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 <array>
  22 #include <chrono>
  23 #include <cmath>
  24 #include <pthread.h>
  25 #include <queue>
  26 #include <random>
  27 #include <vector>
  28 #include "obstacle.h"
  29 #include "rrtnode.h"
  30 #include "sample.h"
  31 #include "slotplanner.h"
  32
  33 #define NOFNODES 20000
  34
  35 #define IXSIZE 100
  36 #define IXSTEP (1.0 * ((HMAX) - (HMIN)) / IXSIZE)
  37 #define IXI(x) ({ __typeof__ (x) _x = (x); \
  38                 std::abs((int) floor(_x / IXSTEP)); })
  39 #define IYSIZE 100
  40 #define IYSTEP (1.0 * ((VMAX) - (VMIN)) / IYSIZE)
  41 #define IYI(y) ({ \
  42         __typeof__ (y) _y = (y); \
  43         (int) floor((_y - VMIN) / IYSTEP); \
  44 })
  45
  46 class Cell {
  47         private:
  48                 std::vector<RRTNode *> nodes_;
  49                 pthread_mutex_t m_;
  50                 bool changed_ = false;
  51         public:
  52                 Cell();
  53
  54                 // getter
  55                 bool changed();
  56                 std::vector<RRTNode *> nodes();
  57
  58                 // other
  59                 void add_node(RRTNode *n);
  60 };
  61
  62 class RRTBase {
  63         private:
  64                 RRTNode *root_ = nullptr;
  65                 RRTNode *goal_ = nullptr;
  66                 std::vector<RRTNode *> goals_;
  67
  68                 std::vector<RRTNode *> nodes_;
  69                 std::vector<RRTNode *> dnodes_;
  70                 std::queue<RRTNode *> firsts_;
  71                 PolygonObstacle frame_;
  72                 std::vector<RRTNode *> samples_;
  73                 std::vector<CircleObstacle> *cobstacles_;
  74                 std::vector<SegmentObstacle> *sobstacles_;
  75
  76                 bool goal_found_ = false;
  77                 std::chrono::high_resolution_clock::time_point tstart_;
  78                 std::chrono::high_resolution_clock::time_point tend_;
  79
  80                 std::vector<float> clog_; // costs of trajectories
  81                 std::vector<float> nlog_; // #nodes of RRT
  82                 std::vector<std::vector<RRTEdge *>> rlog_; // log tree
  83                 std::vector<float> slog_; // seconds of trajectories
  84                 std::vector<std::vector<RRTNode *>> tlog_; // trajectories
  85                 std::vector<RRTNode *> slot_cusp_; // cusp nodes in slot
  86         protected:
  87                 std::default_random_engine gen_;
  88                 std::normal_distribution<float> ndx_;
  89                 std::normal_distribution<float> ndy_;
  90                 std::normal_distribution<float> ndh_;
  91         public:
  92                 const float GOAL_FOUND_DISTANCE = 0.2;
  93                 const float GOAL_FOUND_ANGLE = M_PI / 32;
  94                 float HMIN = -20;
  95                 float HMAX = 20;
  96                 float VMIN = -5;
  97                 float VMAX = 30;
  98
  99                 ~RRTBase();
 100                 RRTBase();
 101                 RRTBase(RRTNode *init, RRTNode *goal);
 102
 103                 // getter
 104                 RRTNode *root();
 105                 RRTNode *goal();
 106                 std::vector<RRTNode *> &goals();
 107                 std::vector<RRTNode *> &nodes();
 108                 std::vector<RRTNode *> &dnodes();
 109                 std::queue<RRTNode *> &firsts();
 110                 PolygonObstacle &frame();
 111                 std::vector<RRTNode *> &samples();
 112                 std::array<std::vector<RRTNode *>, IYSIZE> iy_;
 113                 Cell ixy_[IXSIZE][IYSIZE];
 114                 std::vector<CircleObstacle> *co();
 115                 std::vector<SegmentObstacle> *so();
 116                 std::vector<float> &clog();
 117                 std::vector<float> &nlog();
 118                 std::vector<std::vector<RRTEdge *>> &rlog();
 119                 std::vector<float> &slog();
 120                 std::vector<std::vector<RRTNode *>> &tlog();
 121                 std::vector<RRTNode *> &slot_cusp();
 122                 bool goal_found();
 123                 float elapsed();
 124                 std::vector<RRTNode *> traj_cusp();
 125
 126                 // setter
 127                 void root(RRTNode *node);
 128                 void goal(RRTNode *node);
 129                 void goals(std::vector<RRTNode *> g);
 130                 bool logr(RRTNode *root);
 131                 float ocost(RRTNode *n);
 132                 bool tlog(std::vector<RRTNode *> t);
 133                 void tstart();
 134                 void tend();
 135                 bool link_obstacles(
 136                                 std::vector<CircleObstacle> *cobstacles,
 137                                 std::vector<SegmentObstacle> *sobstacles);
 138                 bool add_iy(RRTNode *n);
 139                 bool add_ixy(RRTNode *n);
 140                 bool goal_found(bool f);
 141                 void slot_cusp(std::vector<RRTNode *> sc);
 142
 143                 // other
 144                 bool glplot();
 145                 bool goal_found(
 146                                 RRTNode *node,
 147                                 float (*cost)(RRTNode *, RRTNode *));
 148                 bool goal_found(
 149                         RRTNode *node,
 150                         RRTNode *goal
 151                 );
 152                 bool collide(RRTNode *init, RRTNode *goal);
 153                 bool optp_dijkstra(
 154                                 std::vector<RRTNode *> &cusps,
 155                                 std::vector<int> &npi);
 156                 bool optp_rrp(
 157                                 std::vector<RRTNode *> &cusps,
 158                                 std::vector<int> &npi);
 159                 bool optp_smart(
 160                                 std::vector<RRTNode *> &cusps,
 161                                 std::vector<int> &npi);
 162                 bool opt_path();
 163                 bool rebase(RRTNode *nr);
 164                 std::vector<RRTNode *> findt();
 165                 std::vector<RRTNode *> findt(RRTNode *n);
 166                 int XI(RRTNode *n);
 167                 int YI(RRTNode *n);
 168
 169                 // RRT Framework
 170                 void setSamplingInfo(SamplingInfo si);
 171                 RRTNode *sample();
 172                 float cost(RRTNode *init, RRTNode *goal);
 173                 RRTNode *nn(RRTNode *rs);
 174                 std::vector<RRTNode *> nv(RRTNode *node, float dist);
 175                 std::vector<RRTNode *> steer(RRTNode *init, RRTNode *goal);
 176                 std::vector<RRTNode *> steer(
 177                                 RRTNode *init,
 178                                 RRTNode *goal,
 179                                 float step);
 180
 181                 // virtuals - implemented by child classes
 182                 virtual bool next() = 0;
 183 };
 184
 185 #endif