base/rrtbase.cc

   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 #include <cmath>
  19 #include <omp.h>
  20 #include "bcar.h"
  21 #include "rrtbase.h"
  22
  23 RRTBase::~RRTBase()
  24 {
  25         for (auto n: this->nodes_)
  26                 if (n != this->root_)
  27                         delete n;
  28         for (auto n: this->dnodes_)
  29                 if (n != this->root_ && n != this->goal_)
  30                         delete n;
  31         for (auto s: this->samples_)
  32                 if (s != this->goal_)
  33                         delete s;
  34         for (auto edges: this->rlog_)
  35                 for (auto e: edges)
  36                         delete e;
  37         delete this->root_;
  38         delete this->goal_;
  39 }
  40
  41 RRTBase::RRTBase():
  42         root_(new RRTNode()),
  43         goal_(new RRTNode())
  44 {
  45         this->nodes_.push_back(this->root_);
  46         this->add_iy(this->root_);
  47 }
  48
  49 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  50         root_(init),
  51         goal_(goal)
  52 {
  53         this->nodes_.push_back(init);
  54         this->add_iy(init);
  55 }
  56
  57 RRTNode *RRTBase::root()
  58 {
  59         return this->root_;
  60 }
  61
  62 RRTNode *RRTBase::goal()
  63 {
  64         return this->goal_;
  65 }
  66
  67 std::vector<RRTNode *> &RRTBase::nodes()
  68 {
  69         return this->nodes_;
  70 }
  71
  72 std::vector<RRTNode *> &RRTBase::dnodes()
  73 {
  74         return this->dnodes_;
  75 }
  76
  77 std::vector<RRTNode *> &RRTBase::samples()
  78 {
  79         return this->samples_;
  80 }
  81
  82 std::vector<CircleObstacle> *RRTBase::cos()
  83 {
  84         return this->cobstacles_;
  85 }
  86
  87 std::vector<SegmentObstacle> *RRTBase::sos()
  88 {
  89         return this->sobstacles_;
  90 }
  91
  92 std::vector<float> &RRTBase::clog()
  93 {
  94         return this->clog_;
  95 }
  96
  97 std::vector<float> &RRTBase::nlog()
  98 {
  99         return this->nlog_;
 100 }
 101
 102 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 103 {
 104         return this->rlog_;
 105 }
 106
 107 std::vector<float> &RRTBase::slog()
 108 {
 109         return this->slog_;
 110 }
 111
 112 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 113 {
 114         return this->tlog_;
 115 }
 116
 117 bool RRTBase::goal_found()
 118 {
 119         return this->goal_found_;
 120 }
 121
 122 float RRTBase::elapsed()
 123 {
 124         std::chrono::duration<float> dt;
 125         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 126                         this->tend_ - this->tstart_);
 127         return dt.count();
 128 }
 129
 130 bool RRTBase::logr(RRTNode *root)
 131 {
 132         std::vector<RRTEdge *> e; // Edges to log
 133         std::vector<RRTNode *> s; // DFS stack
 134         std::vector<RRTNode *> r; // reset visited_
 135         RRTNode *tmp;
 136         s.push_back(root);
 137         while (s.size() > 0) {
 138                 tmp = s.back();
 139                 s.pop_back();
 140                 if (!tmp->visit()) {
 141                         r.push_back(tmp);
 142                         for (auto ch: tmp->children()) {
 143                                 s.push_back(ch);
 144                                 e.push_back(new RRTEdge(tmp, ch));
 145                         }
 146                 }
 147         }
 148         for (auto n: r)
 149                 n->visit(false);
 150         this->rlog_.push_back(e);
 151         return true;
 152 }
 153
 154 float RRTBase::ocost(RRTNode *n)
 155 {
 156         float dist = 9999;
 157         for (auto o: *this->cobstacles_)
 158                 if (o.dist_to(n) < dist)
 159                         dist = o.dist_to(n);
 160         for (auto o: *this->sobstacles_)
 161                 if (o.dist_to(n) < dist)
 162                         dist = o.dist_to(n);
 163         return n->ocost(dist);
 164 }
 165
 166 bool RRTBase::tlog(std::vector<RRTNode *> t)
 167 {
 168         if (t.size() > 0) {
 169                 this->slog_.push_back(this->elapsed());
 170                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 171                 this->nlog_.push_back(this->nodes_.size());
 172                 this->tlog_.push_back(t);
 173                 return true;
 174         } else {
 175                 return false;
 176         }
 177 }
 178
 179 void RRTBase::tstart()
 180 {
 181         this->tstart_ = std::chrono::high_resolution_clock::now();
 182 }
 183
 184 void RRTBase::tend()
 185 {
 186         this->tend_ = std::chrono::high_resolution_clock::now();
