Merge branch 'fix-steer'

[hubacji1/iamcar2.git] / rrts / src / rrts.cc

diff --git a/rrts/src/rrts.cc b/rrts/src/rrts.cc
index da4ae36f6fcbb6a78164113a2f0f82f0ac27a7c8..0c1a663e0f7e5e5beaa9d16404bddd090240f33b 100644 (file)
--- a/rrts/src/rrts.cc
+++ b/rrts/src/rrts.cc
@@ -55,15 +55,25 @@ RRTNode::p() const
 }
 
 void
-RRTNode::p(RRTNode& p)
+RRTNode::p(RRTNode& p, bool connecting_goal)
 {
-       if (this != &p) {
-               this->_p = &p;
+       assert(this != &p);
+       if (!connecting_goal) {
+               assert(!(std::abs(p.x() - this->x()) < 1e-3
+                       && std::abs(p.y() - this->y()) < 1e-3
+                       && std::abs(p.h() - this->h()) < 1e-3));
        }
+       this->_p = &p;
        this->p_is_cusp(this->would_be_cusp_if_parent(p));
        this->cusp_cnt(p);
 }
 
+void
+RRTNode::p(RRTNode& p)
+{
+       return this->p(p, false);
+}
+
 unsigned int
 RRTNode::cusp_cnt() const
 {
@@ -106,8 +116,10 @@ RRTNode::p_is_cusp(bool isit)
 bool
 RRTNode::would_be_cusp_if_parent(RRTNode const& p) const
 {
-       if (p.sp() == 0) {
-               assert(this->sp() != 0);
+       if (std::abs(p.sp()) < 1e-3) {
+               // It should not be possible to have two zero speed nodes next
+               // to each other. In practice, this sometimes happens.
+               //assert(std::abs(this->sp()) > 1e-3);
                if (p.p()) {
                        if (sgn(p.p()->sp()) != sgn(this->sp())) {
                                return true;
@@ -118,7 +130,7 @@ RRTNode::would_be_cusp_if_parent(RRTNode const& p) const
                        return true; // only root has no parent and it is cusp
                }
        } else {
-               if (this->sp() == 0) {
+               if (std::abs(this->sp()) < 1e-3) {
                        return false; // this is cusp, not the parent
                } else if (sgn(p.sp()) != sgn(this->sp())) {
                        return true;
@@ -190,11 +202,14 @@ RRTS::connect()
        RRTNode* f = this->_nn;
        RRTNode* t = &this->_steered.front();
        // Require the steer method to return first node equal to nn:
-       assert(std::abs(t->x() - f->x()) < 1e-3);
-       assert(std::abs(t->y() - f->x()) < 1e-3);
-       assert(std::abs(t->h() - f->x()) < 1e-3);
+       assert(std::abs(t->x() - f->x()) < 1e-3
+               && std::abs(t->y() - f->y()) < 1e-3
+               && std::abs(t->h() - f->h()) < 1e-3);
        this->_steered.erase(this->_steered.begin());
        t = &this->_steered.front();
+       assert(!(std::abs(t->x() - f->x()) < 1e-3
+               && std::abs(t->y() - f->y()) < 1e-3
+               && std::abs(t->h() - f->h()) < 1e-3));
 #if USE_RRTS
        double cost = f->cc() + this->cost_build(*f, *t);
        for (auto n: this->nv_) {
@@ -435,6 +450,7 @@ RRTS::json(void) const
                        jvo["paths"][j][i][2] = n.h();
                        jvo["paths"][j][i][3] = n.sp();
                        jvo["paths"][j][i][4] = n.st();
+                       jvo["paths"][j][i][5] = n.p_is_cusp();
                        i++;
                }
                jvo["costs"][j] = path.back().cc();
@@ -447,11 +463,13 @@ RRTS::json(void) const
                jvo["paths"][j][i][2] = n->h();
                jvo["paths"][j][i][3] = n->sp();
                jvo["paths"][j][i][4] = n->st();
+               jvo["paths"][j][i][5] = n->p_is_cusp();
                jvo["path"][i][0] = n->x();
                jvo["path"][i][1] = n->y();
                jvo["path"][i][2] = n->h();
                jvo["path"][i][3] = n->sp();
                jvo["path"][i][4] = n->st();
+               jvo["path"][i][5] = n->p_is_cusp();
                i++;
        }
        jvo["costs"][j] = this->_path.back()->cc();
@@ -521,13 +539,15 @@ RRTS::next()
        this->join_steered(&this->_nodes.back());
        RRTNode* just_added = &this->_nodes.back();
        bool gf = false;
-       while (ss > 0 && just_added->p() != nullptr) {
+       while (ss > 0 && just_added != nullptr) {
                this->steer(*just_added, this->_goal);
                if (this->collide_steered()) {
                        ss--;
                        just_added = just_added->p();
                        continue;
                }
+               // The first of steered is the same as just_added.
+               this->_steered.erase(this->_steered.begin());
                this->join_steered(just_added);
                bool gn = this->_goal.edist(this->_nodes.back()) < this->eta();
                bool gd = this->goal_drivable_from(this->_nodes.back());
@@ -538,7 +558,7 @@ RRTS::next()
                        double ncc = this->_nodes.back().cc() + nc;
                        if (this->_goal.p() == nullptr
                                        || ncc < this->_goal.cc()) {
-                               this->_goal.p(this->_nodes.back());
+                               this->_goal.p(this->_nodes.back(), true);
                                this->_goal.c(nc);
                                gf = true;
                        }