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 (IS_NEAR(node, this->goal_)) {
 308                 if (this->goal_found_) {
 309                         if (node->ccost() + (*cost)(node, this->goal_) <
 310                                         this->goal_->ccost()) {
 311                                 RRTNode *op; // old parent
 312                                 float oc; // old cumulative cost
 313                                 float od; // old direct cost
 314                                 op = this->goal_->parent();
 315                                 oc = this->goal_->ccost();
 316                                 od = this->goal_->dcost();
 317                                 node->add_child(this->goal_,
 318                                                 (*cost)(node, this->goal_));
 319                                 if (this->collide(node, this->goal_)) {
 320                                         node->children().pop_back();
 321                                         this->goal_->parent(op);
 322                                         this->goal_->ccost(oc);
 323                                         this->goal_->dcost(od);
 324                                 } else {
 325                                         op->rem_child(this->goal_);
 326                                         return true;
 327                                 }
 328                         } else {
 329                                 return false;
 330                         }
 331                 } else {
 332                         node->add_child(
 333                                         this->goal_,
 334                                         (*cost)(node, this->goal_));
 335                         if (this->collide(node, this->goal_)) {
 336                                 node->children().pop_back();
 337                                 this->goal_->remove_parent();
 338                                 return false;
 339                         }
 340                         this->goal_found_ = true;
 341                         return true;
 342                 }
 343         }
 344         return false;
 345 }
 346
 347 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 348 {
 349         std::vector<RRTEdge *> edges;
 350         RRTNode *tmp = goal;
 351         volatile bool col = false;
 352         unsigned int i;
 353         while (tmp != init) {
 354                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 355                 std::vector<RRTEdge *> bcframe = bc.frame();
 356                 #pragma omp parallel for reduction(|: col)
 357                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 358                         if ((*this->cobstacles_)[i].collide(tmp)) {
 359                                 col = true;
 360                         }
 361                         // TODO collide with car frame
 362                 }
 363                 if (col) {
 364                         for (auto e: bcframe) {
 365                                 delete e->init();
 366                                 delete e->goal();
 367                                 delete e;
 368                         }
 369                         for (auto e: edges) {
 370                                 delete e;
 371                         }
 372                         return true;
 373                 }
 374                 #pragma omp parallel for reduction(|: col)
 375                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 376                         for (auto &e: bcframe) {
 377                                 if ((*this->sobstacles_)[i].collide(e)) {
 378                                         col = true;
 379                                 }
 380                         }
 381                 }
 382                 if (col) {
 383                         for (auto e: bcframe) {
 384                                 delete e->init();
 385                                 delete e->goal();
 386                                 delete e;
 387                         }
 388                         for (auto e: edges) {
 389                                 delete e;
 390                         }
 391                         return true;
 392                 }
 393                 if (!tmp->parent()) {
 394                         break;
 395                 }
 396                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 397                 tmp = tmp->parent();
 398                 for (auto e: bcframe) {
 399                         delete e->init();
 400                         delete e->goal();
 401                         delete e;
 402                 }
 403         }
 404         for (auto &e: edges) {
 405                 #pragma omp parallel for reduction(|: col)
 406                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 407                         if ((*this->cobstacles_)[i].collide(e)) {
 408                                 col = true;
 409                         }
 410                 }
 411                 if (col) {
 412                         for (auto e: edges) {
 413                                 delete e;
 414                         }
 415                         return true;
 416                 }
 417                 #pragma omp parallel for reduction(|: col)
 418                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 419                         if ((*this->sobstacles_)[i].collide(e)) {
 420                                 col = true;
 421                         }
 422                 }
 423                 if (col) {
 424                         for (auto e: edges) {
 425                                 delete e;
 426                         }
 427                         return true;
 428                 }
 429         }
 430         for (auto e: edges) {
 431                 delete e;
 432         }
 433         return false;
 434 }
 435
 436 class RRTNodeDijkstra {
 437         public:
 438                 RRTNodeDijkstra(int i):
 439                         ni(i),
 440                         pi(0),
 441                         c(9999),
 442                         v(false)
 443                 {};
 444                 RRTNodeDijkstra(int i, float c):
 445                         ni(i),
 446                         pi(0),
 447                         c(c),
 448                         v(false)
 449                 {};
 450                 RRTNodeDijkstra(int i, int p, float c):
 451                         ni(i),
 452                         pi(p),
 453                         c(c),
 454                         v(false)
 455                 {};
 456                 unsigned int ni;
 457                 unsigned int pi;
 458                 float c;
 459                 bool v;
 460                 bool vi()
 461                 {
 462                         if (this->v)
 463                                 return true;
 464                         this->v = true;
 465                         return false;
 466                 };
 467 };
 468