 187 }
 188
 189 bool RRTBase::link_obstacles(
 190                 std::vector<CircleObstacle> *cobstacles,
 191                 std::vector<SegmentObstacle> *sobstacles)
 192 {
 193         this->cobstacles_ = cobstacles;
 194         this->sobstacles_ = sobstacles;
 195         if (!this->cobstacles_ || !this->sobstacles_) {
 196                 return false;
 197         }
 198         return true;
 199 }
 200
 201 bool RRTBase::add_iy(RRTNode *n)
 202 {
 203         int i = IYI(n->y());
 204         if (i < 0)
 205                 i = 0;
 206         if (i >= IYSIZE)
 207                 i = IYSIZE - 1;
 208         this->iy_[i].push_back(n);
 209         return true;
 210 }
 211
 212 bool RRTBase::goal_found(
 213                 RRTNode *node,
 214                 float (*cost)(RRTNode *, RRTNode* ))
 215 {
 216         float xx = pow(node->x() - this->goal_->x(), 2);
 217         float yy = pow(node->y() - this->goal_->y(), 2);
 218         float dh = std::abs(node->h() - this->goal_->h());
 219         if (pow(xx + yy, 0.5) < this->GOAL_FOUND_DISTANCE &&
 220                         dh < this->GOAL_FOUND_ANGLE) {
 221                 if (this->goal_found_) {
 222                         if (node->ccost() + (*cost)(node, this->goal_) <
 223                                         this->goal_->ccost()) {
 224                                 RRTNode *op; // old parent
 225                                 float oc; // old cumulative cost
 226                                 float od; // old direct cost
 227                                 op = this->goal_->parent();
 228                                 oc = this->goal_->ccost();
 229                                 od = this->goal_->dcost();
 230                                 node->add_child(this->goal_,
 231                                                 (*cost)(node, this->goal_));
 232                                 if (this->collide(node, this->goal_)) {
 233                                         node->children().pop_back();
 234                                         this->goal_->parent(op);
 235                                         this->goal_->ccost(oc);
 236                                         this->goal_->dcost(od);
 237                                 } else {
 238                                         op->rem_child(this->goal_);
 239                                         return true;
 240                                 }
 241                         } else {
 242                                 return false;
 243                         }
 244                 } else {
 245                         node->add_child(
 246                                         this->goal_,
 247                                         (*cost)(node, this->goal_));
 248                         if (this->collide(node, this->goal_)) {
 249                                 node->children().pop_back();
 250                                 this->goal_->remove_parent();
 251                                 return false;
 252                         }
 253                         this->goal_found_ = true;
 254                         return true;
 255                 }
 256         }
 257         return false;
 258 }
 259
 260 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 261 {
 262         std::vector<RRTEdge *> edges;
 263         RRTNode *tmp = goal;
 264         volatile bool col = false;
 265         unsigned int i;
 266         while (tmp != init) {
 267                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 268                 std::vector<RRTEdge *> bcframe = bc.frame();
 269                 #pragma omp parallel for reduction(|: col)
 270                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 271                         if ((*this->cobstacles_)[i].collide(tmp)) {
 272                                 col = true;
 273                         }
 274                         // TODO collide with car frame
 275                 }
 276                 if (col) {
 277                         for (auto e: bcframe) {
 278                                 delete e->init();
 279                                 delete e->goal();
 280                                 delete e;
 281                         }
 282                         for (auto e: edges) {
 283                                 delete e;
 284                         }
 285                         return true;
 286                 }
 287                 #pragma omp parallel for reduction(|: col)
 288                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 289                         for (auto &e: bcframe) {
