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 <algorithm>
  19 #include <cmath>
  20 #include <omp.h>
  21 #include <queue>
  22 #include "bcar.h"
  23 #include "rrtbase.h"
  24 // OpenGL
  25 #include <GL/gl.h>
  26 #include <GL/glu.h>
  27 #include <SDL2/SDL.h>
  28 // RRT
  29 #include "cost.h"
  30 #include "steer.h"
  31
  32 extern SDL_Window* gw;
  33 extern SDL_GLContext gc;
  34
  35 RRTBase::~RRTBase()
  36 {
  37         for (auto n: this->nodes_)
  38                 if (n != this->root_)
  39                         delete n;
  40         for (auto n: this->dnodes_)
  41                 if (n != this->root_ && n != this->goal_)
  42                         delete n;
  43         for (auto s: this->samples_)
  44                 if (s != this->goal_)
  45                         delete s;
  46         for (auto edges: this->rlog_)
  47                 for (auto e: edges)
  48                         delete e;
  49         delete this->root_;
  50         delete this->goal_;
  51 }
  52
  53 RRTBase::RRTBase():
  54         root_(new RRTNode()),
  55         goal_(new RRTNode())
  56 {
  57         this->nodes_.push_back(this->root_);
  58         this->add_iy(this->root_);
  59 }
  60
  61 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  62         root_(init),
  63         goal_(goal)
  64 {
  65         this->nodes_.push_back(init);
  66         this->add_iy(init);
  67 }
  68
  69 RRTNode *RRTBase::root()
  70 {
  71         return this->root_;
  72 }
  73
  74 RRTNode *RRTBase::goal()
  75 {
  76         return this->goal_;
  77 }
  78
  79 std::vector<RRTNode *> &RRTBase::nodes()
  80 {
  81         return this->nodes_;
  82 }
  83
  84 std::vector<RRTNode *> &RRTBase::dnodes()
  85 {
  86         return this->dnodes_;
  87 }
  88
  89 std::vector<RRTNode *> &RRTBase::samples()
  90 {
  91         return this->samples_;
  92 }
  93
  94 std::vector<CircleObstacle> *RRTBase::cos()
  95 {
  96         return this->cobstacles_;
  97 }
  98
  99 std::vector<SegmentObstacle> *RRTBase::sos()
 100 {
 101         return this->sobstacles_;
 102 }
 103
 104 std::vector<float> &RRTBase::clog()
 105 {
 106         return this->clog_;
 107 }
 108
 109 std::vector<float> &RRTBase::nlog()
 110 {
 111         return this->nlog_;
 112 }
 113
 114 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 115 {
 116         return this->rlog_;
 117 }
 118
 119 std::vector<float> &RRTBase::slog()
 120 {
 121         return this->slog_;
 122 }
 123
 124 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 125 {
 126         return this->tlog_;
 127 }
 128
 129 bool RRTBase::goal_found()
 130 {
 131         return this->goal_found_;
 132 }
 133
 134 float RRTBase::elapsed()
 135 {
 136         std::chrono::duration<float> dt;
 137         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 138                         this->tend_ - this->tstart_);
 139         return dt.count();
 140 }
 141
 142 bool RRTBase::logr(RRTNode *root)
 143 {
 144         std::vector<RRTEdge *> e; // Edges to log
 145         std::vector<RRTNode *> s; // DFS stack
 146         std::vector<RRTNode *> r; // reset visited_
 147         RRTNode *tmp;
 148         s.push_back(root);
 149         while (s.size() > 0) {
 150                 tmp = s.back();
 151                 s.pop_back();
 152                 if (!tmp->visit()) {
 153                         r.push_back(tmp);
 154                         for (auto ch: tmp->children()) {
 155                                 s.push_back(ch);
 156                                 e.push_back(new RRTEdge(tmp, ch));
 157                         }
 158                 }
 159         }
 160         for (auto n: r)
 161                 n->visit(false);
 162         this->rlog_.push_back(e);
 163         return true;
 164 }
 165
 166 float RRTBase::ocost(RRTNode *n)
 167 {
 168         float dist = 9999;
 169         for (auto o: *this->cobstacles_)
 170                 if (o.dist_to(n) < dist)
 171                         dist = o.dist_to(n);
 172         for (auto o: *this->sobstacles_)
 173                 if (o.dist_to(n) < dist)
 174                         dist = o.dist_to(n);
 175         return n->ocost(dist);
 176 }
 177
 178 bool RRTBase::tlog(std::vector<RRTNode *> t)
 179 {
 180         if (t.size() > 0) {
 181                 this->slog_.push_back(this->elapsed());
 182                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 183                 this->nlog_.push_back(this->nodes_.size());
 184                 this->tlog_.push_back(t);
 185                 return true;
