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 void RRTBase::root(RRTNode *node)
 143 {
 144         this->root_ = node;
 145 }
 146
 147 void RRTBase::goal(RRTNode *node)
 148 {
 149         this->goal_ = node;
 150 }
 151
 152 bool RRTBase::logr(RRTNode *root)
 153 {
 154         std::vector<RRTEdge *> e; // Edges to log
 155         std::vector<RRTNode *> s; // DFS stack
 156         std::vector<RRTNode *> r; // reset visited_
 157         RRTNode *tmp;
 158         s.push_back(root);
 159         while (s.size() > 0) {
 160                 tmp = s.back();
 161                 s.pop_back();
 162                 if (!tmp->visit()) {
 163                         r.push_back(tmp);
 164                         for (auto ch: tmp->children()) {
 165                                 s.push_back(ch);
 166                                 e.push_back(new RRTEdge(tmp, ch));
 167                         }
 168                 }
 169         }
 170         for (auto n: r)
 171                 n->visit(false);
 172         this->rlog_.push_back(e);
 173         return true;
 174 }
 175
 176 float RRTBase::ocost(RRTNode *n)
 177 {
 178         float dist = 9999;
 179         for (auto o: *this->cobstacles_)
 180                 if (o.dist_to(n) < dist)
 181                         dist = o.dist_to(n);
 182         for (auto o: *this->sobstacles_)
 183                 if (o.dist_to(n) < dist)
 184                         dist = o.dist_to(n);
 185         return n->ocost(dist);
 186 }
 187
 188 bool RRTBase::tlog(std::vector<RRTNode *> t)
 189 {
 190         if (t.size() > 0) {
 191                 this->slog_.push_back(this->elapsed());
 192                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 193                 this->nlog_.push_back(this->nodes_.size());
 194                 this->tlog_.push_back(t);
 195                 return true;
 196         } else {
 197                 return false;
 198         }
 199 }
 200
 201 void RRTBase::tstart()
 202 {
 203         this->tstart_ = std::chrono::high_resolution_clock::now();
 204 }
 205
 206 void RRTBase::tend()
 207 {
 208         this->tend_ = std::chrono::high_resolution_clock::now();
 209 }
 210
 211 bool RRTBase::link_obstacles(
 212                 std::vector<CircleObstacle> *cobstacles,
 213                 std::vector<SegmentObstacle> *sobstacles)
 214 {
 215         this->cobstacles_ = cobstacles;
 216         this->sobstacles_ = sobstacles;
 217         if (!this->cobstacles_ || !this->sobstacles_) {
 218                 return false;
 219         }
 220         return true;
 221 }
 222
 223 bool RRTBase::add_iy(RRTNode *n)
 224 {
 225         int i = IYI(n->y());
 226         if (i < 0)
 227                 i = 0;
 228         if (i >= IYSIZE)
 229                 i = IYSIZE - 1;
 230         this->iy_[i].push_back(n);
 231         return true;
 232 }
 233
 234 bool RRTBase::goal_found(bool f)
 235 {
 236         this->goal_found_ = f;
 237         return f;
 238 }
 239
 240 bool RRTBase::glplot()
 241 {
 242         glClear(GL_COLOR_BUFFER_BIT);
 243         glLineWidth(1);
 244         glPointSize(1);
 245         // Plot obstacles
 246         glBegin(GL_LINES);
 247         for (auto o: *this->sobstacles_) {
 248                 glColor3f(0, 0, 0);
 249                 glVertex2f(GLVERTEX(o.init()));
 250                 glVertex2f(GLVERTEX(o.goal()));
 251         }
 252         glEnd();
 253         // Plot root, goal
 254         glPointSize(8);
 255         glBegin(GL_POINTS);
 256         glColor3f(1, 0, 0);
 257         glVertex2f(GLVERTEX(this->root_));
 258         glVertex2f(GLVERTEX(this->goal_));
 259         glEnd();
 260         // Plot last sample
 261         if (this->samples_.size() > 0) {
 262                 glPointSize(8);
 263                 glBegin(GL_POINTS);
 264                 glColor3f(0, 1, 0);
 265                 glVertex2f(GLVERTEX(this->samples_.back()));
 266                 glEnd();
 267         }
 268         // Plot nodes
 269         std::vector<RRTNode *> s; // DFS stack
 270         std::vector<RRTNode *> r; // reset visited_
 271         RRTNode *tmp;
 272         glBegin(GL_LINES);
 273         s.push_back(this->root_);
 274         while (s.size() > 0) {
 275                 tmp = s.back();
 276                 s.pop_back();
 277                 if (!tmp->visit()) {
 278                         r.push_back(tmp);
 279                         for (auto ch: tmp->children()) {
 280                                 s.push_back(ch);
 281                                 glColor3f(0.5, 0.5, 0.5);
 282                                 glVertex2f(GLVERTEX(tmp));
 283                                 glVertex2f(GLVERTEX(ch));
 284                         }
 285                 }
 286         }
 287         glEnd();
 288         std::vector<RRTNode *> cusps;
 289         // Plot last trajectory
 290         if (this->tlog().size() > 0) {
 291                 glLineWidth(2);
 292                 glBegin(GL_LINES);
 293                 for (auto n: this->tlog().back()) {
 294                         if (n->parent()) {
 295                                 glColor3f(0, 0, 1);