 290                                 if ((*this->sobstacles_)[i].collide(e)) {
 291                                         col = true;
 292                                 }
 293                         }
 294                 }
 295                 if (col) {
 296                         for (auto e: bcframe) {
 297                                 delete e->init();
 298                                 delete e->goal();
 299                                 delete e;
 300                         }
 301                         for (auto e: edges) {
 302                                 delete e;
 303                         }
 304                         return true;
 305                 }
 306                 if (!tmp->parent()) {
 307                         break;
 308                 }
 309                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 310                 tmp = tmp->parent();
 311                 for (auto e: bcframe) {
 312                         delete e->init();
 313                         delete e->goal();
 314                         delete e;
 315                 }
 316         }
 317         for (auto &e: edges) {
 318                 #pragma omp parallel for reduction(|: col)
 319                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 320                         if ((*this->cobstacles_)[i].collide(e)) {
 321                                 col = true;
 322                         }
 323                 }
 324                 if (col) {
 325                         for (auto e: edges) {
 326                                 delete e;
 327                         }
 328                         return true;
 329                 }
 330                 #pragma omp parallel for reduction(|: col)
 331                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 332                         if ((*this->sobstacles_)[i].collide(e)) {
 333                                 col = true;
 334                         }
 335                 }
 336                 if (col) {
 337                         for (auto e: edges) {
 338                                 delete e;
 339                         }
 340                         return true;
 341                 }
 342         }
 343         for (auto e: edges) {
 344                 delete e;
 345         }
 346         return false;
 347 }
 348
 349 bool RRTBase::rebase(RRTNode *nr)
 350 {
 351         if (this->goal_ == nr || this->root_ == nr)
 352                 return false;
 353         std::vector<RRTNode *> s; // DFS stack
 354         RRTNode *tmp;
 355         unsigned int i = 0;
 356         unsigned int to_del = 0;
 357         int iy = 0;
 358         s.push_back(this->root_);
 359         while (s.size() > 0) {
 360                 tmp = s.back();
 361                 s.pop_back();
 362                 for (auto ch: tmp->children()) {
 363                         if (ch != nr)
 364                                 s.push_back(ch);
 365                 }
 366                 to_del = this->nodes_.size();
 367                 #pragma omp parallel for reduction(min: to_del)
 368                 for (i = 0; i < this->nodes_.size(); i++) {
 369                         if (this->nodes_[i] == tmp)
 370                                 to_del = i;
 371                 }
 372                 if (to_del < this->nodes_.size())
 373                         this->nodes_.erase(this->nodes_.begin() + to_del);
 374 #if NNVERSION > 1
 375                 iy = IYI(tmp->y());
 376                 to_del = this->iy_[iy].size();
 377                 #pragma omp parallel  for reduction(min: to_del)
 378                 for (i = 0; i < this->iy_[iy].size(); i++) {
 379                         if (this->iy_[iy][i] == tmp)
 380                                 to_del = i;
 381                 }
 382                 if (to_del < this->iy_[iy].size())
 383                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 384 #endif
 385                 this->dnodes().push_back(tmp);
 386         }
 387         this->root_ = nr;
 388         this->root_->remove_parent();
 389         return true;
 390 }
 391
 392 std::vector<RRTNode *> RRTBase::findt()
 393 {
 394         return this->findt(this->goal_);
 395 }
 396
 397 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 398 {
 399         std::vector<RRTNode *> nodes;
 400         if (!n->parent())
 401                 return nodes;
 402         RRTNode *tmp = n;
 403         while (tmp) {
 404                 nodes.push_back(tmp);
 405                 tmp = tmp->parent();
 406         }
 407         return nodes;
 408 }