api/rrts.h

   1 #ifndef RRTS_H
   2 #define RRTS_H
   3
   4 #include <chrono>
   5 #include <functional>
   6 #include <jsoncpp/json/json.h>
   7 #include <random>
   8 #include <vector>
   9 #include "bcar.h"
  10
  11 #define ETA 1.0 // for steer, nv
  12 #define GAMMA(cV) ({ \
  13         __typeof__ (cV) _cV = (cV); \
  14         pow(log(_cV) / _cV, 1.0 / 3.0); \
  15 })
  16
  17 /*! \brief Possible type of RRT node.
  18
  19 \param cusp The node that is cusp (change in direction).
  20 \param connected The node that branches generated steered path.
  21 */
  22 class RRTNodeType {
  23         public:
  24                 static const unsigned int cusp = 1 << 0;
  25                 static const unsigned int connected = 1 << 1;
  26 };
  27
  28 /*! \brief RRT node basic class.
  29
  30 \param c Cumulative cost from RRT data structure root.
  31 \param p Pointer to parent RRT node.
  32 \param t Type of the RRT node (RRTNodeType).
  33 // -- from BicycleCar
  34 \param x Horizontal coordinate of rear axle center.
  35 \param y Vertical coordinate of rear axle center.
  36 \param h Heading of the car in the interval [-pi,+pi] radians.
  37 \param sp Speed of the car.
  38 \param st Steering of the car.
  39 */
  40 class RRTNode {
  41         private:
  42                 double c_ = 0;
  43                 RRTNode *p_ = nullptr;
  44                 unsigned int t_ = 0;
  45                 // -- from BicycleCar
  46                 // coordinates
  47                 double x_ = 0;
  48                 double y_ = 0;
  49                 double h_ = 0;
  50                 // moving
  51                 double sp_ = 0;
  52                 double st_ = 0;
  53         public:
  54                 // getters, setters
  55                 double c() const { return this->c_; }
  56                 void c(double c) { this->c_ = c; }
  57
  58                 RRTNode *p() const { return this->p_; }
  59                 void p(RRTNode *p) { this->p_ = p; }
  60
  61                 bool t(unsigned int flag) { return this->t_ & flag; }
  62                 void set_t(unsigned int flag) { this->t_ |= flag; }
  63                 void clear_t(unsigned int flag) { this->t_ &= ~flag; }
  64
  65                 // -- from BicycleCar
  66                 // getters, setters
  67                 double x() const { return this->x_; }
  68                 void x(double x) { this->x_ = x; }
  69
  70                 double y() const { return this->y_; }
  71                 void y(double y) { this->y_ = y; }
  72
  73                 double h() const { return this->h_; }
  74                 void h(double h)
  75                 {
  76                         while (h < -M_PI)
  77                                 h += 2 * M_PI;
  78                         while (h > +M_PI)
  79                                 h -= 2 * M_PI;
  80                         this->h_ = h;
  81                 }
  82
  83                 double sp() const { return this->sp_; }
  84                 void sp(double sp) { this->sp_ = sp; }
  85
  86                 double st() const { return this->st_; }
  87                 void st(double st) { this->st_ = st; }
  88
  89                 RRTNode();
  90                 RRTNode(const BicycleCar &bc);
  91                 bool operator==(const RRTNode& n);
  92 };
  93
  94 /*! \brief Polygon obstacle basic class.
  95
  96 \param poly Border polygon of the obstacle.
  97 */
  98 class Obstacle {
  99         private:
 100                 std::vector<std::tuple<double, double>> poly_;
 101         public:
 102                 // getters, setters
 103                 std::vector<std::tuple<double, double>> &poly()
 104                 {
 105                         return this->poly_;
 106                 }
 107
 108                 Obstacle();
 109 };
 110
 111 /*! \brief RRT* algorithm basic class.
 112
 113 \param icnt RRT algorithm iterations counter.
 114 \param goals The vector of goal nodes.
 115 \param nodes The vector of all nodes in RRT data structure.
 116 \param samples The vector of all samples of RRT algorithm.
