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 // OpenGL
  23 #include <GL/gl.h>
  24 #include <GL/glu.h>
  25 #include <SDL2/SDL.h>
  26
  27 extern SDL_Window* gw;
  28 extern SDL_GLContext gc;
  29
  30 RRTBase::~RRTBase()
  31 {
  32         for (auto n: this->nodes_)
  33                 if (n != this->root_)
  34                         delete n;
  35         for (auto n: this->dnodes_)
  36                 if (n != this->root_ && n != this->goal_)
  37                         delete n;
  38         for (auto s: this->samples_)
  39                 if (s != this->goal_)
  40                         delete s;
  41         for (auto edges: this->rlog_)
  42                 for (auto e: edges)
  43                         delete e;
  44         delete this->root_;
  45         delete this->goal_;
  46 }
  47
  48 RRTBase::RRTBase():
  49         root_(new RRTNode()),
  50         goal_(new RRTNode())
  51 {
  52         this->nodes_.push_back(this->root_);
  53         this->add_iy(this->root_);
  54 }
  55
  56 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  57         root_(init),
  58         goal_(goal)
  59 {
  60         this->nodes_.push_back(init);
  61         this->add_iy(init);
  62 }
  63
  64 RRTNode *RRTBase::root()
  65 {
  66         return this->root_;
  67 }
  68
  69 RRTNode *RRTBase::goal()
  70 {
  71         return this->goal_;
  72 }
  73
  74 std::vector<RRTNode *> &RRTBase::nodes()
  75 {
  76         return this->nodes_;
  77 }
  78
  79 std::vector<RRTNode *> &RRTBase::dnodes()
  80 {
  81         return this->dnodes_;
  82 }
  83
  84 std::vector<RRTNode *> &RRTBase::samples()
  85 {
  86         return this->samples_;
  87 }
  88
  89 std::vector<CircleObstacle> *RRTBase::cos()
  90 {
  91         return this->cobstacles_;
  92 }
  93
  94 std::vector<SegmentObstacle> *RRTBase::sos()
  95 {
  96         return this->sobstacles_;
  97 }
  98
  99 std::vector<float> &RRTBase::clog()
 100 {
 101         return this->clog_;
 102 }
 103
 104 std::vector<float> &RRTBase::nlog()
 105 {
 106         return this->nlog_;
 107 }
 108
 109 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 110 {
 111         return this->rlog_;
 112 }
 113
 114 std::vector<float> &RRTBase::slog()
 115 {
 116         return this->slog_;
 117 }
 118
 119 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 120 {
 121         return this->tlog_;
 122 }
 123
 124 bool RRTBase::goal_found()
 125 {
 126         return this->goal_found_;
 127 }
 128
 129 float RRTBase::elapsed()
 130 {
 131         std::chrono::duration<float> dt;
 132         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 133                         this->tend_ - this->tstart_);
 134         return dt.count();
 135 }
 136
 137 bool RRTBase::logr(RRTNode *root)
 138 {
 139         std::vector<RRTEdge *> e; // Edges to log
 140         std::vector<RRTNode *> s; // DFS stack
 141         std::vector<RRTNode *> r; // reset visited_
 142         RRTNode *tmp;
 143         s.push_back(root);
 144         while (s.size() > 0) {
 145                 tmp = s.back();
 146                 s.pop_back();
 147                 if (!tmp->visit()) {
 148                         r.push_back(tmp);
 149                         for (auto ch: tmp->children()) {
 150                                 s.push_back(ch);
 151                                 e.push_back(new RRTEdge(tmp, ch));
 152                         }
 153                 }
 154         }
 155         for (auto n: r)
 156                 n->visit(false);
 157         this->rlog_.push_back(e);
 158         return true;
 159 }
 160
 161 float RRTBase::ocost(RRTNode *n)
 162 {
 163         float dist = 9999;
 164         for (auto o: *this->cobstacles_)
 165                 if (o.dist_to(n) < dist)
 166                         dist = o.dist_to(n);
 167         for (auto o: *this->sobstacles_)
 168                 if (o.dist_to(n) < dist)
 169                         dist = o.dist_to(n);
 170         return n->ocost(dist);
 171 }
 172
 173 bool RRTBase::tlog(std::vector<RRTNode *> t)
 174 {
 175         if (t.size() > 0) {
 176                 this->slog_.push_back(this->elapsed());
 177                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 178                 this->nlog_.push_back(this->nodes_.size());
 179                 this->tlog_.push_back(t);
 180                 return true;
 181         } else {
 182                 return false;
 183         }
 184 }
 185
 186 void RRTBase::tstart()
 187 {
 188         this->tstart_ = std::chrono::high_resolution_clock::now();
 189 }
 190
 191 void RRTBase::tend()
 192 {
 193         this->tend_ = std::chrono::high_resolution_clock::now();
 194 }
 195
 196 bool RRTBase::link_obstacles(
 197                 std::vector<CircleObstacle> *cobstacles,
 198                 std::vector<SegmentObstacle> *sobstacles)
 199 {
 200         this->cobstacles_ = cobstacles;
 201         this->sobstacles_ = sobstacles;
 202         if (!this->cobstacles_ || !this->sobstacles_) {
 203                 return false;
