Include asserts in set parent method for rrt node

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

diff --git a/rrts/src/rrts.cc b/rrts/src/rrts.cc
index 3d84e6225c0d10ed6ccf99da5ef512be8f122a3b..6bcf151811721854a0d226499b0eb95eb4345016 100644 (file)
--- a/rrts/src/rrts.cc
+++ b/rrts/src/rrts.cc
@@ -55,11 +55,23 @@ 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
@@ -101,6 +113,31 @@ RRTNode::p_is_cusp(bool isit)
        this->_p_is_cusp = isit;
 }
 
+bool
+RRTNode::would_be_cusp_if_parent(RRTNode const& p) const
+{
+       if (p.sp() == 0) {
+               assert(this->sp() != 0);
+               if (p.p()) {
+                       if (sgn(p.p()->sp()) != sgn(this->sp())) {
+                               return true;
+                       } else {
+                               return false;
+                       }
+               } else {
+                       return true; // only root has no parent and it is cusp
+               }
+       } else {
+               if (this->sp() == 0) {
+                       return false; // this is cusp, not the parent
+               } else if (sgn(p.sp()) != sgn(this->sp())) {
+                       return true;
+               } else {
+                       return false;
+               }
+       }
+}
+
 bool
 RRTNode::operator==(RRTNode const& n)
 {
@@ -152,7 +189,6 @@ RRTS::join_steered(RRTNode* f)
                RRTNode* t = &this->_nodes.back();
                t->p(*f);
                t->c(this->cost_build(*f, *t));
-               t->cusp_cnt(*f);
                this->_steered.erase(this->_steered.begin());
                f = t;
        }
@@ -167,8 +203,6 @@ RRTS::connect()
        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);
-       // When f and t has different directions, the node (f == t) is cusp:
-       // TODO
        this->_steered.erase(this->_steered.begin());
        t = &this->_steered.front();
 #if USE_RRTS
@@ -192,7 +226,6 @@ RRTS::connect()
        t = &this->_nodes.back();
        t->p(*f);
        t->c(this->cost_build(*f, *t));
-       t->cusp_cnt(*f);
        this->_steered.erase(this->_steered.begin());
        return true;
 }
@@ -412,6 +445,7 @@ 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();
@@ -424,11 +458,13 @@ 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();
@@ -515,7 +551,7 @@ 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;
                        }