4 #include "reeds_shepp.h"
6 template <typename T> int sgn(T val) {
7 return (T(0) < val) - (val < T(0));
14 RRTNode::RRTNode(const BicycleCar &bc) : BicycleCar(bc)
22 double RRTS::elapsed()
24 std::chrono::duration<double> dt;
25 dt = std::chrono::duration_cast<std::chrono::duration<double>>(
26 std::chrono::high_resolution_clock::now()
29 this->scnt_ = dt.count();
33 bool RRTS::should_stop()
35 // the following counters must be updated, do not comment
38 // current iteration stop conditions
39 if (this->should_finish()) return true;
40 if (this->should_break()) return true;
41 // but continue by default
45 bool RRTS::should_finish()
47 // decide finish conditions (maybe comment some lines)
48 //if (this->icnt_ > 999) return true;
49 if (this->scnt_ > 50) return true;
50 if (this->gf()) return true;
51 // but continue by default
55 bool RRTS::should_break()
57 // decide break conditions (maybe comment some lines)
58 //if (this->scnt_ - this->pcnt_ > 2) return true;
59 // but continue by default
63 bool RRTS::should_continue()
65 // decide the stop conditions (maybe comment some lines)
66 // it is exact opposite of `should_stop`
67 //if (this->icnt_ > 999) return false;
68 if (this->scnt_ > 10) return false;
69 if (this->gf()) return false;
70 // and reset pause counter if should continue
71 this->pcnt_ = this->scnt_;
75 void RRTS::store_node(RRTNode n)
77 this->nodes().push_back(n);
81 std::tuple<bool, unsigned int, unsigned int>
82 RRTS::collide(std::vector<std::tuple<double, double>> &poly)
84 for (auto &o: this->obstacles())
85 if (std::get<0>(::collide(poly, o.poly())))
86 return ::collide(poly, o.poly());
87 return std::make_tuple(false, 0, 0);
90 std::tuple<bool, unsigned int, unsigned int>
91 RRTS::collide_steered_from(RRTNode &f)
93 std::vector<std::tuple<double, double>> s;
94 s.push_back(std::make_tuple(f.x(), f.y()));
95 for (auto &n: this->steered()) {
96 s.push_back(std::make_tuple(n.lfx(), n.lfy()));
97 s.push_back(std::make_tuple(n.lrx(), n.lry()));
98 s.push_back(std::make_tuple(n.rrx(), n.rry()));
99 s.push_back(std::make_tuple(n.rfx(), n.rfy()));
101 auto col = this->collide(s);
102 auto strip_from = this->steered().size() - std::get<1>(col) / 4;
103 if (std::get<0>(col) && strip_from > 0) {
104 while (strip_from-- > 0) {
105 this->steered().pop_back();
107 return this->collide_steered_from(f);
112 std::tuple<bool, unsigned int, unsigned int>
113 RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
115 std::vector<std::tuple<double, double>> p;
116 p.push_back(std::make_tuple(f.lfx(), f.lfy()));
117 p.push_back(std::make_tuple(f.lrx(), f.lry()));
118 p.push_back(std::make_tuple(f.rrx(), f.rry()));
119 p.push_back(std::make_tuple(f.rfx(), f.rfy()));
120 p.push_back(std::make_tuple(t.lfx(), t.lfy()));
121 p.push_back(std::make_tuple(t.lrx(), t.lry()));
122 p.push_back(std::make_tuple(t.rrx(), t.rry()));
123 p.push_back(std::make_tuple(t.rfx(), t.rfy()));
124 return this->collide(p);
127 double RRTS::cost_build(RRTNode &f, RRTNode &t)
130 cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
134 double RRTS::cost_search(RRTNode &f, RRTNode &t)
137 cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
146 switch (this->sample_dist_type()) {
148 x = this->udx_(this->gen_);
149 y = this->udy_(this->gen_);
150 h = this->udh_(this->gen_);
153 x = this->ndx_(this->gen_);
154 y = this->ndy_(this->gen_);
155 h = this->ndh_(this->gen_);
157 this->samples().push_back(RRTNode());
158 this->samples().back().x(x);
159 this->samples().back().y(y);
160 this->samples().back().h(h);
163 RRTNode *RRTS::nn(RRTNode &t)
165 RRTNode *nn = &this->nodes().front();
166 double cost = this->cost_search(*nn, t);
167 for (auto &f: this->nodes()) {
168 if (this->cost_search(f, t) < cost) {
170 cost = this->cost_search(f, t);
176 std::vector<RRTNode *> RRTS::nv(RRTNode &t)
178 std::vector<RRTNode *> nv;
179 double cost = std::min(GAMMA(this->nodes().size()), ETA);
180 for (auto &f: this->nodes())
181 if (this->cost_search(f, t) < cost)
186 int cb_rs_steer(double q[4], void *user_data)
188 std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
189 RRTNode *ln = nullptr;
190 if (nodes->size() > 0)
192 nodes->push_back(RRTNode());
