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 <cmath>
  19 #include <omp.h>
  20 #include "bcar.h"
  21 #include "rrtbase.h"
  22
  23 RRTBase::~RRTBase()
  24 {
  25         for (auto n: this->nodes_)
  26                 if (n != this->root_)
  27                         delete n;
  28         for (auto n: this->dnodes_)
  29                 if (n != this->root_ && n != this->goal_)
  30                         delete n;
  31         for (auto s: this->samples_)
  32                 if (s != this->goal_)
  33                         delete s;
  34         for (auto edges: this->rlog_)
  35                 for (auto e: edges)
  36                         delete e;
  37         delete this->root_;
  38         delete this->goal_;
  39 }
  40
  41 RRTBase::RRTBase():
  42         root_(new RRTNode()),
  43         goal_(new RRTNode())
  44 {
  45         this->nodes_.push_back(this->root_);
  46         this->add_iy(this->root_);
  47 }
  48
  49 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  50         root_(init),
  51         goal_(goal)
  52 {
  53         this->nodes_.push_back(init);
  54         this->add_iy(init);
  55 }
  56
  57 RRTNode *RRTBase::root()
  58 {
  59         return this->root_;
  60 }
  61
  62 RRTNode *RRTBase::goal()
  63 {
  64         return this->goal_;
  65 }
  66
  67 std::vector<RRTNode *> &RRTBase::nodes()
  68 {
  69         return this->nodes_;
  70 }
  71
  72 std::vector<RRTNode *> &RRTBase::dnodes()
  73 {
  74         return this->dnodes_;
  75 }
  76
  77 std::vector<RRTNode *> &RRTBase::samples()
  78 {
  79         return this->samples_;
  80 }
  81
  82 std::vector<CircleObstacle> *RRTBase::cos()
  83 {
  84         return this->cobstacles_;
  85 }
  86
  87 std::vector<SegmentObstacle> *RRTBase::sos()
  88 {
  89         return this->sobstacles_;
  90 }
  91
  92 std::vector<float> &RRTBase::clog()
  93 {
  94         return this->clog_;
  95 }
  96
  97 std::vector<float> &RRTBase::nlog()
  98 {
  99         return this->nlog_;
 100 }
 101
 102 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 103 {
 104         return this->rlog_;
 105 }
 106
 107 std::vector<float> &RRTBase::slog()
 108 {
 109         return this->slog_;
 110 }
 111
 112 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 113 {
 114         return this->tlog_;
 115 }
 116
 117 bool RRTBase::goal_found()
 118 {
 119         return this->goal_found_;
 120 }
 121
 122 float RRTBase::elapsed()
 123 {
 124         std::chrono::duration<float> dt;
 125         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 126                         this->tend_ - this->tstart_);
 127         return dt.count();
 128 }
 129
 130 bool RRTBase::logr(RRTNode *root)
 131 {
 132         std::vector<RRTEdge *> e; // Edges to log
 133         std::vector<RRTNode *> s; // DFS stack
 134         std::vector<RRTNode *> r; // reset visited_
 135         RRTNode *tmp;
 136         s.push_back(root);
 137         while (s.size() > 0) {
 138                 tmp = s.back();
 139                 s.pop_back();
 140                 if (!tmp->visit()) {
 141                         r.push_back(tmp);
 142                         for (auto ch: tmp->children()) {
 143                                 s.push_back(ch);
 144                                 e.push_back(new RRTEdge(tmp, ch));
 145                         }
 146                 }
 147         }
 148         for (auto n: r)
 149                 n->visit(false);
 150         this->rlog_.push_back(e);
 151         return true;
 152 }
 153
 154 float RRTBase::ocost(RRTNode *n)
 155 {
 156         float dist = 9999;
 157         for (auto o: *this->cobstacles_)
 158                 if (o.dist_to(n) < dist)
 159                         dist = o.dist_to(n);
 160         for (auto o: *this->sobstacles_)
 161                 if (o.dist_to(n) < dist)
 162                         dist = o.dist_to(n);
 163         return n->ocost(dist);
 164 }
 165
 166 bool RRTBase::tlog(std::vector<RRTNode *> t)
 167 {
 168         this->slog_.push_back(this->elapsed());
 169         this->clog_.push_back(this->goal_->ccost());
 170         this->nlog_.push_back(this->nodes_.size());
 171         this->tlog_.push_back(t);
 172         return true;
 173 }
 174
 175 void RRTBase::tstart()
 176 {
 177         this->tstart_ = std::chrono::high_resolution_clock::now();
 178 }
 179
 180 void RRTBase::tend()
 181 {
 182         this->tend_ = std::chrono::high_resolution_clock::now();
 183 }
 184
 185 bool RRTBase::link_obstacles(
 186                 std::vector<CircleObstacle> *cobstacles,
