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 bool RRTBase::tlog(std::vector<RRTNode *> t)
 155 {
 156         this->slog_.push_back(this->elapsed());
 157         this->clog_.push_back(this->goal_->ccost());
 158         this->nlog_.push_back(this->nodes_.size());
 159         this->tlog_.push_back(t);
 160         return true;
 161 }
 162
 163 void RRTBase::tstart()
 164 {
 165         this->tstart_ = std::chrono::high_resolution_clock::now();
 166 }
 167
 168 void RRTBase::tend()
 169 {
 170         this->tend_ = std::chrono::high_resolution_clock::now();
 171 }
 172
 173 bool RRTBase::link_obstacles(
 174                 std::vector<CircleObstacle> *cobstacles,
 175                 std::vector<SegmentObstacle> *sobstacles)
 176 {
 177         this->cobstacles_ = cobstacles;
 178         this->sobstacles_ = sobstacles;
 179         if (!this->cobstacles_ || !this->sobstacles_) {
 180                 return false;
 181         }
 182         return true;
 183 }
 184
 185 bool RRTBase::add_iy(RRTNode *n)
 186 {
 187         int i = floor(n->y() / IYSTEP);
 188         this->iy_[i].push_back(n);
 189         return true;
 190 }
 191
 192 bool RRTBase::goal_found(
 193                 RRTNode *node,
 194                 float (*cost)(RRTNode *, RRTNode* ))
 195 {
 196         float xx = pow(node->x() - this->goal_->x(), 2);
 197         float yy = pow(node->y() - this->goal_->y(), 2);
 198         float dh = std::abs(node->h() - this->goal_->h());
 199         if (pow(xx + yy, 0.5) < this->GOAL_FOUND_DISTANCE &&
 200                         dh < this->GOAL_FOUND_ANGLE) {
 201                 if (this->goal_found_) {
 202                         if (node->ccost() + (*cost)(node, this->goal_) <
 203                                         this->goal_->ccost()) {
 204                                 RRTNode *op; // old parent
 205                                 float oc; // old cumulative cost
 206                                 float od; // old direct cost
 207                                 op = this->goal_->parent();
 208                                 oc = this->goal_->ccost();
 209                                 od = this->goal_->dcost();
 210                                 node->add_child(this->goal_,
 211                                                 (*cost)(node, this->goal_));
 212                                 if (this->collide(node, this->goal_)) {
 213                                         node->children().pop_back();
 214                                         this->goal_->parent(op);
 215                                         this->goal_->ccost(oc);
 216                                         this->goal_->dcost(od);
 217                                 } else {
 218                                         op->rem_child(this->goal_);
 219                                         return true;
 220                                 }
 221                         } else {
 222                                 return false;
 223                         }
 224                 } else {
 225                         node->add_child(
 226                                         this->goal_,
 227                                         (*cost)(node, this->goal_));
 228                         if (this->collide(node, this->goal_)) {
 229                                 node->children().pop_back();
 230                                 this->goal_->remove_parent();
 231                                 return false;
 232                         }
 233                         this->goal_found_ = true;
 234                         return true;
 235                 }
 236         }
 237         return false;
 238 }
 239
 240 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 241 {
 242         std::vector<RRTEdge *> edges;
 243         RRTNode *tmp = goal;
 244         volatile bool col = false;
 245         unsigned int i;
 246         while (tmp != init) {
 247                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 248                 std::vector<RRTEdge *> bcframe = bc.frame();
 249                 #pragma omp parallel for reduction(|: col)
 250                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 251                         if ((*this->cobstacles_)[i].collide(tmp)) {
 252                                 col = true;
 253                         }
 254                         // TODO collide with car frame
 255                 }
 256                 if (col) {
 257                         for (auto e: bcframe) {
 258                                 delete e->init();
 259                                 delete e->goal();
 260                                 delete e;
 261                         }
 262                         for (auto e: edges) {
 263                                 delete e;
 264                         }
 265                         return true;
 266                 }
 267                 #pragma omp parallel for reduction(|: col)
