src/test7.cc

   1 #include <chrono>
   2 #include <iostream>
   3 #include <jsoncpp/json/json.h>
   4
   5 #include "rrts.h"
   6
   7 std::chrono::high_resolution_clock::time_point TSTART_;
   8 std::chrono::high_resolution_clock::time_point TEND_;
   9 inline void TSTART() { TSTART_ = std::chrono::high_resolution_clock::now(); }
  10 inline void TEND() { TEND_ = std::chrono::high_resolution_clock::now(); }
  11 inline double TDIFF()
  12 {
  13         std::chrono::duration<double> DT_;
  14         DT_ = std::chrono::duration_cast<std::chrono::duration<double>>(
  15                 TEND_ - TSTART_
  16         );
  17         return DT_.count();
  18 }
  19 inline void TPRINT(const char *what)
  20 {
  21         std::cerr << what << ": " << TDIFF() << std::endl;
  22 }
  23
  24 int main()
  25 {
  26         Json::Value jvi; // JSON input
  27         Json::Value jvo; // JSON output
  28         std::cin >> jvi;
  29         if (jvi["init"] == Json::nullValue) {
  30                 std::cerr << "I need `init` in JSON input scenario";
  31                 std::cerr << std::endl;
  32                 return 1;
  33         }
  34         if (jvi["goal"] == Json::nullValue) {
  35                 std::cerr << "I need `goal` in JSON input scenario";
  36                 std::cerr << std::endl;
  37                 return 1;
  38         }
  39         if (jvi["goals"] == Json::nullValue) {
  40                 std::cerr << "I need `goals` in JSON input scenario";
  41                 std::cerr << std::endl;
  42                 return 1;
  43         }
  44         if (jvi["obst"] == Json::nullValue) {
  45                 std::cerr << "I need `obst` in JSON input scenario";
  46                 std::cerr << std::endl;
  47                 return 1;
  48         }
  49
  50         RRTNode init_node;
  51         init_node.x(jvi["init"][0].asDouble());
  52         init_node.y(jvi["init"][1].asDouble());
  53         init_node.h(jvi["init"][2].asDouble());
  54         init_node.sp(2.7);
  55         init_node.st(M_PI / 32); // only for sc2_4
  56         init_node.next();
  57
  58         RRTS rrts;
  59         rrts.nodes().front().x(init_node.x());
  60         rrts.nodes().front().y(init_node.y());
  61         rrts.nodes().front().h(init_node.h());
  62         {
  63                 RRTNode tmp_node;
  64                 tmp_node.x(jvi["goal"][0].asDouble());
  65                 tmp_node.y(jvi["goal"][1].asDouble());
  66                 tmp_node.h(jvi["goal"][2].asDouble());
  67                 rrts.goals().push_back(tmp_node);
  68                 for (auto g: jvi["goals"]) {
  69                         tmp_node.x(g[0].asDouble());
  70                         tmp_node.y(g[1].asDouble());
  71                         tmp_node.h(g[2].asDouble());
  72                         rrts.goals().push_back(tmp_node);
  73                 }
  74         }
  75         {
  76                 Obstacle tmp_obstacle;
  77                 for (auto o: jvi["obst"]) {
  78                         tmp_obstacle.poly().clear();
  79                         for (auto c: o) {
  80                                 double tmp_x = c[0].asDouble();
  81                                 double tmp_y = c[1].asDouble();
  82                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
  83                                 tmp_obstacle.poly().push_back(tmp_tuple);
  84                         }
  85                         rrts.obstacles().push_back(tmp_obstacle);
  86                 }
  87         }
  88         {
  89                 double edist_init_goal = sqrt(
  90                         pow(
  91                                 rrts.nodes().front().x()
  92                                 - rrts.goals().front().x(),
  93                                 2
  94                         )
  95                         + pow(
  96                                 rrts.nodes().front().y()
  97                                 - rrts.goals().front().y(),
  98                                 2
  99                         )
 100                 );
 101                 rrts.set_sample(
 102                         rrts.nodes().front().x(), edist_init_goal,
 103                         rrts.nodes().front().y(), edist_init_goal,
 104                         0, 2 * M_PI
 105                 );
 106         }
 107
 108         TSTART();
 109         while (rrts.next()) {}
 110         TEND();
 111
 112         {
 113                 jvo["time"] = TDIFF();
 114         }
 115         {
 116                 jvo["iterations"] = rrts.icnt();
 117         }
 118         {
 119                 jvo["init"][0] = rrts.nodes().front().x();
 120                 jvo["init"][1] = rrts.nodes().front().y();
 121                 jvo["init"][2] = rrts.nodes().front().h();
 122         }
 123         {
 124                 if (rrts.path().size() > 0) {
 125                         jvo["cost"] = cc(*rrts.path().back());
 126                 } else {
 127                         jvo["cost"] = -1;
 128                 }
 129         }
 130         {
 131                 if (rrts.path().size() > 0) {
 132                         jvo["goal"][0] = rrts.path().back()->x();
 133                         jvo["goal"][1] = rrts.path().back()->y();
 134                         jvo["goal"][2] = rrts.path().back()->h();
 135                 }
 136                 unsigned int cu = 0;
 137                 unsigned int co = 0;
 138                 unsigned int pcnt = 0;
 139                 for (auto n: rrts.path()) {
 140                         jvo["path"][pcnt][0] = n->x();
 141                         jvo["path"][pcnt][1] = n->y();
 142                         jvo["path"][pcnt][2] = n->h();
 143                         if (n->t(RRTNodeType::cusp))
 144                                 cu++;
 145                         if (n->t(RRTNodeType::connected))
 146                                 co++;
 147                         pcnt++;
 148                 }
 149                 jvo["cusps-in-path"] = cu;
 150                 jvo["connecteds-in-path"] = co;
 151         }
 152         {
 153                 unsigned int gcnt = 0;
 154                 for (auto g: rrts.goals()) {
 155                         jvo["goals"][gcnt][0] = g.x();
 156                         jvo["goals"][gcnt][1] = g.y();
 157                         jvo["goals"][gcnt][2] = g.h();
 158                         gcnt++;
 159                 }
 160         }
 161         {
 162                 unsigned int ocnt = 0;
 163                 for (auto o: rrts.obstacles()) {
 164                         unsigned int ccnt = 0;
 165                         for (auto c: o.poly()) {
 166                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 167                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 168                                 ccnt++;
 169                         }
 170                         ocnt++;
 171                 }
 172         }
 173         {
 174                 jvo["nodes"] = (unsigned int) rrts.nodes().size();
 175         }
 176         //{
 177         //        unsigned int ncnt = 0;
 178         //        for (auto n: rrts.nodes()) {
 179         //                jvo["nodes_x"][ncnt] = n.x();
 180         //                jvo["nodes_y"][ncnt] = n.y();
 181         //                //jvo["nodes_h"][ncnt] = n.h();
 182         //                ncnt++;
 183         //        }
 184         //}
 185         std::cout << jvo << std::endl;
 186         return 0;
 187 }