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         p.ocost(p.root());
  65         p.ocost(p.goal());
  66
  67         RRTNode *nn;
  68         std::vector<RRTNode *> tr;
  69         while(!p.goal_found()) {
  70                 p.tstart();
  71                 p.tend();
  72                 while (p.elapsed() < TMAX) {
  73                         p.next();
  74                         p.tend();
  75                 }
  76                 nn = p.nn(p.iy_, p.goal(), p.cost);
  77                 tr = p.findt(nn);
  78                 p.tlog(tr);
  79                 p.logr(p.root());
  80                 p.rebase(nn);
  81         }
  82
  83         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
  84         std::cerr << "Goal found is " << p.goal_found() << std::endl;
  85         std::cerr << "#nodes is " << p.nodes().size() << std::endl;
  86         std::cerr << "#samples is " << p.samples().size() << std::endl;
  87         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
  88         std::cerr << "trajectories costs:" << std::endl;
  89         for (j = 0; j < p.clog().size(); j++)
  90                 std::cerr << "- " << p.clog()[j] << std::endl;
  91         std::cerr << "RRT #nodes:" << std::endl;
  92         for (j = 0; j < p.nlog().size(); j++)
  93                 std::cerr << "- " << p.nlog()[j] << std::endl;
  94         std::cerr << "trajectories seconds:" << std::endl;
  95         for (j = 0; j < p.slog().size(); j++)
  96                 std::cerr << "- " << p.slog()[j] << std::endl;
  97         std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
  98         std::cerr << std::endl;
  99         for (auto edges: p.rlog())
 100                 std::cerr << "- " << edges.size() << std::endl;
 101
 102         // JSON output
 103         jvo["elap"] = p.elapsed();
 104         // log cost
 105         for (j = 0; j < p.clog().size(); j++)
 106                 jvo["cost"][j] = p.clog()[j];
 107         // log #nodes
 108         for (j = 0; j < p.nlog().size(); j++)
 109                 jvo["node"][j] = p.nlog()[j];
 110         // log seconds
 111         for (j = 0; j < p.slog().size(); j++)
 112                 jvo["secs"][j] = p.slog()[j];
 113         // log traj
 114         i = 0;
 115         j = 0;
 116         for (auto traj: p.tlog()) {
 117                 i = 0;
 118                 for (auto n: traj) {
 119                         jvo["traj"][j][i][0] = n->x();
 120                         jvo["traj"][j][i][1] = n->y();
 121                         jvo["traj"][j][i][2] = n->h();
 122                         i++;
 123                 }
 124                 j++;
 125         }
 126 #if JSONLOGEDGES > 0
 127         // log edges
 128         i = 0;
 129         j = 0;
 130         for (auto edges: p.rlog()) {
 131                 j = 0;
 132                 for (auto e: edges) {
 133                         jvo["edge"][i][j][0][0] = e->init()->x();
 134                         jvo["edge"][i][j][0][1] = e->init()->y();
 135                         jvo["edge"][i][j][1][0] = e->goal()->x();
 136                         jvo["edge"][i][j][1][1] = e->goal()->y();
 137                         j++;
 138                 }
 139                 i++;
 140         }
 141 #endif
 142 #if JSONLOGSAMPLES > 0
 143         // log samples
 144         i = 0;
 145         j = 0;
 146         for (auto s: p.samples()) {
 147                 jvo["samp"][j][0] = s->x();
 148                 jvo["samp"][j][1] = s->y();
 149                 jvo["samp"][j][2] = s->h();
 150                 j++;
 151         }
 152 #endif
 153         // print output
 154         std::cout << jvo << std::endl;
 155
 156         // free mem
 157         for (auto o: so) {
 158                 delete o.init();
 159                 delete o.goal();
 160         }
 161         return 0;
 162 }