 187                 std::vector<SegmentObstacle> *sobstacles)
 188 {
 189         this->cobstacles_ = cobstacles;
 190         this->sobstacles_ = sobstacles;
 191         if (!this->cobstacles_ || !this->sobstacles_) {
 192                 return false;
 193         }
 194         return true;
 195 }
 196
 197 bool RRTBase::add_iy(RRTNode *n)
 198 {
 199         int i = floor(n->y() / IYSTEP);
 200         if (i < 0)
 201                 i = 0;
 202         if (i >= IYSIZE)
 203                 i = IYSIZE - 1;
 204         this->iy_[i].push_back(n);
 205         return true;
 206 }
 207
 208 bool RRTBase::goal_found(
 209                 RRTNode *node,
 210                 float (*cost)(RRTNode *, RRTNode* ))
 211 {
 212         float xx = pow(node->x() - this->goal_->x(), 2);
 213         float yy = pow(node->y() - this->goal_->y(), 2);
 214         float dh = std::abs(node->h() - this->goal_->h());
 215         if (pow(xx + yy, 0.5) < this->GOAL_FOUND_DISTANCE &&
 216                         dh < this->GOAL_FOUND_ANGLE) {
 217                 if (this->goal_found_) {
 218                         if (node->ccost() + (*cost)(node, this->goal_) <
 219                                         this->goal_->ccost()) {
 220                                 RRTNode *op; // old parent
 221                                 float oc; // old cumulative cost
 222                                 float od; // old direct cost
 223                                 op = this->goal_->parent();
 224                                 oc = this->goal_->ccost();
 225                                 od = this->goal_->dcost();
 226                                 node->add_child(this->goal_,
 227                                                 (*cost)(node, this->goal_));
 228                                 if (this->collide(node, this->goal_)) {
 229                                         node->children().pop_back();
 230                                         this->goal_->parent(op);
 231                                         this->goal_->ccost(oc);
 232                                         this->goal_->dcost(od);
 233                                 } else {
 234                                         op->rem_child(this->goal_);
 235                                         return true;
 236                                 }
 237                         } else {
 238                                 return false;
 239                         }
 240                 } else {
 241                         node->add_child(
 242                                         this->goal_,
 243                                         (*cost)(node, this->goal_));
 244                         if (this->collide(node, this->goal_)) {
 245                                 node->children().pop_back();
 246                                 this->goal_->remove_parent();
 247                                 return false;
 248                         }
 249                         this->goal_found_ = true;
 250                         return true;
 251                 }
 252         }
 253         return false;
 254 }
 255
 256 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 257 {
 258         std::vector<RRTEdge *> edges;
 259         RRTNode *tmp = goal;
 260         volatile bool col = false;
 261         unsigned int i;
 262         while (tmp != init) {
 263                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 264                 std::vector<RRTEdge *> bcframe = bc.frame();
 265                 #pragma omp parallel for reduction(|: col)
 266                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 267                         if ((*this->cobstacles_)[i].collide(tmp)) {
 268                                 col = true;
 269                         }
 270                         // TODO collide with car frame
 271                 }
 272                 if (col) {
 273                         for (auto e: bcframe) {
 274                                 delete e->init();
 275                                 delete e->goal();
 276                                 delete e;
 277                         }
 278                         for (auto e: edges) {
 279                                 delete e;
 280                         }
 281                         return true;
 282                 }
 283                 #pragma omp parallel for reduction(|: col)
 284                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 285                         for (auto &e: bcframe) {