193 nodes->back().x(q[0]);
194 nodes->back().y(q[1]);
195 nodes->back().h(q[2]);
196 nodes->back().sp(q[3]);
197 if (nodes->back().sp() == 0)
198 nodes->back().set_t(RRTNodeType::cusp);
199 else if (ln != nullptr && sgn(ln->sp()) != sgn(nodes->back().sp()))
200 ln->set_t(RRTNodeType::cusp);
204 void RRTS::steer(RRTNode &f, RRTNode &t)
206 this->steered().clear();
207 double q0[] = {f.x(), f.y(), f.h()};
208 double q1[] = {t.x(), t.y(), t.h()};
209 ReedsSheppStateSpace rsss(f.mtr());
210 rsss.sample(q0, q1, 0.5, cb_rs_steer, &this->steered());
213 void RRTS::join_steered(RRTNode *f)
215 while (this->steered().size() > 0) {
216 this->store_node(this->steered().front());
217 RRTNode *t = &this->nodes().back();
219 t->c(this->cost_build(*f, *t));
220 this->steered().erase(this->steered().begin());
225 bool RRTS::goal_found(RRTNode &f)
228 auto &g = this->goals().front();
229 bool in_zone = false;
230 double cost = this->cost_build(f, g);
231 double h_d = f.h() - g.h();
232 if (h_d < -M_PI/2 || h_d > M_PI/2)
234 double max_dist = g.mtr() * 2 * sin(M_PI/2 / 2); // mtr circle chord
235 if (sqrt(pow(f.x() - g.x(), 2) + pow(f.y() - g.y(), 2)) > max_dist)
237 double a = atan2(f.y() - g.y(), f.x() - g.x()) - g.h();
240 if (0 <= a && a < M_PI/2) { // left front g
241 BicycleCar zone_border(g);
242 zone_border.rotate(g.ccl().x(), g.ccl().y(), h_d);
243 a = atan2(f.y() - zone_border.y(), f.x() - zone_border.x());
247 double ub = zone_border.h() - g.h();
250 if (0 <= a && a <= ub)
252 } else if (M_PI/2 <= a && a < M_PI) { // left rear g
253 BicycleCar zone_border(g);
254 zone_border.rotate(g.ccl().x(), g.ccl().y(), h_d);
255 a = atan2(f.y() - zone_border.y(), f.x() - zone_border.x());
257 pow(f.y() - zone_border.y(), 2)
258 + pow(f.x() - zone_border.x(), 2)
261 a -= zone_border.h();
264 double ub = g.h() - zone_border.h();
265 double lb = zone_border.h();
266 if (lb <= a && a <= ub)
268 } else if (M_PI <= a && a < 3 * M_PI/2) { // right rear g
269 BicycleCar zone_border(g);
270 zone_border.rotate(g.ccr().x(), g.ccr().y(), h_d);
271 a = atan2(f.y() - zone_border.y(), f.x() - zone_border.x());
273 pow(f.y() - zone_border.y(), 2)
274 + pow(f.x() - zone_border.x(), 2)
278 double ub = zone_border.h() - g.h();
280 if (lb <= a && a <= ub)
282 } else if (3 * M_PI/2 <= a && a < 2 * M_PI) { // right front g
283 BicycleCar zone_border(g);
284 zone_border.rotate(g.ccr().x(), g.ccr().y(), h_d);
285 a = atan2(f.y() - zone_border.y(), f.x() - zone_border.x());
286 a -= zone_border.h();
289 double ub = g.h() - zone_border.h();
292 if (0 <= a && a <= ub)
295 // Not happenning, as ``a`` < 2 * M_PI.
299 if (g.p() == nullptr || cc(f) + cost < cc(g)) {
310 RRTNode *t = &this->steered().front();
311 RRTNode *f = this->nn(this->samples().back());
312 double cost = this->cost_search(*f, *t);
313 for (auto n: this->nv(*t)) {
315 !std::get<0>(this->collide_two_nodes(*n, *t))
316 && this->cost_search(*n, *t) < cost
319 cost = this->cost_search(*n, *t);
322 this->store_node(this->steered().front());
323 t = &this->nodes().back();
325 t->c(this->cost_build(*f, *t));
326 t->set_t(RRTNodeType::connected);
332 RRTNode *f = &this->nodes().back();
333 for (auto n: this->nv(*f)) {
335 !std::get<0>(this->collide_two_nodes(*f, *n))
336 && cc(*f) + this->cost_search(*f, *n) < cc(*n)
339 n->c(this->cost_build(*f, *n));
351 this->nodes().clear();
352 this->samples().clear();
353 this->steered().clear();
354 this->store_node(RRTNode()); // root
361 std::vector<RRTNode *> RRTS::path()
363 std::vector<RRTNode *> path;
364 if (this->goals().size() == 0)
366 RRTNode *goal = &this->goals().front();
367 if (goal->p() == nullptr)
369 while (goal != nullptr) {
370 path.push_back(goal);
373 std::reverse(path.begin(), path.end());
379 if (this->icnt_ == 0)
380 this->tstart_ = std::chrono::high_resolution_clock::now();
382 if (this->should_stop())
386 *this->nn(this->samples().back()),
387 this->samples().back()
389 if (std::get<0>(this->collide_steered_from(
390 *this->nn(this->samples().back())
393 if (!this->connect())
396 unsigned scnt = this->steered().size();
397 this->steered().erase(this->steered().begin());
398 this->join_steered(&this->nodes().back());