 296                                 glVertex2f(GLVERTEX(n));
 297                                 glVertex2f(GLVERTEX(n->parent()));
 298                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 299                                         cusps.push_back(n);
 300                         }
 301                 }
 302                 glEnd();
 303         }
 304         // Plot cusps
 305         glPointSize(8);
 306         glBegin(GL_POINTS);
 307         for (auto n: cusps) {
 308                 glColor3f(0, 0, 1);
 309                 glVertex2f(GLVERTEX(n));
 310         }
 311         glEnd();
 312         SDL_GL_SwapWindow(gw);
 313         for (auto n: r)
 314                 n->visit(false);
 315         return true;
 316 }
 317
 318 bool RRTBase::goal_found(
 319                 RRTNode *node,
 320                 float (*cost)(RRTNode *, RRTNode* ))
 321 {
 322         float xx = pow(node->x() - this->goal_->x(), 2);
 323         float yy = pow(node->y() - this->goal_->y(), 2);
 324         float dh = std::abs(node->h() - this->goal_->h());
 325         if (IS_NEAR(node, this->goal_)) {
 326                 if (this->goal_found_) {
 327                         if (node->ccost() + (*cost)(node, this->goal_) <
 328                                         this->goal_->ccost()) {
 329                                 RRTNode *op; // old parent
 330                                 float oc; // old cumulative cost
 331                                 float od; // old direct cost
 332                                 op = this->goal_->parent();
 333                                 oc = this->goal_->ccost();
 334                                 od = this->goal_->dcost();
 335                                 node->add_child(this->goal_,
 336                                                 (*cost)(node, this->goal_));
 337                                 if (this->collide(node, this->goal_)) {
 338                                         node->children().pop_back();
 339                                         this->goal_->parent(op);
 340                                         this->goal_->ccost(oc);
 341                                         this->goal_->dcost(od);
 342                                 } else {
 343                                         op->rem_child(this->goal_);
 344                                         return true;
 345                                 }
 346                         } else {
 347                                 return false;
 348                         }
 349                 } else {
 350                         node->add_child(
 351                                         this->goal_,
 352                                         (*cost)(node, this->goal_));
 353                         if (this->collide(node, this->goal_)) {
 354                                 node->children().pop_back();
 355                                 this->goal_->remove_parent();
 356                                 return false;
 357                         }
 358                         this->goal_found_ = true;
 359                         return true;
 360                 }
 361         }
 362         return false;
 363 }
 364
 365 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 366 {
 367         std::vector<RRTEdge *> edges;
 368         RRTNode *tmp = goal;
 369         volatile bool col = false;
 370         unsigned int i;
 371         while (tmp != init) {
 372                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 373                 std::vector<RRTEdge *> bcframe = bc.frame();
 374                 #pragma omp parallel for reduction(|: col)
 375                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 376                         if ((*this->cobstacles_)[i].collide(tmp)) {
 377                                 col = true;
 378                         }
 379                         for (auto &e: bcframe) {
 380                                 if ((*this->cobstacles_)[i].collide(e)) {
 381                                         col = true;
 382                                 }
 383                         }
 384                 }
 385                 if (col) {
 386                         for (auto e: bcframe) {
 387                                 delete e->init();
 388                                 delete e->goal();
 389                                 delete e;
 390                         }
 391                         for (auto e: edges) {
 392                                 delete e;
 393                         }
 394                         return true;
 395                 }
 396                 #pragma omp parallel for reduction(|: col)
 397                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 398                         for (auto &e: bcframe) {
 399                                 if ((*this->sobstacles_)[i].collide(e)) {
 400                                         col = true;
 401                                 }
 402                         }
 403                 }
 404                 if (col) {
 405                         for (auto e: bcframe) {