 204         }
 205         return true;
 206 }
 207
 208 bool RRTBase::add_iy(RRTNode *n)
 209 {
 210         int i = IYI(n->y());
 211         if (i < 0)
 212                 i = 0;
 213         if (i >= IYSIZE)
 214                 i = IYSIZE - 1;
 215         this->iy_[i].push_back(n);
 216         return true;
 217 }
 218
 219 bool RRTBase::glplot()
 220 {
 221         std::vector<RRTNode *> s; // DFS stack
 222         std::vector<RRTNode *> r; // reset visited_
 223         RRTNode *tmp;
 224         glClear(GL_COLOR_BUFFER_BIT);
 225         glBegin(GL_LINES);
 226         s.push_back(this->root_);
 227         while (s.size() > 0) {
 228                 tmp = s.back();
 229                 s.pop_back();
 230                 if (!tmp->visit()) {
 231                         r.push_back(tmp);
 232                         for (auto ch: tmp->children()) {
 233                                 s.push_back(ch);
 234                                 glColor3f(0.5, 0.5, 0.5);
 235                                 glVertex2f(tmp->x() * GLPLWSCALE,
 236                                                 tmp->y() * GLPLHSCALE);
 237                                 glVertex2f(ch->x() * GLPLWSCALE,
 238                                                 ch->y() *GLPLHSCALE);
 239                         }
 240                 }
 241         }
 242         glEnd();
 243         SDL_GL_SwapWindow(gw);
 244         for (auto n: r)
 245                 n->visit(false);
 246         return true;
 247 }
 248
 249 bool RRTBase::goal_found(
 250                 RRTNode *node,
 251                 float (*cost)(RRTNode *, RRTNode* ))
 252 {
 253         float xx = pow(node->x() - this->goal_->x(), 2);
 254         float yy = pow(node->y() - this->goal_->y(), 2);
 255         float dh = std::abs(node->h() - this->goal_->h());
 256         if (pow(xx + yy, 0.5) < this->GOAL_FOUND_DISTANCE &&
 257                         dh < this->GOAL_FOUND_ANGLE) {
 258                 if (this->goal_found_) {
 259                         if (node->ccost() + (*cost)(node, this->goal_) <
 260                                         this->goal_->ccost()) {
 261                                 RRTNode *op; // old parent
 262                                 float oc; // old cumulative cost
 263                                 float od; // old direct cost
 264                                 op = this->goal_->parent();
 265                                 oc = this->goal_->ccost();
 266                                 od = this->goal_->dcost();
 267                                 node->add_child(this->goal_,
 268                                                 (*cost)(node, this->goal_));
 269                                 if (this->collide(node, this->goal_)) {
 270                                         node->children().pop_back();
 271                                         this->goal_->parent(op);
 272                                         this->goal_->ccost(oc);
 273                                         this->goal_->dcost(od);
 274                                 } else {
 275                                         op->rem_child(this->goal_);
 276                                         return true;
 277                                 }
 278                         } else {
 279                                 return false;
 280                         }
 281                 } else {
 282                         node->add_child(
 283                                         this->goal_,
 284                                         (*cost)(node, this->goal_));
 285                         if (this->collide(node, this->goal_)) {
 286                                 node->children().pop_back();
 287                                 this->goal_->remove_parent();
 288                                 return false;
 289                         }
 290                         this->goal_found_ = true;
 291                         return true;
 292                 }
 293         }
 294         return false;
 295 }
 296
 297 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 298 {
 299         std::vector<RRTEdge *> edges;
 300         RRTNode *tmp = goal;
 301         volatile bool col = false;
 302         unsigned int i;
 303         while (tmp != init) {
 304                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 305                 std::vector<RRTEdge *> bcframe = bc.frame();
 306                 #pragma omp parallel for reduction(|: col)
 307                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 308                         if ((*this->cobstacles_)[i].collide(tmp)) {
 309                                 col = true;
 310                         }
 311                         // TODO collide with car frame
 312                 }
 313                 if (col) {
 314                         for (auto e: bcframe) {
 315                                 delete e->init();
 316                                 delete e->goal();
 317                                 delete e;
