#include <chrono>
#include <cmath>
+#include <pthread.h>
+#include <queue>
+#include <random>
#include <vector>
#include "obstacle.h"
#include "rrtnode.h"
#include "sample.h"
+#include "slotplanner.h"
-#define IYSIZE 200
+#define NOFNODES 20000
+
+#define IXSIZE 100
+#define IXSTEP (1.0 * ((VMAX) - (VMIN)) / IXSIZE)
+#define IXI(x) ({ __typeof__ (x) _x = (x); \
+ std::abs((int) floor(_x / IXSTEP)); })
+#define IYSIZE 100
#define IYSTEP (1.0 * ((HMAX) - (HMIN)) / IYSIZE)
#define IYI(y) ({ __typeof__ (y) _y = (y); \
- (int) floor(_y / IYSTEP); })
+ std::abs((int) floor(_y / IYSTEP)); })
+
+class Cell {
+ private:
+ std::vector<RRTNode *> nodes_;
+ pthread_mutex_t m_;
+ bool changed_ = false;
+ public:
+ Cell();
+
+ // getter
+ bool changed();
+ std::vector<RRTNode *> nodes();
+
+ // other
+ void add_node(RRTNode *n);
+};
class RRTBase {
private:
RRTNode *root_ = nullptr;
RRTNode *goal_ = nullptr;
+ std::vector<RRTNode *> goals_;
std::vector<RRTNode *> nodes_;
std::vector<RRTNode *> dnodes_;
+ std::queue<RRTNode *> firsts_;
+ PolygonObstacle frame_;
std::vector<RRTNode *> samples_;
std::vector<CircleObstacle> *cobstacles_;
std::vector<SegmentObstacle> *sobstacles_;
std::vector<std::vector<RRTEdge *>> rlog_; // log tree
std::vector<float> slog_; // seconds of trajectories
std::vector<std::vector<RRTNode *>> tlog_; // trajectories
+ std::vector<RRTNode *> slot_cusp_; // cusp nodes in slot
+ protected:
+ std::default_random_engine gen_;
+ std::normal_distribution<float> ndx_;
+ std::normal_distribution<float> ndy_;
+ std::normal_distribution<float> ndh_;
public:
const float GOAL_FOUND_DISTANCE = 0.2;
const float GOAL_FOUND_ANGLE = M_PI / 32;
// getter
RRTNode *root();
RRTNode *goal();
+ std::vector<RRTNode *> &goals();
std::vector<RRTNode *> &nodes();
std::vector<RRTNode *> &dnodes();
+ std::queue<RRTNode *> &firsts();
+ PolygonObstacle &frame();
std::vector<RRTNode *> &samples();
std::vector<RRTNode *> iy_[IYSIZE];
- std::vector<CircleObstacle> *cos();
- std::vector<SegmentObstacle> *sos();
+ Cell ixy_[IXSIZE][IYSIZE];
+ std::vector<CircleObstacle> *co();
+ std::vector<SegmentObstacle> *so();
std::vector<float> &clog();
std::vector<float> &nlog();
std::vector<std::vector<RRTEdge *>> &rlog();
std::vector<float> &slog();
std::vector<std::vector<RRTNode *>> &tlog();
+ std::vector<RRTNode *> &slot_cusp();
bool goal_found();
float elapsed();
+ std::vector<RRTNode *> traj_cusp();
// setter
+ void root(RRTNode *node);
+ void goal(RRTNode *node);
+ void goals(std::vector<RRTNode *> g);
bool logr(RRTNode *root);
float ocost(RRTNode *n);
bool tlog(std::vector<RRTNode *> t);
std::vector<CircleObstacle> *cobstacles,
std::vector<SegmentObstacle> *sobstacles);
bool add_iy(RRTNode *n);
+ bool add_ixy(RRTNode *n);
+ bool goal_found(bool f);
+ void slot_cusp(std::vector<RRTNode *> sc);
// other
bool glplot();
bool goal_found(
RRTNode *node,
float (*cost)(RRTNode *, RRTNode *));
+ bool goal_found(
+ RRTNode *node,
+ RRTNode *goal
+ );
bool collide(RRTNode *init, RRTNode *goal);
+ bool optp_dijkstra(
+ std::vector<RRTNode *> &cusps,
+ std::vector<int> &npi);
+ bool optp_rrp(
+ std::vector<RRTNode *> &cusps,
+ std::vector<int> &npi);
+ bool optp_smart(
+ std::vector<RRTNode *> &cusps,
+ std::vector<int> &npi);
bool opt_path();
bool rebase(RRTNode *nr);
std::vector<RRTNode *> findt();
std::vector<RRTNode *> findt(RRTNode *n);
+ // RRT Framework
+ SamplingInfo samplingInfo_;
+ bool useSamplingInfo_ = false;
+ RRTNode *sample();
+ float cost(RRTNode *init, RRTNode *goal);
+ RRTNode *nn(RRTNode *rs);
+ std::vector<RRTNode *> nv(RRTNode *node, float dist);
+ std::vector<RRTNode *> steer(RRTNode *init, RRTNode *goal);
+ std::vector<RRTNode *> steer(
+ RRTNode *init,
+ RRTNode *goal,
+ float step);
+
// virtuals - implemented by child classes
virtual bool next() = 0;
};