 406                                 delete e->init();
 407                                 delete e->goal();
 408                                 delete e;
 409                         }
 410                         for (auto e: edges) {
 411                                 delete e;
 412                         }
 413                         return true;
 414                 }
 415                 if (!tmp->parent()) {
 416                         break;
 417                 }
 418                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 419                 tmp = tmp->parent();
 420                 for (auto e: bcframe) {
 421                         delete e->init();
 422                         delete e->goal();
 423                         delete e;
 424                 }
 425         }
 426         for (auto &e: edges) {
 427                 #pragma omp parallel for reduction(|: col)
 428                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 429                         if ((*this->cobstacles_)[i].collide(e)) {
 430                                 col = true;
 431                         }
 432                 }
 433                 if (col) {
 434                         for (auto e: edges) {
 435                                 delete e;
 436                         }
 437                         return true;
 438                 }
 439                 #pragma omp parallel for reduction(|: col)
 440                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 441                         if ((*this->sobstacles_)[i].collide(e)) {
 442                                 col = true;
 443                         }
 444                 }
 445                 if (col) {
 446                         for (auto e: edges) {
 447                                 delete e;
 448                         }
 449                         return true;
 450                 }
 451         }
 452         for (auto e: edges) {
 453                 delete e;
 454         }
 455         return false;
 456 }
 457
 458 class RRTNodeDijkstra {
 459         public:
 460                 RRTNodeDijkstra(int i):
 461                         ni(i),
 462                         pi(0),
 463                         c(9999),
 464                         v(false)
 465                 {};
 466                 RRTNodeDijkstra(int i, float c):
 467                         ni(i),
 468                         pi(0),
 469                         c(c),
 470                         v(false)
 471                 {};
 472                 RRTNodeDijkstra(int i, int p, float c):
 473                         ni(i),
 474                         pi(p),
 475                         c(c),
 476                         v(false)
 477                 {};
 478                 unsigned int ni;
 479                 unsigned int pi;
 480                 float c;
 481                 bool v;
 482                 bool vi()
 483                 {
 484                         if (this->v)
 485                                 return true;
 486                         this->v = true;
 487                         return false;
 488                 };
 489 };
 490
 491 class RRTNodeDijkstraComparator {
 492         public:
 493                 int operator() (
 494                                 const RRTNodeDijkstra& n1,
 495                                 const RRTNodeDijkstra& n2)
 496                 {
 497                         return n1.c > n2.c;
 498                 }
 499 };
 500
 501 bool RRTBase::opt_path()
 502 {
 503         if (this->tlog().size() == 0)
 504                 return false;
 505         float oc = this->tlog().back().front()->ccost();
 506         std::vector<RRTNode *> tmp_cusps;
 507         for (auto n: this->tlog().back()) {
 508                 if (sgn(n->s()) == 0) {
 509                         tmp_cusps.push_back(n);
 510                 } else if (n->parent() &&
 511                                 sgn(n->s()) != sgn(n->parent()->s())) {
 512                         tmp_cusps.push_back(n);
 513                         tmp_cusps.push_back(n->parent());
 514                 }
 515         }
 516         if (tmp_cusps.size() < 2)
 517                 return false;
 518         std::vector<RRTNode *> cusps;
 519         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 520                 if (tmp_cusps[i] != tmp_cusps[i + 1])
 521                         cusps.push_back(tmp_cusps[i]);
 522         }
 523         std::reverse(cusps.begin(), cusps.end());
 524         // Begin of Dijkstra
 525         std::vector<RRTNodeDijkstra> dnodes;
 526         for (unsigned int i = 0; i < cusps.size(); i++)
 527                 if (i > 0)
 528                         dnodes.push_back(RRTNodeDijkstra(
 529                                                 i,
 530                                                 i - 1,
 531                                                 cusps[i]->ccost()));
 532                 else
 533                         dnodes.push_back(RRTNodeDijkstra(
 534                                                 i,