 186         } else {
 187                 return false;
 188         }
 189 }
 190
 191 void RRTBase::tstart()
 192 {
 193         this->tstart_ = std::chrono::high_resolution_clock::now();
 194 }
 195
 196 void RRTBase::tend()
 197 {
 198         this->tend_ = std::chrono::high_resolution_clock::now();
 199 }
 200
 201 bool RRTBase::link_obstacles(
 202                 std::vector<CircleObstacle> *cobstacles,
 203                 std::vector<SegmentObstacle> *sobstacles)
 204 {
 205         this->cobstacles_ = cobstacles;
 206         this->sobstacles_ = sobstacles;
 207         if (!this->cobstacles_ || !this->sobstacles_) {
 208                 return false;
 209         }
 210         return true;
 211 }
 212
 213 bool RRTBase::add_iy(RRTNode *n)
 214 {
 215         int i = IYI(n->y());
 216         if (i < 0)
 217                 i = 0;
 218         if (i >= IYSIZE)
 219                 i = IYSIZE - 1;
 220         this->iy_[i].push_back(n);
 221         return true;
 222 }
 223
 224 bool RRTBase::glplot()
 225 {
 226         glClear(GL_COLOR_BUFFER_BIT);
 227         glLineWidth(1);
 228         glPointSize(1);
 229         // Plot obstacles
 230         glBegin(GL_LINES);
 231         for (auto o: *this->sobstacles_) {
 232                 glColor3f(0, 0, 0);
 233                 glVertex2f(GLVERTEX(o.init()));
 234                 glVertex2f(GLVERTEX(o.goal()));
 235         }
 236         glEnd();
 237         // Plot root, goal
 238         glPointSize(8);
 239         glBegin(GL_POINTS);
 240         glColor3f(1, 0, 0);
 241         glVertex2f(GLVERTEX(this->root_));
 242         glVertex2f(GLVERTEX(this->goal_));
 243         glEnd();
 244         // Plot last sample
 245         glPointSize(8);
 246         glBegin(GL_POINTS);
 247         glColor3f(0, 1, 0);
 248         glVertex2f(GLVERTEX(this->samples_.back()));
 249         glEnd();
 250         // Plot nodes
 251         std::vector<RRTNode *> s; // DFS stack
 252         std::vector<RRTNode *> r; // reset visited_
 253         RRTNode *tmp;
 254         glBegin(GL_LINES);
 255         s.push_back(this->root_);
 256         while (s.size() > 0) {
 257                 tmp = s.back();
 258                 s.pop_back();
 259                 if (!tmp->visit()) {
 260                         r.push_back(tmp);
 261                         for (auto ch: tmp->children()) {
 262                                 s.push_back(ch);
 263                                 glColor3f(0.5, 0.5, 0.5);
 264                                 glVertex2f(GLVERTEX(tmp));
 265                                 glVertex2f(GLVERTEX(ch));
 266                         }
 267                 }
 268         }
 269         glEnd();
 270         std::vector<RRTNode *> cusps;
 271         // Plot last trajectory
 272         if (this->tlog().size() > 0) {
 273                 glLineWidth(2);
 274                 glBegin(GL_LINES);
 275                 for (auto n: this->tlog().back()) {
 276                         if (n->parent()) {
 277                                 glColor3f(0, 0, 1);
 278                                 glVertex2f(GLVERTEX(n));
 279                                 glVertex2f(GLVERTEX(n->parent()));
 280                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 281                                         cusps.push_back(n);
 282                         }
 283                 }
 284                 glEnd();
 285         }
 286         // Plot cusps
 287         glPointSize(8);
 288         glBegin(GL_POINTS);
 289         for (auto n: cusps) {
 290                 glColor3f(0, 0, 1);
 291                 glVertex2f(GLVERTEX(n));
 292         }
 293         glEnd();
 294         SDL_GL_SwapWindow(gw);
 295         for (auto n: r)
 296                 n->visit(false);
 297         return true;
 298 }
 299
 300 bool RRTBase::goal_found(
 301                 RRTNode *node,
 302                 float (*cost)(RRTNode *, RRTNode* ))
 303 {
 304         float xx = pow(node->x() - this->goal_->x(), 2);
 305         float yy = pow(node->y() - this->goal_->y(), 2);
 306         float dh = std::abs(node->h() - this->goal_->h());
 307         if (pow(xx + yy, 0.5) < this->GOAL_FOUND_DISTANCE &&
 308                         dh < this->GOAL_FOUND_ANGLE) {
 309                 if (this->goal_found_) {
 310                         if (node->ccost() + (*cost)(node, this->goal_) <
 311                                         this->goal_->ccost()) {
 312                                 RRTNode *op; // old parent
 313                                 float oc; // old cumulative cost
