incl/rrtbase.h

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is free software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #ifndef RRTBASE_H
  19 #define RRTBASE_H
  20
  21 #include <chrono>
  22 #include <cmath>
  23 #include <pthread.h>
  24 #include <random>
  25 #include <vector>
  26 #include "obstacle.h"
  27 #include "rrtnode.h"
  28 #include "sample.h"
  29 #include "slotplanner.h"
  30
  31 #define NOFNODES 20000
  32
  33 #define IXSIZE 100
  34 #define IXSTEP (1.0 * ((VMAX) - (VMIN)) / IXSIZE)
  35 #define IXI(x) ({ __typeof__ (x) _x = (x); \
  36                 std::abs((int) floor(_x / IXSTEP)); })
  37 #define IYSIZE 100
  38 #define IYSTEP (1.0 * ((HMAX) - (HMIN)) / IYSIZE)
  39 #define IYI(y) ({ __typeof__ (y) _y = (y); \
  40                 std::abs((int) floor(_y / IYSTEP)); })
  41
  42 class Cell {
  43         private:
  44                 std::vector<RRTNode *> nodes_;
  45                 pthread_mutex_t m_;
  46                 bool changed_ = false;
  47         public:
  48                 Cell();
  49
  50                 // getter
  51                 bool changed();
  52                 std::vector<RRTNode *> nodes();
  53
  54                 // other
  55                 void add_node(RRTNode *n);
  56 };
  57
  58 class RRTBase {
  59         private:
  60                 RRTNode *root_ = nullptr;
  61                 RRTNode *goal_ = nullptr;
  62                 std::vector<RRTNode *> goals_;
  63
  64                 std::vector<RRTNode *> nodes_;
  65                 std::vector<RRTNode *> dnodes_;
  66                 PolygonObstacle frame_;
  67                 std::vector<RRTNode *> samples_;
  68                 std::vector<CircleObstacle> *cobstacles_;
  69                 std::vector<SegmentObstacle> *sobstacles_;
  70
  71                 bool goal_found_ = false;
  72                 std::chrono::high_resolution_clock::time_point tstart_;
  73                 std::chrono::high_resolution_clock::time_point tend_;
  74
  75                 std::vector<float> clog_; // costs of trajectories
  76                 std::vector<float> nlog_; // #nodes of RRT
  77                 std::vector<std::vector<RRTEdge *>> rlog_; // log tree
  78                 std::vector<float> slog_; // seconds of trajectories
  79                 std::vector<std::vector<RRTNode *>> tlog_; // trajectories
  80                 std::vector<RRTNode *> slot_cusp_; // cusp nodes in slot
  81
  82                 std::default_random_engine gen_;
  83         public:
  84                 const float GOAL_FOUND_DISTANCE = 0.2;
  85                 const float GOAL_FOUND_ANGLE = M_PI / 32;
  86
  87                 ~RRTBase();
  88                 RRTBase();
  89                 RRTBase(RRTNode *init, RRTNode *goal);
  90
  91                 // getter
  92                 RRTNode *root();
  93                 RRTNode *goal();
  94                 std::vector<RRTNode *> &goals();
  95                 std::vector<RRTNode *> &nodes();
  96                 std::vector<RRTNode *> &dnodes();
  97                 PolygonObstacle &frame();
  98                 std::vector<RRTNode *> &samples();
  99                 std::vector<RRTNode *> iy_[IYSIZE];
 100                 Cell ixy_[IXSIZE][IYSIZE];
 101                 std::vector<CircleObstacle> *co();
 102                 std::vector<SegmentObstacle> *so();
 103                 std::vector<float> &clog();
 104                 std::vector<float> &nlog();
 105                 std::vector<std::vector<RRTEdge *>> &rlog();
 106                 std::vector<float> &slog();
 107                 std::vector<std::vector<RRTNode *>> &tlog();
 108                 std::vector<RRTNode *> &slot_cusp();
 109                 bool goal_found();
 110                 float elapsed();
 111                 std::vector<RRTNode *> traj_cusp();
 112
 113                 // setter
 114                 void root(RRTNode *node);
 115                 void goal(RRTNode *node);
 116                 void goals(std::vector<RRTNode *> g);
 117                 bool logr(RRTNode *root);
 118                 float ocost(RRTNode *n);
 119                 bool tlog(std::vector<RRTNode *> t);
 120                 void tstart();
 121                 void tend();
 122                 bool link_obstacles(
 123                                 std::vector<CircleObstacle> *cobstacles,
 124                                 std::vector<SegmentObstacle> *sobstacles);
 125                 bool add_iy(RRTNode *n);
 126                 bool add_ixy(RRTNode *n);
 127                 bool goal_found(bool f);
 128                 void slot_cusp(std::vector<RRTNode *> sc);
 129
 130                 // other
 131                 bool glplot();
 132                 bool goal_found(
 133                                 RRTNode *node,
 134                                 float (*cost)(RRTNode *, RRTNode *));
 135                 bool goal_found(
 136                         RRTNode *node,
 137                         RRTNode *goal
 138                 );
 139                 bool collide(RRTNode *init, RRTNode *goal);
 140                 bool optp_dijkstra(
 141                                 std::vector<RRTNode *> &cusps,
 142                                 std::vector<int> &npi);
 143                 bool optp_rrp(
 144                                 std::vector<RRTNode *> &cusps,
 145                                 std::vector<int> &npi);
 146                 bool optp_smart(
 147                                 std::vector<RRTNode *> &cusps,
 148                                 std::vector<int> &npi);
 149                 bool opt_path();
 150                 bool rebase(RRTNode *nr);
 151                 std::vector<RRTNode *> findt();
 152                 std::vector<RRTNode *> findt(RRTNode *n);
 153
 154                 // RRT Framework
 155                 SamplingInfo samplingInfo_;
 156                 bool useSamplingInfo_ = false;
 157                 RRTNode *sample();
 158                 float cost(RRTNode *init, RRTNode *goal);
 159                 RRTNode *nn(RRTNode *rs);
 160                 std::vector<RRTNode *> nv(RRTNode *node, float dist);
 161                 std::vector<RRTNode *> steer(RRTNode *init, RRTNode *goal);
 162                 std::vector<RRTNode *> steer(
 163                                 RRTNode *init,
 164                                 RRTNode *goal,
 165                                 float step);
 166
 167                 // virtuals - implemented by child classes
 168                 virtual bool next() = 0;
 169 };
 170
 171 #endif