 286                                 if ((*this->sobstacles_)[i].collide(e)) {
 287                                         col = true;
 288                                 }
 289                         }
 290                 }
 291                 if (col) {
 292                         for (auto e: bcframe) {
 293                                 delete e->init();
 294                                 delete e->goal();
 295                                 delete e;
 296                         }
 297                         for (auto e: edges) {
 298                                 delete e;
 299                         }
 300                         return true;
 301                 }
 302                 if (!tmp->parent()) {
 303                         break;
 304                 }
 305                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 306                 tmp = tmp->parent();
 307                 for (auto e: bcframe) {
 308                         delete e->init();
 309                         delete e->goal();
 310                         delete e;
 311                 }
 312         }
 313         for (auto &e: edges) {
 314                 #pragma omp parallel for reduction(|: col)
 315                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 316                         if ((*this->cobstacles_)[i].collide(e)) {
 317                                 col = true;
 318                         }
 319                 }
 320                 if (col) {
 321                         for (auto e: edges) {
 322                                 delete e;
 323                         }
 324                         return true;
 325                 }
 326                 #pragma omp parallel for reduction(|: col)
 327                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 328                         if ((*this->sobstacles_)[i].collide(e)) {
 329                                 col = true;
 330                         }
 331                 }
 332                 if (col) {
 333                         for (auto e: edges) {
 334                                 delete e;
 335                         }
 336                         return true;
 337                 }
 338         }
 339         for (auto e: edges) {
 340                 delete e;
 341         }
 342         return false;
 343 }
 344
 345 bool RRTBase::rebase(RRTNode *nr)
 346 {
 347         if (this->goal_ == nr || this->root_ == nr)
 348                 return false;
 349         std::vector<RRTNode *> s; // DFS stack
 350         RRTNode *tmp;
 351         unsigned int i = 0;
 352         unsigned int to_del = 0;
 353         int iy = 0;
 354         s.push_back(this->root_);
 355         while (s.size() > 0) {
 356                 tmp = s.back();
 357                 s.pop_back();
 358                 for (auto ch: tmp->children()) {
 359                         if (ch != nr)
 360                                 s.push_back(ch);
 361                 }
 362                 to_del = this->nodes_.size();
 363                 #pragma omp parallel for reduction(min: to_del)
 364                 for (i = 0; i < this->nodes_.size(); i++) {
 365                         if (this->nodes_[i] == tmp)
 366                                 to_del = i;
 367                 }
 368                 if (to_del < this->nodes_.size())
 369                         this->nodes_.erase(this->nodes_.begin() + to_del);
 370                 iy = floor(tmp->y() / IYSTEP);
 371                 to_del = this->iy_[iy].size();
 372                 #pragma omp parallel  for reduction(min: to_del)
 373                 for (i = 0; i < this->iy_[iy].size(); i++) {
 374                         if (this->iy_[iy][i] == tmp)
 375                                 to_del = i;
 376                 }
 377                 if (to_del < this->iy_[iy].size())
 378                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 379                 this->dnodes().push_back(tmp);
 380         }
 381         this->root_ = nr;
 382         this->root_->remove_parent();
 383         return true;
 384 }
 385
 386 std::vector<RRTNode *> RRTBase::findt()
 387 {
 388         return this->findt(this->goal_);
 389 }
 390
 391 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 392 {
 393         std::vector<RRTNode *> nodes;
 394         if (!n->parent())
 395                 return nodes;
 396         RRTNode *tmp = n;
 397         while (tmp) {
 398                 nodes.push_back(tmp);
 399                 tmp = tmp->parent();
 400         }
 401         return nodes;
 402 }