base/main.cc

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is nree 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 <iostream>
  19 #include <jsoncpp/json/json.h>
  20 #include "compile.h"
  21 #include "obstacle.h"
  22 #include "rrtplanner.h"
  23
  24 int main()
  25 {
  26         Json::Value jvi; // JSON input
  27         Json::Value jvo; // JSON output
  28         unsigned int i = 0;
  29         unsigned int j = 0;
  30         std::cin >> jvi;
  31         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  32
  33         PLANNER p(
  34                         new RRTNode(
  35                                 jvi["init"][0].asFloat(),
  36                                 jvi["init"][1].asFloat(),
  37                                 jvi["init"][2].asFloat()),
  38                         new RRTNode(
  39                                 jvi["goal"][0].asFloat(),
  40                                 jvi["goal"][1].asFloat(),
  41                                 jvi["goal"][2].asFloat()));
  42         std::vector<CircleObstacle> co;
  43         std::vector<SegmentObstacle> so;
  44         for (auto o: jvi["obst"]) {
  45                 if (o["circle"] != Json::nullValue) {
  46                         co.push_back(CircleObstacle(
  47                                                 o["circle"][0].asFloat(),
  48                                                 o["circle"][1].asFloat(),
  49                                                 o["circle"][2].asFloat()));
  50                 }
  51                 if (o["segment"] != Json::nullValue) {
  52                         so.push_back(SegmentObstacle(
  53                                 new RRTNode(
  54                                         o["segment"][0][0].asFloat(),
  55                                         o["segment"][0][1].asFloat(),
  56                                         0),
  57                                 new RRTNode(
  58                                         o["segment"][1][0].asFloat(),
  59                                         o["segment"][1][1].asFloat(),
  60                                         0)));
  61                 }
  62         }
  63         p.link_obstacles(&co, &so);
  64
  65         p.tstart();
  66         while (!p.goal_found() && p.elapsed() < TMAX) {
  67                 p.next();
  68                 p.tend();
  69         }
  70
  71         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
  72         std::cerr << "Goal found is " << p.goal_found() << std::endl;
  73         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
  74         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
  75         std::cerr << "trajectories costs:" << std::endl;
  76         for (j = 0; j < p.clog().size(); j++)
  77                 std::cerr << "- " << p.clog()[j] << std::endl;
  78         std::cerr << "RRT #nodes:" << std::endl;
  79         for (j = 0; j < p.nlog().size(); j++)
  80                 std::cerr << "- " << p.nlog()[j] << std::endl;
  81         std::cerr << "trajectories seconds:" << std::endl;
  82         for (j = 0; j < p.slog().size(); j++)
  83                 std::cerr << "- " << p.slog()[j] << std::endl;
  84
  85         // JSON output
  86         // log cost
  87         for (j = 0; j < p.clog().size(); j++)
  88                 jvo["cost"][j] = p.clog()[j];
  89         // log #nodes
  90         for (j = 0; j < p.nlog().size(); j++)
  91                 jvo["node"][j] = p.nlog()[j];
  92         // log seconds
  93         for (j = 0; j < p.slog().size(); j++)
  94                 jvo["secs"][j] = p.slog()[j];
  95         // log traj
  96         i = 0;
  97         j = 0;
  98         for (auto traj: p.tlog()) {
  99                 i = 0;
 100                 for (auto n: traj) {
 101                         jvo["traj"][j][i][0] = n->x();
 102                         jvo["traj"][j][i][1] = n->y();
 103                         jvo["traj"][j][i][2] = n->h();
 104                         i++;
 105                 }
 106                 j++;
 107         }
 108 #if JSONLOGEDGES > 0
 109         // log edges
 110         i = 0;
 111         j = 0;
 112         std::vector<RRTNode *> s; // DFS stack
 113         std::vector<RRTNode *> r; // reset visited_
 114         RRTNode *tmp;
 115         s.push_back(p.root());
 116         while(s.size() > 0) {
 117                 tmp = s.back();
 118                 s.pop_back();
 119                 if (!tmp->visit()) {
 120                         r.push_back(tmp);
 121                         for (auto ch: tmp->children()) {
 122                                 s.push_back(ch);
 123                                 jvo["edge"][j][0][0] = tmp->x();
 124                                 jvo["edge"][j][0][1] = tmp->y();
 125                                 jvo["edge"][j][1][0] = ch->x();
 126                                 jvo["edge"][j][1][1] = ch->y();
 127                                 j++;
 128                         }
 129                 }
 130         }
 131         for (auto n: r)
 132                 n->visit(false);
 133 #endif
 134 #if JSONLOGSAMPLES > 0
 135         // log samples
 136         i = 0;
 137         j = 0;
 138         for (auto s: p.samples()) {
 139                 jvo["samp"][j][0] = s->x();
 140                 jvo["samp"][j][1] = s->y();
 141                 jvo["samp"][j][2] = s->h();
 142                 j++;
 143         }
 144 #endif
 145         // print output
 146         std::cout << jvo << std::endl;
 147
 148         // free mem
 149         for (auto o: so) {
 150                 delete o.init();
 151                 delete o.goal();
 152         }
 153         for (auto n: p.nodes())
 154                 delete n;
 155         for (auto s: p.samples())
 156                 if (s != p.goal())
 157                         delete s;
 158         delete p.root();
 159         delete p.goal();
 160         return 0;
 161 }