 535                                                 cusps[i]->ccost()));
 536         dnodes[0].vi();
 537         std::priority_queue<
 538                 RRTNodeDijkstra,
 539                 std::vector<RRTNodeDijkstra>,
 540                 RRTNodeDijkstraComparator> pq;
 541         RRTNodeDijkstra tmp = dnodes[0];
 542         pq.push(tmp);
 543         float ch_cost = 9999;
 544         std::vector<RRTNode *> steered;
 545         while (!pq.empty() && tmp.ni != cusps.size() - 1) {
 546                 tmp = pq.top();
 547                 pq.pop();
 548                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 549                         ch_cost = dnodes[tmp.ni].c +
 550                                 CO(cusps[tmp.ni], cusps[i]);
 551                         steered = ST(cusps[tmp.ni], cusps[i]);
 552                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 553                                 steered[j]->add_child(
 554                                                 steered[j + 1],
 555                                                 CO(
 556                                                         steered[j],
 557                                                         steered[j + 1]));
 558                         if (i != tmp.ni + 1 && this->collide( // TODO
 559                                                 steered[0],
 560                                                 steered[steered.size() - 1]))
 561                                 continue;
 562                         if (ch_cost < dnodes[i].c) {
 563                                 dnodes[i].c = ch_cost;
 564                                 dnodes[i].pi = tmp.ni;
 565                                 if (!dnodes[i].vi())
 566                                         pq.push(dnodes[i]);
 567                         }
 568                 }
 569         }
 570         if (tmp.ni != cusps.size() - 1)
 571                 return false;
 572         std::vector<int> npi; // new path indexes
 573         int tmpi = tmp.ni;
 574         while (tmpi > 0) {
 575                 npi.push_back(tmpi);
 576                 tmpi = dnodes[tmpi].pi;
 577         }
 578         npi.push_back(tmpi);
 579         std::reverse(npi.begin(), npi.end());
 580         RRTNode *pn = cusps[npi[0]];
 581         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 582                 for (auto ns: ST(cusps[npi[i]], cusps[npi[i + 1]])) {
 583                         pn->add_child(ns, CO(pn, ns));
 584                         pn = ns;
 585                 }
 586         }
 587         pn->add_child(
 588                         this->tlog().back().front(),
 589                         CO(pn, this->tlog().back().front()));
 590         // End of Dijkstra
 591         if (this->tlog().back().front()->ccost() < oc)
 592                 return true;
 593         return false;
 594 }
 595
 596 bool RRTBase::rebase(RRTNode *nr)
 597 {
 598         if (!nr || this->goal_ == nr || this->root_ == nr)
 599                 return false;
 600         std::vector<RRTNode *> s; // DFS stack
 601         RRTNode *tmp;
 602         unsigned int i = 0;
 603         unsigned int to_del = 0;
 604         int iy = 0;
 605         s.push_back(this->root_);
 606         while (s.size() > 0) {
 607                 tmp = s.back();
 608                 s.pop_back();
 609                 for (auto ch: tmp->children()) {
 610                         if (ch != nr)
 611                                 s.push_back(ch);
 612                 }
 613                 to_del = this->nodes_.size();
 614                 #pragma omp parallel for reduction(min: to_del)
 615                 for (i = 0; i < this->nodes_.size(); i++) {
 616                         if (this->nodes_[i] == tmp)
 617                                 to_del = i;
 618                 }
 619                 if (to_del < this->nodes_.size())
 620                         this->nodes_.erase(this->nodes_.begin() + to_del);
 621 #if NNVERSION > 1
 622                 iy = IYI(tmp->y());
 623                 to_del = this->iy_[iy].size();
 624                 #pragma omp parallel  for reduction(min: to_del)
 625                 for (i = 0; i < this->iy_[iy].size(); i++) {
 626                         if (this->iy_[iy][i] == tmp)
 627                                 to_del = i;
 628                 }
 629                 if (to_del < this->iy_[iy].size())
 630                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 631 #endif
 632                 this->dnodes().push_back(tmp);
 633         }
 634         this->root_ = nr;
 635         this->root_->remove_parent();
 636         return true;
 637 }
 638
 639 std::vector<RRTNode *> RRTBase::findt()
 640 {
 641         return this->findt(this->goal_);
 642 }
 643
 644 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 645 {
 646         std::vector<RRTNode *> nodes;
 647         if (!n || !n->parent())
 648                 return nodes;
 649         RRTNode *tmp = n;
 650         while (tmp) {
 651                 nodes.push_back(tmp);
 652                 tmp = tmp->parent();
 653         }
 654         return nodes;
 655 }