 314                                 float od; // old direct cost
 315                                 op = this->goal_->parent();
 316                                 oc = this->goal_->ccost();
 317                                 od = this->goal_->dcost();
 318                                 node->add_child(this->goal_,
 319                                                 (*cost)(node, this->goal_));
 320                                 if (this->collide(node, this->goal_)) {
 321                                         node->children().pop_back();
 322                                         this->goal_->parent(op);
 323                                         this->goal_->ccost(oc);
 324                                         this->goal_->dcost(od);
 325                                 } else {
 326                                         op->rem_child(this->goal_);
 327                                         return true;
 328                                 }
 329                         } else {
 330                                 return false;
 331                         }
 332                 } else {
 333                         node->add_child(
 334                                         this->goal_,
 335                                         (*cost)(node, this->goal_));
 336                         if (this->collide(node, this->goal_)) {
 337                                 node->children().pop_back();
 338                                 this->goal_->remove_parent();
 339                                 return false;
 340                         }
 341                         this->goal_found_ = true;
 342                         return true;
 343                 }
 344         }
 345         return false;
 346 }
 347
 348 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 349 {
 350         std::vector<RRTEdge *> edges;
 351         RRTNode *tmp = goal;
 352         volatile bool col = false;
 353         unsigned int i;
 354         while (tmp != init) {
 355                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 356                 std::vector<RRTEdge *> bcframe = bc.frame();
 357                 #pragma omp parallel for reduction(|: col)
 358                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 359                         if ((*this->cobstacles_)[i].collide(tmp)) {
 360                                 col = true;
 361                         }
 362                         // TODO collide with car frame
 363                 }
 364                 if (col) {
 365                         for (auto e: bcframe) {
 366                                 delete e->init();
 367                                 delete e->goal();
 368                                 delete e;
 369                         }
 370                         for (auto e: edges) {
 371                                 delete e;
 372                         }
 373                         return true;
 374                 }
 375                 #pragma omp parallel for reduction(|: col)
 376                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 377                         for (auto &e: bcframe) {
 378                                 if ((*this->sobstacles_)[i].collide(e)) {
 379                                         col = true;
 380                                 }
 381                         }
 382                 }
 383                 if (col) {
 384                         for (auto e: bcframe) {
 385                                 delete e->init();
 386                                 delete e->goal();
 387                                 delete e;
 388                         }
 389                         for (auto e: edges) {
 390                                 delete e;
 391                         }
 392                         return true;
 393                 }
 394                 if (!tmp->parent()) {
 395                         break;
 396                 }
 397                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 398                 tmp = tmp->parent();
 399                 for (auto e: bcframe) {
 400                         delete e->init();
 401                         delete e->goal();
 402                         delete e;
 403                 }
 404         }
 405         for (auto &e: edges) {
 406                 #pragma omp parallel for reduction(|: col)
 407                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 408                         if ((*this->cobstacles_)[i].collide(e)) {
 409                                 col = true;
