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         RRTNode *nn;
  66         std::vector<RRTNode *> tr;
  67         while(!p.goal_found()) {
  68                 p.tstart();
  69                 p.tend();
  70                 while (p.elapsed() < TMAX) {
  71                         p.next();
  72                         p.tend();
  73                 }
  74                 nn = p.nn(p.iy_, p.goal(), p.cost);
  75                 tr = p.findt(nn);
  76                 p.tlog(tr);
  77                 p.logr(p.root());
  78                 p.rebase(nn);
  79         }
  80
  81         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
  82         std::cerr << "Goal found is " << p.goal_found() << std::endl;
  83         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
  84         std::cerr << "#samples is " << p.samples().size() << std::endl;
  85         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
  86         std::cerr << "trajectories costs:" << std::endl;
  87         for (j = 0; j < p.clog().size(); j++)
  88                 std::cerr << "- " << p.clog()[j] << std::endl;
  89         std::cerr << "RRT #nodes:" << std::endl;
  90         for (j = 0; j < p.nlog().size(); j++)
  91                 std::cerr << "- " << p.nlog()[j] << std::endl;
  92         std::cerr << "trajectories seconds:" << std::endl;
  93         for (j = 0; j < p.slog().size(); j++)
  94                 std::cerr << "- " << p.slog()[j] << std::endl;
  95         std::cerr << "RRT edges (from root) log size: " << p.rlog().size() << std::endl;
  96         for (auto edges: p.rlog())
  97                 std::cerr << "- " << edges.size() << std::endl;
  98
  99         // JSON output
 100         jvo["elap"] = p.elapsed();
 101         // log cost
 102         for (j = 0; j < p.clog().size(); j++)
 103                 jvo["cost"][j] = p.clog()[j];
 104         // log #nodes
 105         for (j = 0; j < p.nlog().size(); j++)
 106                 jvo["node"][j] = p.nlog()[j];
 107         // log seconds
 108         for (j = 0; j < p.slog().size(); j++)
 109                 jvo["secs"][j] = p.slog()[j];
 110         // log traj
 111         i = 0;
 112         j = 0;
 113         for (auto traj: p.tlog()) {
 114                 i = 0;
 115                 for (auto n: traj) {
 116                         jvo["traj"][j][i][0] = n->x();
 117                         jvo["traj"][j][i][1] = n->y();
 118                         jvo["traj"][j][i][2] = n->h();
 119                         i++;
 120                 }
 121                 j++;
 122         }
 123         // log edges
 124         i = 0;
 125         j = 0;
 126         for (auto edges: p.rlog()) {
 127                 j = 0;
 128                 for (auto e: edges) {
 129                         jvo["edge"][i][j][0][0] = e->init()->x();
 130                         jvo["edge"][i][j][0][1] = e->init()->y();
 131                         jvo["edge"][i][j][1][0] = e->goal()->x();
 132                         jvo["edge"][i][j][1][1] = e->goal()->y();
 133                         j++;
 134                 }
 135                 i++;
 136         }
 137 #if JSONLOGSAMPLES > 0
 138         // log samples
 139         i = 0;
 140         j = 0;
 141         for (auto s: p.samples()) {
 142                 jvo["samp"][j][0] = s->x();
 143                 jvo["samp"][j][1] = s->y();
 144                 jvo["samp"][j][2] = s->h();
 145                 j++;
 146         }
 147 #endif
 148         // print output
 149         std::cout << jvo << std::endl;
 150
 151         // free mem
 152         for (auto o: so) {
 153                 delete o.init();
 154                 delete o.goal();
 155         }
 156         return 0;
 157 }