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         glClear(GL_COLOR_BUFFER_BIT);
 222         glLineWidth(1);
 223         glPointSize(1);
 224         // Plot obstacles
 225         glBegin(GL_LINES);
 226         for (auto o: *this->sobstacles_) {
 227                 glColor3f(0, 0, 0);
 228                 glVertex2f(GLVERTEX(o.init()));
 229                 glVertex2f(GLVERTEX(o.goal()));
 230         }
 231         glEnd();
 232         // Plot root, goal
 233         glPointSize(8);
 234         glBegin(GL_POINTS);
 235         glColor3f(1, 0, 0);
 236         glVertex2f(GLVERTEX(this->root_));
 237         glVertex2f(GLVERTEX(this->goal_));
 238         glEnd();
 239         // Plot last sample
 240         glPointSize(8);
 241         glBegin(GL_POINTS);
 242         glColor3f(0, 1, 0);
 243         glVertex2f(GLVERTEX(this->samples_.back()));
 244         glEnd();
 245         // Plot nodes
 246         std::vector<RRTNode *> s; // DFS stack
 247         std::vector<RRTNode *> r; // reset visited_
 248         RRTNode *tmp;
 249         glBegin(GL_LINES);
 250         s.push_back(this->root_);
 251         while (s.size() > 0) {
 252                 tmp = s.back();
 253                 s.pop_back();
 254                 if (!tmp->visit()) {
 255                         r.push_back(tmp);
 256                         for (auto ch: tmp->children()) {
 257                                 s.push_back(ch);
 258                                 glColor3f(0.5, 0.5, 0.5);
 259                                 glVertex2f(GLVERTEX(tmp));
 260                                 glVertex2f(GLVERTEX(ch));
 261                         }
 262                 }
 263         }
 264         glEnd();
 265         std::vector<RRTNode *> cusps;
 266         // Plot last trajectory
 267         if (this->tlog().size() > 0) {
 268                 glLineWidth(2);
 269                 glBegin(GL_LINES);
 270                 for (auto n: this->tlog().back()) {
 271                         if (n->parent()) {
 272                                 glColor3f(0, 0, 1);
 273                                 glVertex2f(GLVERTEX(n));
 274                                 glVertex2f(GLVERTEX(n->parent()));
 275                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 276                                         cusps.push_back(n);
 277                         }
 278                 }
 279                 glEnd();
 280         }
 281         // Plot cusps
 282         glPointSize(8);
 283         glBegin(GL_POINTS);
 284         for (auto n: cusps) {
 285                 glColor3f(0, 0, 1);
 286                 glVertex2f(GLVERTEX(n));
 287         }
 288         glEnd();
 289         SDL_GL_SwapWindow(gw);
 290         for (auto n: r)
 291                 n->visit(false);
 292         return true;
 293 }
 294
 295 bool RRTBase::goal_found(
 296                 RRTNode *node,
 297                 float (*cost)(RRTNode *, RRTNode* ))
 298 {
 299         float xx = pow(node->x() - this->goal_->x(), 2);
 300         float yy = pow(node->y() - this->goal_->y(), 2);
 301         float dh = std::abs(node->h() - this->goal_->h());
 302         if (pow(xx + yy, 0.5) < this->GOAL_FOUND_DISTANCE &&
 303                         dh < this->GOAL_FOUND_ANGLE) {
 304                 if (this->goal_found_) {
 305                         if (node->ccost() + (*cost)(node, this->goal_) <
 306                                         this->goal_->ccost()) {
 307                                 RRTNode *op; // old parent
 308                                 float oc; // old cumulative cost
 309                                 float od; // old direct cost
 310                                 op = this->goal_->parent();
 311                                 oc = this->goal_->ccost();
 312                                 od = this->goal_->dcost();
 313                                 node->add_child(this->goal_,
 314                                                 (*cost)(node, this->goal_));
 315                                 if (this->collide(node, this->goal_)) {
 316                                         node->children().pop_back();
 317                                         this->goal_->parent(op);
 318                                         this->goal_->ccost(oc);
 319                                         this->goal_->dcost(od);
 320                                 } else {
 321                                         op->rem_child(this->goal_);
 322                                         return true;
 323                                 }
 324                         } else {
 325                                 return false;
 326                         }
 327                 } else {
 328                         node->add_child(
 329                                         this->goal_,
 330                                         (*cost)(node, this->goal_));
 331                         if (this->collide(node, this->goal_)) {
 332                                 node->children().pop_back();
 333                                 this->goal_->remove_parent();
 334                                 return false;
 335                         }
 336                         this->goal_found_ = true;
 337                         return true;
 338                 }
 339         }
 340         return false;
 341 }
 342
 343 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 344 {
 345         std::vector<RRTEdge *> edges;
 346         RRTNode *tmp = goal;
 347         volatile bool col = false;
 348         unsigned int i;
 349         while (tmp != init) {
 350                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 351                 std::vector<RRTEdge *> bcframe = bc.frame();
