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 <pthread.h>
  24 #include <random>
  25 #include <vector>
  26 #include "obstacle.h"
  27 #include "rrtnode.h"
  28 #include "sample.h"
  29 #include "slotplanner.h"
  30
  31 #define NOFNODES 20000
  32
  33 #define IXSIZE 100
  34 #define IXSTEP (1.0 * ((VMAX) - (VMIN)) / IXSIZE)
  35 #define IXI(x) ({ __typeof__ (x) _x = (x); \
  36                 std::abs((int) floor(_x / IXSTEP)); })
  37 #define IYSIZE 100
  38 #define IYSTEP (1.0 * ((HMAX) - (HMIN)) / IYSIZE)
  39 #define IYI(y) ({ __typeof__ (y) _y = (y); \
  40                 std::abs((int) floor(_y / IYSTEP)); })
  41
  42 class Cell {
  43         private:
  44                 std::vector<RRTNode *> nodes_;
  45                 pthread_mutex_t m_;
  46                 bool changed_ = false;
  47         public:
  48                 Cell();
  49
  50                 // getter
  51                 bool changed();
  52                 std::vector<RRTNode *> nodes();
  53
  54                 // other
  55                 void add_node(RRTNode *n);
  56 };
  57
  58 class RRTBase {
  59         private:
  60                 RRTNode *root_ = nullptr;
  61                 RRTNode *goal_ = nullptr;
  62
  63                 std::vector<RRTNode *> nodes_;
  64                 std::vector<RRTNode *> dnodes_;
  65                 PolygonObstacle frame_;
  66                 std::vector<RRTNode *> samples_;
  67                 std::vector<CircleObstacle> *cobstacles_;
  68                 std::vector<SegmentObstacle> *sobstacles_;
  69
  70                 bool goal_found_ = false;
  71                 std::chrono::high_resolution_clock::time_point tstart_;
  72                 std::chrono::high_resolution_clock::time_point tend_;
  73
  74                 std::vector<float> clog_; // costs of trajectories
  75                 std::vector<float> nlog_; // #nodes of RRT
  76                 std::vector<std::vector<RRTEdge *>> rlog_; // log tree
  77                 std::vector<float> slog_; // seconds of trajectories
  78                 std::vector<std::vector<RRTNode *>> tlog_; // trajectories
  79                 std::vector<RRTNode *> slot_cusp_; // cusp nodes in slot
  80
  81                 std::default_random_engine gen_;
  82         public:
  83                 const float GOAL_FOUND_DISTANCE = 0.2;
  84                 const float GOAL_FOUND_ANGLE = M_PI / 32;
  85
  86                 ~RRTBase();
  87                 RRTBase();
  88                 RRTBase(RRTNode *init, RRTNode *goal);
  89
  90                 // getter
  91                 RRTNode *root();
  92                 RRTNode *goal();
  93                 std::vector<RRTNode *> &nodes();
  94                 std::vector<RRTNode *> &dnodes();
  95                 PolygonObstacle &frame();
  96                 std::vector<RRTNode *> &samples();
  97                 std::vector<RRTNode *> iy_[IYSIZE];
  98                 Cell ixy_[IXSIZE][IYSIZE];
  99                 std::vector<CircleObstacle> *co();
 100                 std::vector<SegmentObstacle> *so();
 101                 std::vector<float> &clog();
 102                 std::vector<float> &nlog();
 103                 std::vector<std::vector<RRTEdge *>> &rlog();
 104                 std::vector<float> &slog();
 105                 std::vector<std::vector<RRTNode *>> &tlog();
 106                 std::vector<RRTNode *> &slot_cusp();
 107                 bool goal_found();
 108                 float elapsed();
 109                 std::vector<RRTNode *> traj_cusp();
 110
 111                 // setter
 112                 void root(RRTNode *node);
 113                 void goal(RRTNode *node);
 114                 bool logr(RRTNode *root);
 115                 float ocost(RRTNode *n);
 116                 bool tlog(std::vector<RRTNode *> t);
 117                 void tstart();
 118                 void tend();
 119                 bool link_obstacles(
 120                                 std::vector<CircleObstacle> *cobstacles,
 121                                 std::vector<SegmentObstacle> *sobstacles);
 122                 bool add_iy(RRTNode *n);
 123                 bool add_ixy(RRTNode *n);
 124                 bool goal_found(bool f);
 125                 void slot_cusp(std::vector<RRTNode *> sc);
 126
 127                 // other
 128                 bool glplot();
 129                 bool goal_found(
 130                                 RRTNode *node,
 131                                 float (*cost)(RRTNode *, RRTNode *));
 132                 bool collide(RRTNode *init, RRTNode *goal);
 133                 bool optp_dijkstra(
 134                                 std::vector<RRTNode *> &cusps,
 135                                 std::vector<int> &npi);
 136                 bool optp_rrp(
 137                                 std::vector<RRTNode *> &cusps,
 138                                 std::vector<int> &npi);
 139                 bool optp_smart(
 140                                 std::vector<RRTNode *> &cusps,
 141                                 std::vector<int> &npi);
 142                 bool opt_path();
 143                 bool rebase(RRTNode *nr);
 144                 std::vector<RRTNode *> findt();
 145                 std::vector<RRTNode *> findt(RRTNode *n);
 146
 147                 // RRT Framework
 148                 SamplingInfo samplingInfo_;
 149                 bool useSamplingInfo_ = false;
 150                 RRTNode *sample();
 151                 float cost(RRTNode *init, RRTNode *goal);
 152                 RRTNode *nn(RRTNode *rs);
 153                 std::vector<RRTNode *> nv(RRTNode *node, float dist);
 154                 std::vector<RRTNode *> steer(RRTNode *init, RRTNode *goal);
 155                 std::vector<RRTNode *> steer(
 156                                 RRTNode *init,
 157                                 RRTNode *goal,
 158                                 float step);
 159
 160                 // virtuals - implemented by child classes
 161                 virtual bool next() = 0;
 162 };
 163
 164 #endif