 268                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 269                         for (auto &e: bcframe) {
 270                                 if ((*this->sobstacles_)[i].collide(e)) {
 271                                         col = true;
 272                                 }
 273                         }
 274                 }
 275                 if (col) {
 276                         for (auto e: bcframe) {
 277                                 delete e->init();
 278                                 delete e->goal();
 279                                 delete e;
 280                         }
 281                         for (auto e: edges) {
 282                                 delete e;
 283                         }
 284                         return true;
 285                 }
 286                 if (!tmp->parent()) {
 287                         break;
 288                 }
 289                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 290                 tmp = tmp->parent();
 291                 for (auto e: bcframe) {
 292                         delete e->init();
 293                         delete e->goal();
 294                         delete e;
 295                 }
 296         }
 297         for (auto &e: edges) {
 298                 #pragma omp parallel for reduction(|: col)
 299                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 300                         if ((*this->cobstacles_)[i].collide(e)) {
 301                                 col = true;
 302                         }
 303                 }
 304                 if (col) {
 305                         for (auto e: edges) {
 306                                 delete e;
 307                         }
 308                         return true;
 309                 }
 310                 #pragma omp parallel for reduction(|: col)
 311                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 312                         if ((*this->sobstacles_)[i].collide(e)) {
 313                                 col = true;
 314                         }
 315                 }
 316                 if (col) {
 317                         for (auto e: edges) {
 318                                 delete e;
 319                         }
 320                         return true;
 321                 }
 322         }
 323         for (auto e: edges) {
 324                 delete e;
 325         }
 326         return false;
 327 }
 328
 329 bool RRTBase::rebase(RRTNode *nr)
 330 {
 331         std::vector<RRTNode *> s; // DFS stack
 332         RRTNode *tmp;
 333         unsigned int i = 0;
 334         unsigned int to_del = 0;
 335         int iy = 0;
 336         s.push_back(this->root_);
 337         while (s.size() > 0) {
 338                 tmp = s.back();
 339                 s.pop_back();
 340                 for (auto ch: tmp->children()) {
 341                         if (ch != nr)
 342                                 s.push_back(ch);
 343                 }
 344                 to_del = this->nodes_.size();
 345                 #pragma omp parallel for reduction(min: to_del)
 346                 for (i = 0; i < this->nodes_.size(); i++) {
 347                         if (this->nodes_[i] == tmp)
 348                                 to_del = i;
 349                 }
 350                 if (to_del < this->nodes_.size())
 351                         this->nodes_.erase(this->nodes_.begin() + to_del);
 352                 to_del = this->samples_.size();
 353                 #pragma omp parallel for reduction(min: to_del)
 354                 for (i = 0; i < this->samples_.size(); i++) {
 355                         if (this->samples_[i] == tmp)
 356                                 to_del = i;
 357                 }
 358                 if (to_del < this->samples_.size())
 359                         this->samples_.erase(this->nodes_.begin() + to_del);
 360                 iy = floor(tmp->y() / IYSTEP);
 361                 to_del = this->iy_[iy].size();
 362                 #pragma omp parallel  for reduction(min: to_del)
 363                 for (i = 0; i < this->iy_[iy].size(); i++) {
 364                         if (this->iy_[iy][i] == tmp)
 365                                 to_del = i;
 366                 }
 367                 if (to_del < this->iy_[iy].size())
 368                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 369                 this->dnodes().push_back(tmp);
 370         }
 371         this->root_ = nr;
 372         this->root_->remove_parent();
 373         return true;
 374 }
 375
 376 std::vector<RRTNode *> RRTBase::findt()
 377 {
 378         return this->findt(this->goal_);
 379 }
 380
 381 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 382 {
 383         std::vector<RRTNode *> nodes;
 384         if (!n->parent())
 385                 return nodes;
 386         RRTNode *tmp = n;
 387         while (tmp) {
 388                 nodes.push_back(tmp);
 389                 tmp = tmp->parent();
 390         }
 391         return nodes;
 392 }