solution) const {
   ROS_ASSERT(solution);
 
-  ROS_INFO("Start solving GTSP using GK MA.");
+  ROS_INFO("Start solving GTSP using GLKH.");
   return sweep_plan_graph_.solve(start, goal, solution);
 }
 

polygon_coverage_solvers/CMakeLists.txt

@@ -8,49 +8,18 @@ set(CMAKE_CXX_STANDARD 17)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall")
 
-# Add mono to invoke gk_ma.
-find_package(PkgConfig)
-pkg_check_modules(MONO mono-2 REQUIRED)
-include_directories(${MONO_INCLUDE_DIRS})
-
-# Download gk_ma
-set(GKMA_INCLUDE_DIR ${CMAKE_BINARY_DIR}/gk_ma-prefix/src/gk_ma)
+# Download glkh
 include(ExternalProject)
 ExternalProject_Add(
-  gk_ma
-  URL http://www.cs.nott.ac.uk/~pszdk/gtsp_ma_source_codes.zip
-  URL https://polybox.ethz.ch/index.php/s/H4NXeaNPWo6VBrf/download
-  DOWNLOAD_NAME gtsp_ma_source_codes.zip
-  URL_MD5 765fad8e3746fa3dd9b81be0afb34d35
-  PATCH_COMMAND \\
-    patch GkMa/OurHeuristic/Algorithm.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/Algorithm.patch && \\
-    patch NativeHelper/ClusterOptimisation.cpp ${CMAKE_CURRENT_SOURCE_DIR}/patches/ClusterOptimisationCpp.patch && \\
-    patch GkMa/OurHeuristic/Types/Generation.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/Generation.patch && \\
-    patch GkMa/OurHeuristic/GeneticAlgorithm.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/GeneticAlgorithm.patch && \\
-    patch GkMa/Helper.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/Helper.patch && \\
-    patch NativeHelper/ClusterOptimisation.h ${CMAKE_CURRENT_SOURCE_DIR}/patches/ClusterOptimisationH.patch && \\
-    patch NativeHelper/ImprovementManager.h ${CMAKE_CURRENT_SOURCE_DIR}/patches/ImprovementManagerH.patch && \\
-    patch NativeHelper/Insert.cpp ${CMAKE_CURRENT_SOURCE_DIR}/patches/InsertCpp.patch && \\
-    patch NativeHelper/Insert.h ${CMAKE_CURRENT_SOURCE_DIR}/patches/InsertH.patch && \\
-    patch NativeHelper/NativeHelper.cpp ${CMAKE_CURRENT_SOURCE_DIR}/patches/NativeHelperCpp.patch && \\
-    patch NativeHelper/Swap.cpp ${CMAKE_CURRENT_SOURCE_DIR}/patches/SwapCpp.patch && \\
-    patch NativeHelper/NativeHelper.h ${CMAKE_CURRENT_SOURCE_DIR}/patches/NativeHelperH.patch && \\
-    patch GkMa/OurHeuristic/NativeHelper.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/NativeHelper.patch && \\
-    patch GkMa/OurSolver.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/OurSolver.patch && \\
-    patch GkMa/OurHeuristic/Types/Permutation.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/Permutation.patch && \\
-    patch GkMa/Program.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/Program.patch && \\
-    patch GkMa/Solver.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/Solver.patch && \\
-    patch GkMa/Loader/Task.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/Task.patch && \\
-    patch GkMa/OurHeuristic/Types/Tour.cs ${CMAKE_CURRENT_SOURCE_DIR}/patches/Tour.patch
-  UPDATE_COMMAND ""
-  CONFIGURE_COMMAND \\
-    cp ${PROJECT_SOURCE_DIR}/patches/MakefileCpp ./MakefileCpp && \\
-    cp ${PROJECT_SOURCE_DIR}/patches/MakefileCs ./MakefileCs
-  BUILD_COMMAND \\
-    $(MAKE) -f MakefileCs BUILD_PATH="${CMAKE_LIBRARY_OUTPUT_DIRECTORY}" \\
-    COMMAND $(MAKE) -f MakefileCpp BUILD_PATH="${CMAKE_LIBRARY_OUTPUT_DIRECTORY}"
-  INSTALL_COMMAND \\
-    COMMAND ${CMAKE_COMMAND} -E create_symlink /usr/lib/libmono-native.so ${CMAKE_LIBRARY_OUTPUT_DIRECTORY}/System.Native
+  glkh
+  URL http://webhotel4.ruc.dk/~keld/research/GLKH/GLKH-1.0.tgz
+  DOWNLOAD_NAME glkh_source_codes.tgz
+  URL_MD5 9b0ba92053dac798f550c5c8a9524120
+  BINARY_DIR ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}
+  PATCH_COMMAND
+      COMMAND patch --forward ./SRC/SolveTSP.c < ${PROJECT_SOURCE_DIR}/patches/SolveTSP.patch
+      COMMAND cp ${PROJECT_SOURCE_DIR}/patches/CMakeLists.txt ./
+  INSTALL_COMMAND ""
 )
 