 352                 #pragma omp parallel for reduction(|: col)
 353                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 354                         if ((*this->cobstacles_)[i].collide(tmp)) {
 355                                 col = true;
 356                         }
 357                         // TODO collide with car frame
 358                 }
 359                 if (col) {
 360                         for (auto e: bcframe) {
 361                                 delete e->init();
 362                                 delete e->goal();
 363                                 delete e;
 364                         }
 365                         for (auto e: edges) {
 366                                 delete e;
 367                         }
 368                         return true;
 369                 }
 370                 #pragma omp parallel for reduction(|: col)
 371                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 372                         for (auto &e: bcframe) {
 373                                 if ((*this->sobstacles_)[i].collide(e)) {
 374                                         col = true;
 375                                 }
 376                         }
 377                 }
 378                 if (col) {
 379                         for (auto e: bcframe) {
 380                                 delete e->init();
 381                                 delete e->goal();
 382                                 delete e;
 383                         }
 384                         for (auto e: edges) {
 385                                 delete e;
 386                         }
 387                         return true;
 388                 }
 389                 if (!tmp->parent()) {
 390                         break;
 391                 }
 392                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 393                 tmp = tmp->parent();
 394                 for (auto e: bcframe) {
 395                         delete e->init();
 396                         delete e->goal();
 397                         delete e;
 398                 }
 399         }
 400         for (auto &e: edges) {
 401                 #pragma omp parallel for reduction(|: col)
 402                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 403                         if ((*this->cobstacles_)[i].collide(e)) {
 404                                 col = true;
 405                         }
 406                 }
 407                 if (col) {
 408                         for (auto e: edges) {
 409                                 delete e;
 410                         }
 411                         return true;
 412                 }
 413                 #pragma omp parallel for reduction(|: col)
 414                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 415                         if ((*this->sobstacles_)[i].collide(e)) {
 416                                 col = true;
 417                         }
 418                 }
 419                 if (col) {
 420                         for (auto e: edges) {
 421                                 delete e;
 422                         }
 423                         return true;
 424                 }
 425         }
 426         for (auto e: edges) {
 427                 delete e;
 428         }
 429         return false;
 430 }
 431
 432 bool RRTBase::rebase(RRTNode *nr)
 433 {
 434         if (this->goal_ == nr || this->root_ == nr)
 435                 return false;
 436         std::vector<RRTNode *> s; // DFS stack
 437         RRTNode *tmp;
 438         unsigned int i = 0;
 439         unsigned int to_del = 0;
 440         int iy = 0;
 441         s.push_back(this->root_);
 442         while (s.size() > 0) {
 443                 tmp = s.back();
 444                 s.pop_back();
 445                 for (auto ch: tmp->children()) {
 446                         if (ch != nr)
 447                                 s.push_back(ch);
 448                 }
 449                 to_del = this->nodes_.size();
 450                 #pragma omp parallel for reduction(min: to_del)
 451                 for (i = 0; i < this->nodes_.size(); i++) {
 452                         if (this->nodes_[i] == tmp)
 453                                 to_del = i;
 454                 }
 455                 if (to_del < this->nodes_.size())
 456                         this->nodes_.erase(this->nodes_.begin() + to_del);
 457 #if NNVERSION > 1
 458                 iy = IYI(tmp->y());
 459                 to_del = this->iy_[iy].size();
 460                 #pragma omp parallel  for reduction(min: to_del)
 461                 for (i = 0; i < this->iy_[iy].size(); i++) {
 462                         if (this->iy_[iy][i] == tmp)
 463                                 to_del = i;
 464                 }
 465                 if (to_del < this->iy_[iy].size())
 466                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 467 #endif
 468                 this->dnodes().push_back(tmp);
 469         }
 470         this->root_ = nr;
 471         this->root_->remove_parent();
 472         return true;
 473 }
 474
 475 std::vector<RRTNode *> RRTBase::findt()
 476 {
 477         return this->findt(this->goal_);
 478 }
 479
 480 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 481 {
 482         std::vector<RRTNode *> nodes;
 483         if (!n || !n->parent())
 484                 return nodes;
 485         RRTNode *tmp = n;
 486         while (tmp) {
 487                 nodes.push_back(tmp);
 488                 tmp = tmp->parent();
 489         }
 490         return nodes;
 491 }