 410                         }
 411                 }
 412                 if (col) {
 413                         for (auto e: edges) {
 414                                 delete e;
 415                         }
 416                         return true;
 417                 }
 418                 #pragma omp parallel for reduction(|: col)
 419                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 420                         if ((*this->sobstacles_)[i].collide(e)) {
 421                                 col = true;
 422                         }
 423                 }
 424                 if (col) {
 425                         for (auto e: edges) {
 426                                 delete e;
 427                         }
 428                         return true;
 429                 }
 430         }
 431         for (auto e: edges) {
 432                 delete e;
 433         }
 434         return false;
 435 }
 436
 437 class RRTNodeDijkstra {
 438         public:
 439                 RRTNodeDijkstra(int i):
 440                         ni(i),
 441                         pi(0),
 442                         c(9999),
 443                         v(false)
 444                 {};
 445                 RRTNodeDijkstra(int i, float c):
 446                         ni(i),
 447                         pi(0),
 448                         c(c),
 449                         v(false)
 450                 {};
 451                 RRTNodeDijkstra(int i, int p, float c):
 452                         ni(i),
 453                         pi(p),
 454                         c(c),
 455                         v(false)
 456                 {};
 457                 unsigned int ni;
 458                 unsigned int pi;
 459                 float c;
 460                 bool v;
 461                 bool vi()
 462                 {
 463                         if (this->v)
 464                                 return true;
 465                         this->v = true;
 466                         return false;
 467                 };
 468 };
 469
 470 class RRTNodeDijkstraComparator {
 471         public:
 472                 int operator() (
 473                                 const RRTNodeDijkstra& n1,
 474                                 const RRTNodeDijkstra& n2)
 475                 {
 476                         return n1.c > n2.c;
 477                 }
 478 };
 479
 480 bool RRTBase::opt_path()
 481 {
 482         if (this->tlog().size() == 0)
 483                 return false;
 484         float oc = this->tlog().back().front()->ccost();
 485         std::vector<RRTNode *> tmp_cusps;
 486         for (auto n: this->tlog().back()) {
 487                 if (sgn(n->s()) == 0) {
 488                         tmp_cusps.push_back(n);
 489                 } else if (n->parent() &&
 490                                 sgn(n->s()) != sgn(n->parent()->s())) {
 491                         tmp_cusps.push_back(n);
 492                         tmp_cusps.push_back(n->parent());
 493                 }
 494         }
 495         if (tmp_cusps.size() < 2)
 496                 return false;
 497         std::vector<RRTNode *> cusps;
 498         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 499                 if (tmp_cusps[i] != tmp_cusps[i + 1])
 500                         cusps.push_back(tmp_cusps[i]);
 501         }
 502         std::reverse(cusps.begin(), cusps.end());
 503         // Begin of Dijkstra
 504         std::vector<RRTNodeDijkstra> dnodes;
 505         for (unsigned int i = 0; i < cusps.size(); i++)
 506                 if (i > 0)
 507                         dnodes.push_back(RRTNodeDijkstra(
 508                                                 i,
 509                                                 i - 1,
 510                                                 cusps[i]->ccost()));
 511                 else
 512                         dnodes.push_back(RRTNodeDijkstra(
 513                                                 i,
 514                                                 cusps[i]->ccost()));
 515         dnodes[0].vi();
 516         std::priority_queue<
 517                 RRTNodeDijkstra,
 518                 std::vector<RRTNodeDijkstra>,
 519                 RRTNodeDijkstraComparator> pq;
 520         RRTNodeDijkstra tmp = dnodes[0];
 521         pq.push(tmp);
 522         float ch_cost = 9999;
 523         std::vector<RRTNode *> steered;
 524         while (!pq.empty() && tmp.ni != cusps.size() - 1) {
 525                 tmp = pq.top();
 526                 pq.pop();