399 RRTNode *just_added = &this->nodes().back();
402 auto &g = this->goals().front();
403 this->steer(*just_added, g);
404 if (std::get<0>(this->collide_steered_from(
408 this->join_steered(just_added);
409 this->gf(this->goal_found(this->nodes().back()));
410 just_added = just_added->p();
415 void RRTS::set_sample_normal(
416 double mx, double dx,
417 double my, double dy,
421 this->ndx_ = std::normal_distribution<double>(mx, dx);
422 this->ndy_ = std::normal_distribution<double>(my, dy);
423 this->ndh_ = std::normal_distribution<double>(mh, dh);
425 void RRTS::set_sample_uniform(
426 double xmin, double xmax,
427 double ymin, double ymax,
428 double hmin, double hmax
431 this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
432 this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
433 this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
435 void RRTS::set_sample(
436 double x1, double x2,
437 double y1, double y2,
441 switch (this->sample_dist_type()) {
443 x1 += this->nodes().front().x();
444 x2 += this->nodes().front().x();
445 y1 += this->nodes().front().y();
446 y2 += this->nodes().front().y();
447 this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
450 this->set_sample_normal(x1, x2, y1, y2, h1, h2);
454 Json::Value RRTS::json()
458 jvo["time"] = this->scnt();
461 jvo["iterations"] = this->icnt();
464 jvo["init"][0] = this->nodes().front().x();
465 jvo["init"][1] = this->nodes().front().y();
466 jvo["init"][2] = this->nodes().front().h();
469 if (this->path().size() > 0) {
470 jvo["cost"] = cc(*this->path().back());
471 jvo["goal"][0] = this->path().back()->x();
472 jvo["goal"][1] = this->path().back()->y();
473 jvo["goal"][2] = this->path().back()->h();
479 unsigned int pcnt = 0;
480 for (auto n: this->path()) {
481 jvo["path"][pcnt][0] = n->x();
482 jvo["path"][pcnt][1] = n->y();
483 jvo["path"][pcnt][2] = n->h();
484 if (n->t(RRTNodeType::cusp))
486 if (n->t(RRTNodeType::connected))
490 jvo["cusps-in-path"] = cu;
491 jvo["connecteds-in-path"] = co;
494 unsigned int gcnt = 0;
495 for (auto g: this->goals()) {
496 jvo["goals"][gcnt][0] = g.x();
497 jvo["goals"][gcnt][1] = g.y();
498 jvo["goals"][gcnt][2] = g.h();
503 unsigned int ocnt = 0;
504 for (auto o: this->obstacles()) {
505 unsigned int ccnt = 0;
506 for (auto c: o.poly()) {
507 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
508 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
515 jvo["nodes"] = (unsigned int) this->nodes().size();
518 // unsigned int ncnt = 0;
519 // for (auto n: this->nodes()) {
520 // jvo["nodes_x"][ncnt] = n.x();
521 // jvo["nodes_y"][ncnt] = n.y();
522 // //jvo["nodes_h"][ncnt] = n.h();
529 void RRTS::json(Json::Value jvi)
531 assert(jvi["init"] != Json::nullValue);
532 assert(jvi["goal"] != Json::nullValue);
533 assert(jvi["goals"] != Json::nullValue);
534 assert(jvi["obst"] != Json::nullValue);
536 this->nodes().front().x(jvi["init"][0].asDouble());
537 this->nodes().front().y(jvi["init"][1].asDouble());
538 this->nodes().front().h(jvi["init"][2].asDouble());
541 tmp_node.x(jvi["goal"][0].asDouble());
542 tmp_node.y(jvi["goal"][1].asDouble());
543 tmp_node.h(jvi["goal"][2].asDouble());
544 this->goals().push_back(tmp_node);
545 for (auto g: jvi["goals"]) {
546 tmp_node.x(g[0].asDouble());
547 tmp_node.y(g[1].asDouble());
548 tmp_node.h(g[2].asDouble());
549 this->goals().push_back(tmp_node);
553 Obstacle tmp_obstacle;
554 for (auto o: jvi["obst"]) {
555 tmp_obstacle.poly().clear();
557 double tmp_x = c[0].asDouble();
558 double tmp_y = c[1].asDouble();
559 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
560 tmp_obstacle.poly().push_back(tmp_tuple);
562 this->obstacles().push_back(tmp_obstacle);
566 double edist_init_goal = sqrt(
568 this->nodes().front().x()
569 - this->goals().front().x(),
573 this->nodes().front().y()
574 - this->goals().front().y(),
579 this->nodes().front().x(), edist_init_goal,
580 this->nodes().front().y(), edist_init_goal,
587 : gen_(std::random_device{}())
589 this->goals().reserve(100);
590 this->nodes().reserve(4000000);
591 this->samples().reserve(1000);
592 this->steered().reserve(20000);
593 this->store_node(RRTNode()); // root
596 double cc(RRTNode &t)
600 while (n != nullptr) {