 # Download GTSP test instances.
@@ -71,30 +40,32 @@ ExternalProject_Add(
 # LIBRARIES #
 #############
 cs_add_library(${PROJECT_NAME}
-  src/gk_ma.cc
+  src/glkh.cc
   src/combinatorics.cc
   src/boolean_lattice.cc
 )
-target_link_libraries(${PROJECT_NAME} ${MONO_LIBRARIES})
 
 #########
 # TESTS #
 #########
 catkin_add_gtest(test_combinatorics
   test/combinatorics-test.cpp
 )
-target_link_libraries(test_combinatorics
-                      ${PROJECT_NAME})
+target_link_libraries(test_combinatorics ${PROJECT_NAME})
 
-catkin_add_gtest(test_gk_ma
-  test/gk_ma-test.cpp
+catkin_add_gtest(test_glkh
+  test/glkh-test.cpp
 )
-target_link_libraries(test_gk_ma
-                      ${PROJECT_NAME})
+target_link_libraries(test_glkh ${PROJECT_NAME})
 
 
 ##########
 # EXPORT #
 ##########
+install(DIRECTORY ${CATKIN_DEVEL_PREFIX}/${CATKIN_PACKAGE_BIN_DESTINATION}/
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 cs_install()
+cs_install_scripts(scripts/run_glkh.bash)
 cs_export()

polygon_coverage_solvers/include/polygon_coverage_solvers/gk_ma.h

@@ -23,8 +23,6 @@
 #include <string>
 #include <vector>
 
-#include <mono/metadata/object.h>
-
 // Interfaces with the GK MA GTSP solver.
 namespace polygon_coverage_planning {
 namespace gk_ma {

polygon_coverage_solvers/include/polygon_coverage_solvers/glkh.h

@@ -0,0 +1,65 @@
+/*
+ * polygon_coverage_planning implements algorithms for coverage planning in
+ * general polygons with holes. Copyright (C) 2019, Rik Bähnemann, Autonomous
+ * Systems Lab, ETH Zürich
+ *
+ * This program is free software: you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation, either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * This program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * this program.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#ifndef POLYGON_COVERAGE_SOLVERS_GLKH_H_
+#define POLYGON_COVERAGE_SOLVERS_GLKH_H_
+
+#include <string>
+#include <vector>
+
+// Interfaces with the GLKH GTSP solver.
+namespace polygon_coverage_planning {
+namespace glkh {
+struct Task {
+  Task(const std::vector<std::vector<int>>& m,
+       const std::vector<std::vector<int>>& clusters)
+      : m(m), clusters(clusters) {}
+  bool mIsSymmetric() const;
+  bool mIsSquare() const;
+  std::vector<std::vector<int>> m;
+  std::vector<std::vector<int>> clusters;
+};
+
+// References GLKH. Singleton, because it may only be referenced once during
+// runtime.
+// https://stackoverflow.com/questions/1008019/c-singleton-design-pattern
+class Glkh {
+ public:
+  inline static Glkh& getInstance() {
+    static Glkh instance;
+    return instance;
+  }
+  Glkh(Glkh const&) = delete;
+  void operator=(Glkh const&) = delete;
+
+  void setSolver(const std::string& file, bool binary);
+  void setSolver(const Task& task);
+  bool solve();
+  inline std::vector<int> getSolution() const { return solution_; }
+
+ private:
+  Glkh();
+  ~Glkh() = default;
+
+  std::vector<int> solution_;
+};
+}  // namespace glkh
+}  // namespace polygon_coverage_planning
+
+#endif  // POLYGON_COVERAGE_SOLVERS_GLKH_H_