 527                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 528                         ch_cost = dnodes[tmp.ni].c +
 529                                 CO(cusps[tmp.ni], cusps[i]);
 530                         steered = ST(cusps[tmp.ni], cusps[i]);
 531                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 532                                 steered[j]->add_child(
 533                                                 steered[j + 1],
 534                                                 CO(
 535                                                         steered[j],
 536                                                         steered[j + 1]));
 537                         if (i != tmp.ni + 1 && this->collide( // TODO
 538                                                 steered[0],
 539                                                 steered[steered.size() - 1]))
 540                                 continue;
 541                         if (ch_cost < dnodes[i].c) {
 542                                 dnodes[i].c = ch_cost;
 543                                 dnodes[i].pi = tmp.ni;
 544                                 if (!dnodes[i].vi())
 545                                         pq.push(dnodes[i]);
 546                         }
 547                 }
 548         }
 549         if (tmp.ni != cusps.size() - 1)
 550                 return false;
 551         std::vector<int> npi; // new path indexes
 552         int tmpi = tmp.ni;
 553         while (tmpi > 0) {
 554                 npi.push_back(tmpi);
 555                 tmpi = dnodes[tmpi].pi;
 556         }
 557         npi.push_back(tmpi);
 558         std::reverse(npi.begin(), npi.end());
 559         RRTNode *pn = cusps[npi[0]];
 560         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 561                 for (auto ns: ST(cusps[npi[i]], cusps[npi[i + 1]])) {
 562                         pn->add_child(ns, CO(pn, ns));
 563                         pn = ns;
 564                 }
 565         }
 566         pn->add_child(
 567                         this->tlog().back().front(),
 568                         CO(pn, this->tlog().back().front()));
 569         // End of Dijkstra
 570         if (this->tlog().back().front()->ccost() < oc)
 571                 return true;
 572         return false;
 573 }
 574
 575 bool RRTBase::rebase(RRTNode *nr)
 576 {
 577         if (!nr || this->goal_ == nr || this->root_ == nr)
 578                 return false;
 579         std::vector<RRTNode *> s; // DFS stack
 580         RRTNode *tmp;
 581         unsigned int i = 0;
 582         unsigned int to_del = 0;
 583         int iy = 0;
 584         s.push_back(this->root_);
 585         while (s.size() > 0) {
 586                 tmp = s.back();
 587                 s.pop_back();
 588                 for (auto ch: tmp->children()) {
 589                         if (ch != nr)
 590                                 s.push_back(ch);
 591                 }
 592                 to_del = this->nodes_.size();
 593                 #pragma omp parallel for reduction(min: to_del)
 594                 for (i = 0; i < this->nodes_.size(); i++) {
 595                         if (this->nodes_[i] == tmp)
 596                                 to_del = i;
 597                 }
 598                 if (to_del < this->nodes_.size())
 599                         this->nodes_.erase(this->nodes_.begin() + to_del);
 600 #if NNVERSION > 1
 601                 iy = IYI(tmp->y());
 602                 to_del = this->iy_[iy].size();
 603                 #pragma omp parallel  for reduction(min: to_del)
 604                 for (i = 0; i < this->iy_[iy].size(); i++) {
 605                         if (this->iy_[iy][i] == tmp)
 606                                 to_del = i;
 607                 }
 608                 if (to_del < this->iy_[iy].size())
 609                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 610 #endif
 611                 this->dnodes().push_back(tmp);
 612         }
 613         this->root_ = nr;
 614         this->root_->remove_parent();
 615         return true;
 616 }
 617
 618 std::vector<RRTNode *> RRTBase::findt()
 619 {
 620         return this->findt(this->goal_);
 621 }
 622
 623 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 624 {
 625         std::vector<RRTNode *> nodes;
 626         if (!n || !n->parent())
 627                 return nodes;
 628         RRTNode *tmp = n;
 629         while (tmp) {
 630                 nodes.push_back(tmp);
 631                 tmp = tmp->parent();
 632         }
 633         return nodes;
 634 }