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         std::vector<RRTNode> final_path;
  51         double final_path_cost = 9999;
  52         RRTNode init_node;
  53         init_node.x(jvi["init"][0].asDouble());
  54         init_node.y(jvi["init"][1].asDouble());
  55         init_node.h(jvi["init"][2].asDouble());
  56         init_node.sp(2.7);
  57         init_node.st(M_PI / 32); // only for sc2_4
  58         init_node.next();
  59
  60         RRTS rrts;
  61         rrts.nodes().front().x(init_node.x());
  62         rrts.nodes().front().y(init_node.y());
  63         rrts.nodes().front().h(init_node.h());
  64         {
  65                 RRTNode tmp_node;
  66                 tmp_node.x(jvi["goal"][0].asDouble());
  67                 tmp_node.y(jvi["goal"][1].asDouble());
  68                 tmp_node.h(jvi["goal"][2].asDouble());
  69                 rrts.goals().push_back(tmp_node);
  70                 for (auto g: jvi["goals"]) {
  71                         tmp_node.x(g[0].asDouble());
  72                         tmp_node.y(g[1].asDouble());
  73                         tmp_node.h(g[2].asDouble());
  74                         rrts.goals().push_back(tmp_node);
  75                 }
  76         }
  77         {
  78                 Obstacle tmp_obstacle;
  79                 for (auto o: jvi["obst"]) {
  80                         tmp_obstacle.poly().clear();
  81                         for (auto c: o) {
  82                                 double tmp_x = c[0].asDouble();
  83                                 double tmp_y = c[1].asDouble();
  84                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
  85                                 tmp_obstacle.poly().push_back(tmp_tuple);
  86                         }
  87                         rrts.obstacles().push_back(tmp_obstacle);
  88                 }
  89         }
  90         {
  91                 double edist_init_goal = sqrt(
  92                         pow(
  93                                 rrts.nodes().front().x()
  94                                 - rrts.goals().front().x(),
  95                                 2
  96                         )
  97                         + pow(
  98                                 rrts.nodes().front().y()
  99                                 - rrts.goals().front().y(),
 100                                 2
 101                         )
 102                 );
 103                 rrts.set_sample(
 104                         rrts.nodes().front().x(), edist_init_goal,
 105                         rrts.nodes().front().y(), edist_init_goal,
 106                         0, 2 * M_PI
 107                 );
 108         }
 109
 110         TSTART();
 111         while (rrts.next()) {}
 112         TEND();
 113         if (rrts.path().size() > 0) {
 114                 if (cc(*rrts.path().back()) < final_path_cost) {
 115                         final_path_cost = cc(*rrts.path().back());
 116                         final_path.clear();
 117                         for (auto n: rrts.path()) {
 118                                 final_path.push_back(RRTNode());
 119                                 final_path.back().x(n->x());
 120                                 final_path.back().y(n->y());
 121                                 final_path.back().h(n->h());
 122                         }
 123                 }
 124         }
 125
 126         {
 127                 jvo["time"] = TDIFF();
 128         }
 129         {
 130                 jvo["iterations"] = rrts.icnt();
 131         }
 132         {
 133                 jvo["init"][0] = rrts.nodes().front().x();
 134                 jvo["init"][1] = rrts.nodes().front().y();
 135                 jvo["init"][2] = rrts.nodes().front().h();
 136         }
 137         {
 138                 jvo["cost"] = final_path_cost;
 139         }
 140         {
 141                 if (final_path.size() > 0) {
 142                         jvo["goal"][0] = final_path.back().x();
 143                         jvo["goal"][1] = final_path.back().y();
 144                         jvo["goal"][2] = final_path.back().h();
 145                 }
 146                 unsigned int cu = 0;
 147                 unsigned int co = 0;
 148                 unsigned int pcnt = 0;
 149                 for (auto n: final_path) {
 150                         jvo["path"][pcnt][0] = n.x();
 151                         jvo["path"][pcnt][1] = n.y();
 152                         jvo["path"][pcnt][2] = n.h();
 153                         if (n.t(RRTNodeType::cusp))
 154                                 cu++;
 155                         if (n.t(RRTNodeType::connected))
 156                                 co++;
 157                         pcnt++;
 158                 }
 159                 jvo["cusps-in-path"] = cu;
 160                 jvo["connecteds-in-path"] = co;
 161         }
 162         {
 163                 unsigned int gcnt = 0;
 164                 for (auto g: rrts.goals()) {
 165                         jvo["goals"][gcnt][0] = g.x();
 166                         jvo["goals"][gcnt][1] = g.y();
 167                         jvo["goals"][gcnt][2] = g.h();
 168                         gcnt++;
 169                 }
 170         }
 171         {
 172                 unsigned int ocnt = 0;
 173                 for (auto o: rrts.obstacles()) {
 174                         unsigned int ccnt = 0;
 175                         for (auto c: o.poly()) {
 176                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 177                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 178                                 ccnt++;
 179                         }
 180                         ocnt++;
 181                 }
 182         }
 183         {
 184                 jvo["nodes"] = (unsigned int) rrts.nodes().size();
 185         }
 186         //{
 187         //        unsigned int ncnt = 0;
 188         //        for (auto n: rrts.nodes()) {
 189         //                jvo["nodes_x"][ncnt] = n.x();
 190         //                jvo["nodes_y"][ncnt] = n.y();
 191         //                //jvo["nodes_h"][ncnt] = n.h();
 192         //                ncnt++;
 193         //        }
 194         //}
 195         std::cout << jvo << std::endl;
 196         return 0;
 197 }