incl/rrtbase.h

   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 #ifndef RRTBASE_H
  19 #define RRTBASE_H
  20
  21 #include <chrono>
  22 #include <cmath>
  23 #include <vector>
  24 #include "obstacle.h"
  25 #include "rrtnode.h"
  26
  27 #define IYSIZE 200
  28 #define IYSTEP 0.4
  29
  30 class RRTBase {
  31         private:
  32                 RRTNode *root_ = nullptr;
  33                 RRTNode *goal_ = nullptr;
  34
  35                 std::vector<RRTNode *> nodes_;
  36                 std::vector<RRTNode *> dnodes_;
  37                 std::vector<RRTNode *> samples_;
  38                 std::vector<CircleObstacle> *cobstacles_;
  39                 std::vector<SegmentObstacle> *sobstacles_;
  40
  41                 bool goal_found_ = false;
  42                 std::chrono::high_resolution_clock::time_point tstart_;
  43                 std::chrono::high_resolution_clock::time_point tend_;
  44
  45                 std::vector<float> clog_; // costs of trajectories
  46                 std::vector<float> nlog_; // #nodes of RRT
  47                 std::vector<float> slog_; // seconds of trajectories
  48                 std::vector<std::vector<RRTNode *>> tlog_; // trajectories
  49         public:
  50                 const float GOAL_FOUND_DISTANCE = 0.2;
  51                 const float GOAL_FOUND_ANGLE = M_PI / 32;
  52
  53                 ~RRTBase();
  54                 RRTBase();
  55                 RRTBase(RRTNode *init, RRTNode *goal);
  56
  57                 // getter
  58                 RRTNode *root();
  59                 RRTNode *goal();
  60                 std::vector<RRTNode *> &nodes();
  61                 std::vector<RRTNode *> &dnodes();
  62                 std::vector<RRTNode *> &samples();
  63                 std::vector<RRTNode *> iy_[IYSIZE];
  64                 std::vector<CircleObstacle> *cos();
  65                 std::vector<SegmentObstacle> *sos();
  66                 std::vector<float> &clog();
  67                 std::vector<float> &nlog();
  68                 std::vector<float> &slog();
  69                 std::vector<std::vector<RRTNode *>> &tlog();
  70                 bool goal_found();
  71                 float elapsed();
  72
  73                 // setter
  74                 bool tlog(std::vector<RRTNode *> t);
  75                 void tstart();
  76                 void tend();
  77                 bool link_obstacles(
  78                                 std::vector<CircleObstacle> *cobstacles,
  79                                 std::vector<SegmentObstacle> *sobstacles);
  80                 bool add_iy(RRTNode *n);
  81
  82                 // other
  83                 bool goal_found(
  84                                 RRTNode *node,
  85                                 float (*cost)(RRTNode *, RRTNode *));
  86                 bool collide(RRTNode *init, RRTNode *goal);
  87                 std::vector<RRTNode *> findt();
  88                 std::vector<RRTNode *> findt(RRTNode *n);
  89
  90                 // virtuals - implemented by child classes
  91                 virtual bool next() = 0;
  92 };
  93
  94 #endif