src/test-template.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         RRTS rrts;
  51         rrts.nodes().front().x(jvi["init"][0].asDouble());
  52         rrts.nodes().front().y(jvi["init"][1].asDouble());
  53         rrts.nodes().front().h(jvi["init"][2].asDouble());
  54         {
  55                 RRTNode tmp_node;
  56                 tmp_node.x(jvi["goal"][0].asDouble());
  57                 tmp_node.y(jvi["goal"][1].asDouble());
  58                 tmp_node.h(jvi["goal"][2].asDouble());
  59                 rrts.goals().push_back(tmp_node);
  60                 for (auto g: jvi["goals"]) {
  61                         tmp_node.x(g[0].asDouble());
  62                         tmp_node.y(g[1].asDouble());
  63                         tmp_node.h(g[2].asDouble());
  64                         rrts.goals().push_back(tmp_node);
  65                 }
  66         }
  67         {
  68                 Obstacle tmp_obstacle;
  69                 for (auto o: jvi["obst"]) {
  70                         tmp_obstacle.poly().clear();
  71                         for (auto c: o) {
  72                                 double tmp_x = c[0].asDouble();
  73                                 double tmp_y = c[1].asDouble();
  74                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
  75                                 tmp_obstacle.poly().push_back(tmp_tuple);
  76                         }
  77                         rrts.obstacles().push_back(tmp_obstacle);
  78                 }
  79         }
  80         {
  81                 double edist_init_goal = sqrt(
  82                         pow(
  83                                 rrts.nodes().front().x()
  84                                 - rrts.goals().front().x(),
  85                                 2
  86                         )
  87                         + pow(
  88                                 rrts.nodes().front().y()
  89                                 - rrts.goals().front().y(),
  90                                 2
  91                         )
  92                 );
  93                 rrts.set_sample(
  94                         rrts.nodes().front().x(), edist_init_goal,
  95                         rrts.nodes().front().y(), edist_init_goal,
  96                         0, 2 * M_PI
  97                 );
  98         }
  99
 100         TSTART();
 101         TEND();
 102
 103         {
 104                 jvo["time"] = TDIFF();
 105         }
 106         {
 107                 jvo["iterations"] = rrts.icnt();
 108         }
 109         {
 110                 jvo["init"][0] = rrts.nodes().front().x();
 111                 jvo["init"][1] = rrts.nodes().front().y();
 112                 jvo["init"][2] = rrts.nodes().front().h();
 113         }
 114         {
 115                 if (rrts.path().size() > 0) {
 116                         jvo["cost"] = cc(*rrts.path().back());
 117                 } else {
 118                         jvo["cost"] = -1;
 119                 }
 120         }
 121         {
 122                 if (rrts.path().size() > 0) {
 123                         jvo["goal"][0] = rrts.path().back()->x();
 124                         jvo["goal"][1] = rrts.path().back()->y();
 125                         jvo["goal"][2] = rrts.path().back()->h();
 126                 }
 127                 unsigned int cu = 0;
 128                 unsigned int co = 0;
 129                 unsigned int pcnt = 0;
 130                 for (auto n: rrts.path()) {
 131                         jvo["path"][pcnt][0] = n->x();
 132                         jvo["path"][pcnt][1] = n->y();
 133                         jvo["path"][pcnt][2] = n->h();
 134                         if (n->t(RRTNodeType::cusp))
 135                                 cu++;
 136                         if (n->t(RRTNodeType::connected))
 137                                 co++;
 138                         pcnt++;
 139                 }
 140                 jvo["cusps-in-path"] = cu;
 141                 jvo["connecteds-in-path"] = co;
 142         }
 143         {
 144                 unsigned int gcnt = 0;
 145                 for (auto g: rrts.goals()) {
 146                         jvo["goals"][gcnt][0] = g.x();
 147                         jvo["goals"][gcnt][1] = g.y();
 148                         jvo["goals"][gcnt][2] = g.h();
 149                         gcnt++;
 150                 }
 151         }
 152         {
 153                 unsigned int ocnt = 0;
 154                 for (auto o: rrts.obstacles()) {
 155                         unsigned int ccnt = 0;
 156                         for (auto c: o.poly()) {
 157                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 158                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 159                                 ccnt++;
 160                         }
 161                         ocnt++;
 162                 }
 163         }
 164         {
 165                 jvo["nodes"] = (unsigned int) rrts.nodes().size();
 166         }
 167         //{
 168         //        unsigned int ncnt = 0;
 169         //        for (auto n: rrts.nodes()) {
 170         //                jvo["nodes_x"][ncnt] = n.x();
 171         //                jvo["nodes_y"][ncnt] = n.y();
 172         //                //jvo["nodes_h"][ncnt] = n.h();
 173         //                ncnt++;
 174         //        }
 175         //}
 176         std::cout << jvo << std::endl;
 177         return 0;
 178 }