delete this->goal_;
}
-RRTBase::RRTBase():
- root_(new RRTNode()),
- goal_(new RRTNode()),
- gen_(std::random_device{}())
+RRTBase::RRTBase()
+ : root_(new RRTNode())
+ , goal_(new RRTNode())
+ , gen_(std::random_device{}())
+ , ndx_(HMAX - HMIN, (HMAX - HMIN) / 4)
+ , ndy_(VMAX - VMIN, (VMAX - VMIN) / 4)
+ , ndh_(0, M_PI * 2 / 4)
{
this->nodes_.reserve(NOFNODES);
this->nodes_.push_back(this->root_);
this->add_ixy(this->root_);
}
-RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
- root_(init),
- goal_(goal),
- gen_(std::random_device{}())
+RRTBase::RRTBase(RRTNode *init, RRTNode *goal)
+ : root_(init)
+ , goal_(goal)
+ , gen_(std::random_device{}())
+ , ndx_(HMIN + (HMAX - HMIN) / 2, (HMAX - HMIN) / 4)
+ , ndy_(VMIN + (VMAX - VMIN) / 2, (VMAX - VMIN) / 4)
+ , ndh_(0, M_PI * 2 / 4)
{
this->nodes_.reserve(NOFNODES);
this->nodes_.push_back(init);
return this->goal_;
}
+std::vector<RRTNode *> &RRTBase::goals()
+{
+ return this->goals_;
+}
+
std::vector<RRTNode *> &RRTBase::nodes()
{
return this->nodes_;
return this->dnodes_;
}
+std::queue<RRTNode *> &RRTBase::firsts()
+{
+ return this->firsts_;
+}
+
PolygonObstacle &RRTBase::frame()
{
return this->frame_;
this->goal_ = node;
}
+void RRTBase::goals(std::vector<RRTNode *> g)
+{
+ this->goals_ = g;
+ std::reverse(this->goals_.begin(), this->goals_.end());
+ RRTNode *pn = this->goals_.front();
+ for (auto n: this->goals_) {
+ if (n != pn) {
+ pn->add_child(n, this->cost(pn ,n));
+ pn = n;
+ }
+ }
+}
+
bool RRTBase::logr(RRTNode *root)
{
std::vector<RRTEdge *> e; // Edges to log
return false;
}
this->goal_found_ = true;
+ // Update ccost of goal's parents
+ if (this->goals().size() > 0) {
+ RRTNode *ch = this->goals().back();
+ RRTNode *pn = this->goals().back()->parent();
+ while (pn) {
+ pn->ccost(
+ ch->ccost()
+ - this->cost(pn, ch)
+ );
+ ch = pn;
+ pn = pn->parent();
+ }
+ }
+ return true;
+ }
+ }
+ return false;
+}
+
+bool RRTBase::goal_found(
+ RRTNode *node,
+ RRTNode *goal
+)
+{
+ if (IS_NEAR(node, goal)) {
+ if (this->goal_found_) {
+ if (
+ goal->ccost() != -1
+ && node->ccost() + this->cost(node, goal)
+ < goal->ccost()
+ ) {
+ RRTNode *op; // old parent
+ float oc; // old cumulative cost
+ float od; // old direct cost
+ op = goal->parent();
+ oc = goal->ccost();
+ od = goal->dcost();
+ node->add_child(goal,
+ this->cost(node, goal));
+ if (this->collide(node, goal)) {
+ node->children().pop_back();
+ goal->parent(op);
+ goal->ccost(oc);
+ goal->dcost(od);
+ } else {
+ op->rem_child(goal);
+ return true;
+ }
+ } else {
+ return false;
+ }
+ } else {
+ node->add_child(
+ goal,
+ this->cost(node, goal)
+ );
+ if (this->collide(node, goal)) {
+ node->children().pop_back();
+ goal->remove_parent();
+ return false;
+ }
+ this->goal_found_ = true;
+ // Update ccost of goal's children
+ goal->update_ccost();
+ // Update ccost of goals
+ for (auto g: this->goals()) {
+ if (g == goal)
+ break;
+ g->ccost(-1);
+ }
return true;
}
}
RRTNode *RRTBase::sample()
{
if (this->useSamplingInfo_ && this->nodes().size() % 2 == 0) {
- float sar = static_cast<float>(rand());
- sar /= static_cast<float>(RAND_MAX / this->samplingInfo_.r);
- sar += this->samplingInfo_.mr;
- float sah = static_cast<float>(rand());
- sah /= static_cast<float>(RAND_MAX / this->samplingInfo_.h);
- sah *= this->samplingInfo_.dh;
- sah += this->samplingInfo_.sh;
+ float x = static_cast<float>(rand());
+ x /= static_cast<float>(RAND_MAX / this->samplingInfo_.x);
+ x -= this->samplingInfo_.x / 2;
+ x += this->samplingInfo_.x0;
+ float y = static_cast<float>(rand());
+ y /= static_cast<float>(RAND_MAX / this->samplingInfo_.y);
+ y -= this->samplingInfo_.y / 2;
+ y += this->samplingInfo_.y0;
float h = static_cast<float>(rand());
- h /= static_cast<float>(RAND_MAX / this->samplingInfo_.mh);
- h += this->samplingInfo_.mmh;
- h *= this->samplingInfo_.dh;
- h += this->samplingInfo_.sh;
- return new RRTNode(
- this->samplingInfo_.x + sar * cos(sah),
- this->samplingInfo_.y + sar * sin(sah),
- h
- );
+ h /= static_cast<float>(RAND_MAX / this->samplingInfo_.h);
+ h -= this->samplingInfo_.h / 2;
+ h += this->samplingInfo_.h0;
+ return new RRTNode(x, y, h);
} else {
- return sa1();
+ float x = this->ndx_(this->gen_);
+ float y = this->ndy_(this->gen_);
+ float h = this->ndh_(this->gen_);
+ return new RRTNode(x, y, h);
}
}