 318                         }
 319                         for (auto e: edges) {
 320                                 delete e;
 321                         }
 322                         return true;
 323                 }
 324                 #pragma omp parallel for reduction(|: col)
 325                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 326                         for (auto &e: bcframe) {
 327                                 if ((*this->sobstacles_)[i].collide(e)) {
 328                                         col = true;
 329                                 }
 330                         }
 331                 }
 332                 if (col) {
 333                         for (auto e: bcframe) {
 334                                 delete e->init();
 335                                 delete e->goal();
 336                                 delete e;
 337                         }
 338                         for (auto e: edges) {
 339                                 delete e;
 340                         }
 341                         return true;
 342                 }
 343                 if (!tmp->parent()) {
 344                         break;
 345                 }
 346                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 347                 tmp = tmp->parent();
 348                 for (auto e: bcframe) {
 349                         delete e->init();
 350                         delete e->goal();
 351                         delete e;
 352                 }
 353         }
 354         for (auto &e: edges) {
 355                 #pragma omp parallel for reduction(|: col)
 356                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 357                         if ((*this->cobstacles_)[i].collide(e)) {
 358                                 col = true;
 359                         }
 360                 }
 361                 if (col) {
 362                         for (auto e: edges) {
 363                                 delete e;
 364                         }
 365                         return true;
 366                 }
 367                 #pragma omp parallel for reduction(|: col)
 368                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 369                         if ((*this->sobstacles_)[i].collide(e)) {
 370                                 col = true;
 371                         }
 372                 }
 373                 if (col) {
 374                         for (auto e: edges) {
 375                                 delete e;
 376                         }
 377                         return true;
 378                 }
 379         }
 380         for (auto e: edges) {
 381                 delete e;
 382         }
 383         return false;
 384 }
 385
 386 bool RRTBase::rebase(RRTNode *nr)
 387 {
 388         if (this->goal_ == nr || this->root_ == nr)
 389                 return false;
 390         std::vector<RRTNode *> s; // DFS stack
 391         RRTNode *tmp;
 392         unsigned int i = 0;
 393         unsigned int to_del = 0;
 394         int iy = 0;
 395         s.push_back(this->root_);
 396         while (s.size() > 0) {
 397                 tmp = s.back();
 398                 s.pop_back();
 399                 for (auto ch: tmp->children()) {
 400                         if (ch != nr)
 401                                 s.push_back(ch);
 402                 }
 403                 to_del = this->nodes_.size();
 404                 #pragma omp parallel for reduction(min: to_del)
 405                 for (i = 0; i < this->nodes_.size(); i++) {
 406                         if (this->nodes_[i] == tmp)
 407                                 to_del = i;
 408                 }
 409                 if (to_del < this->nodes_.size())
 410                         this->nodes_.erase(this->nodes_.begin() + to_del);
 411 #if NNVERSION > 1
 412                 iy = IYI(tmp->y());
 413                 to_del = this->iy_[iy].size();
 414                 #pragma omp parallel  for reduction(min: to_del)
 415                 for (i = 0; i < this->iy_[iy].size(); i++) {
 416                         if (this->iy_[iy][i] == tmp)
 417                                 to_del = i;
 418                 }
 419                 if (to_del < this->iy_[iy].size())
 420                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 421 #endif
 422                 this->dnodes().push_back(tmp);
 423         }
 424         this->root_ = nr;
 425         this->root_->remove_parent();
 426         return true;
 427 }
 428
 429 std::vector<RRTNode *> RRTBase::findt()
 430 {
 431         return this->findt(this->goal_);
 432 }
 433
 434 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 435 {
 436         std::vector<RRTNode *> nodes;
 437         if (!n->parent())
 438                 return nodes;
 439         RRTNode *tmp = n;
 440         while (tmp) {
 441                 nodes.push_back(tmp);
 442                 tmp = tmp->parent();
 443         }
 444         return nodes;
 445 }