 469 class RRTNodeDijkstraComparator {
 470         public:
 471                 int operator() (
 472                                 const RRTNodeDijkstra& n1,
 473                                 const RRTNodeDijkstra& n2)
 474                 {
 475                         return n1.c > n2.c;
 476                 }
 477 };
 478
 479 bool RRTBase::opt_path()
 480 {
 481         if (this->tlog().size() == 0)
 482                 return false;
 483         float oc = this->tlog().back().front()->ccost();
 484         std::vector<RRTNode *> tmp_cusps;
 485         for (auto n: this->tlog().back()) {
 486                 if (sgn(n->s()) == 0) {
 487                         tmp_cusps.push_back(n);
 488                 } else if (n->parent() &&
 489                                 sgn(n->s()) != sgn(n->parent()->s())) {
 490                         tmp_cusps.push_back(n);
 491                         tmp_cusps.push_back(n->parent());
 492                 }
 493         }
 494         if (tmp_cusps.size() < 2)
 495                 return false;
 496         std::vector<RRTNode *> cusps;
 497         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 498                 if (tmp_cusps[i] != tmp_cusps[i + 1])
 499                         cusps.push_back(tmp_cusps[i]);
 500         }
 501         std::reverse(cusps.begin(), cusps.end());
 502         // Begin of Dijkstra
 503         std::vector<RRTNodeDijkstra> dnodes;
 504         for (unsigned int i = 0; i < cusps.size(); i++)
 505                 if (i > 0)
 506                         dnodes.push_back(RRTNodeDijkstra(
 507                                                 i,
 508                                                 i - 1,
 509                                                 cusps[i]->ccost()));
 510                 else
 511                         dnodes.push_back(RRTNodeDijkstra(
 512                                                 i,
 513                                                 cusps[i]->ccost()));
 514         dnodes[0].vi();
 515         std::priority_queue<
 516                 RRTNodeDijkstra,
 517                 std::vector<RRTNodeDijkstra>,
 518                 RRTNodeDijkstraComparator> pq;
 519         RRTNodeDijkstra tmp = dnodes[0];
 520         pq.push(tmp);
 521         float ch_cost = 9999;
 522         std::vector<RRTNode *> steered;
 523         while (!pq.empty() && tmp.ni != cusps.size() - 1) {
 524                 tmp = pq.top();
 525                 pq.pop();
 526                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 527                         ch_cost = dnodes[tmp.ni].c +
 528                                 CO(cusps[tmp.ni], cusps[i]);
 529                         steered = ST(cusps[tmp.ni], cusps[i]);
 530                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 531                                 steered[j]->add_child(
 532                                                 steered[j + 1],
 533                                                 CO(
 534                                                         steered[j],
 535                                                         steered[j + 1]));
 536                         if (i != tmp.ni + 1 && this->collide( // TODO
 537                                                 steered[0],
 538                                                 steered[steered.size() - 1]))
 539                                 continue;
 540                         if (ch_cost < dnodes[i].c) {
 541                                 dnodes[i].c = ch_cost;
 542                                 dnodes[i].pi = tmp.ni;
 543                                 if (!dnodes[i].vi())
 544                                         pq.push(dnodes[i]);
 545                         }
 546                 }
 547         }
 548         if (tmp.ni != cusps.size() - 1)
 549                 return false;
 550         std::vector<int> npi; // new path indexes
 551         int tmpi = tmp.ni;
 552         while (tmpi > 0) {
 553                 npi.push_back(tmpi);
 554                 tmpi = dnodes[tmpi].pi;
 555         }
 556         npi.push_back(tmpi);
 557         std::reverse(npi.begin(), npi.end());
 558         RRTNode *pn = cusps[npi[0]];
 559         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 560                 for (auto ns: ST(cusps[npi[i]], cusps[npi[i + 1]])) {
 561                         pn->add_child(ns, CO(pn, ns));
 562                         pn = ns;
 563                 }
 564         }
 565         pn->add_child(
 566                         this->tlog().back().front(),
 567                         CO(pn, this->tlog().back().front()));
 568         // End of Dijkstra
 569         if (this->tlog().back().front()->ccost() < oc)
 570                 return true;
 571         return false;
 572 }
 573
 574 bool RRTBase::rebase(RRTNode *nr)
 575 {
 576         if (!nr || this->goal_ == nr || this->root_ == nr)
 577                 return false;
 578         std::vector<RRTNode *> s; // DFS stack
 579         RRTNode *tmp;
 580         unsigned int i = 0;
 581         unsigned int to_del = 0;
 582         int iy = 0;
 583         s.push_back(this->root_);
 584         while (s.size() > 0) {
 585                 tmp = s.back();
 586                 s.pop_back();
 587                 for (auto ch: tmp->children()) {
 588                         if (ch != nr)
 589                                 s.push_back(ch);
 590                 }
 591                 to_del = this->nodes_.size();
 592                 #pragma omp parallel for reduction(min: to_del)
 593                 for (i = 0; i < this->nodes_.size(); i++) {
 594                         if (this->nodes_[i] == tmp)
 595                                 to_del = i;
 596                 }
 597                 if (to_del < this->nodes_.size())
 598                         this->nodes_.erase(this->nodes_.begin() + to_del);
 599 #if NNVERSION > 1
 600                 iy = IYI(tmp->y());
 601                 to_del = this->iy_[iy].size();
 602                 #pragma omp parallel  for reduction(min: to_del)
 603                 for (i = 0; i < this->iy_[iy].size(); i++) {
 604                         if (this->iy_[iy][i] == tmp)
 605                                 to_del = i;
 606                 }
 607                 if (to_del < this->iy_[iy].size())
 608                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 609 #endif
 610                 this->dnodes().push_back(tmp);
 611         }
 612         this->root_ = nr;
 613         this->root_->remove_parent();
 614         return true;
 615 }
 616
 617 std::vector<RRTNode *> RRTBase::findt()
 618 {
 619         return this->findt(this->goal_);
 620 }
 621
 622 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 623 {
 624         std::vector<RRTNode *> nodes;
 625         if (!n || !n->parent())
 626                 return nodes;
 627         RRTNode *tmp = n;
 628         while (tmp) {
 629                 nodes.push_back(tmp);
 630                 tmp = tmp->parent();
 631         }
 632         return nodes;
 633 }