 117 \param sample_dist_type Random distribution type for sampling function (0 -
 118 normal, 1 - uniform)
 119 */
 120 class RRTS {
 121         private:
 122                 unsigned int icnt_ = 0;
 123                 std::chrono::high_resolution_clock::time_point tstart_;
 124                 double scnt_ = 0;
 125                 double pcnt_ = 0;
 126                 bool gf_ = false;
 127                 int sample_dist_type_ = 0;
 128
 129                 std::vector<RRTNode> goals_;
 130                 std::vector<RRTNode> nodes_;
 131                 std::vector<Obstacle> obstacles_;
 132                 std::vector<RRTNode> samples_;
 133                 std::vector<RRTNode> steered_;
 134
 135                 /*! \brief Update and return elapsed time.
 136                 */
 137                 double elapsed();
 138                 /*! \brief Set normal distribution for sampling.
 139                 */
 140                 void set_sample_normal(
 141                         double x1, double x2,
 142                         double y1, double y2,
 143                         double h1, double h2
 144                 );
 145                 /*! \brief Set uniform distribution for sampling.
 146                 */
 147                 void set_sample_uniform(
 148                         double x1, double x2,
 149                         double y1, double y2,
 150                         double h1, double h2
 151                 );
 152         protected:
 153                 BicycleCar bc;
 154                 /*! \brief Store RRT node to tree data structure.
 155                 */
 156                 virtual void store_node(RRTNode n);
 157
 158                 // RRT procedures
 159                 std::tuple<bool, unsigned int, unsigned int>
 160                 collide(std::vector<std::tuple<double, double>> &poly);
 161                 virtual std::tuple<bool, unsigned int, unsigned int>
 162                 collide_steered_from(RRTNode &f);
 163                 virtual std::tuple<bool, unsigned int, unsigned int>
 164                 collide_two_nodes(RRTNode &f, RRTNode &t);
 165                 void sample();
 166                         std::default_random_engine gen_;
 167                         std::normal_distribution<double> ndx_;
 168                         std::normal_distribution<double> ndy_;
 169                         std::normal_distribution<double> ndh_;
 170                         std::uniform_real_distribution<double> udx_;
 171                         std::uniform_real_distribution<double> udy_;
 172                         std::uniform_real_distribution<double> udh_;
 173                 virtual RRTNode *nn(RRTNode &t);
 174                 virtual std::vector<RRTNode *> nv(RRTNode &t);
 175                 void steer(RRTNode &f, RRTNode &t);
 176                 /*! \brief Join steered nodes to RRT data structure
 177
 178                 \param f RRT node to join steered nodes to.
 179                 */
 180                 void join_steered(RRTNode *f);
 181                 virtual bool goal_found(RRTNode &f);
 182                 // RRT* procedures
 183                 bool connect();
 184                 void rewire();
 185         public:
 186                 /*! \brief Initialize RRT algorithm if needed.
 187                 */
 188                 virtual void init();
 189                 /*! \brief Deinitialize RRT algorithm if needed.
 190                 */
 191                 virtual void deinit();
 192                 /*! \brief Return path found by RRT*.
 193                 */
 194                 virtual std::vector<RRTNode *> path();
 195                 /*! \brief Return ``true`` if algorithm should stop.
 196
 197                 Update counters (iteration, seconds, ...) and return if
 198                 the current iteration should be the last one.
 199                 */
 200                 bool should_stop();
 201                 /*! \brief Return ``true`` if the algorithm should finish.
 202
 203                 Finish means that the algorithm will not be resumed.
 204                 */
 205                 bool should_finish();
 206                 /*! \brief Return ``true`` if the algorithm shoud break.
 207
 208                 Break means that the algorithm can be resumed.
 209                 */
 210                 bool should_break();
 211                 /*! \brief Return ``true`` if algorithm should continue.
 212
 213                 `pcnt_` is set to `scnt_`, so the difference is 0 and it can
 214                 start from scratch. After the `should_continue` is called,
 215                 there must be `while (rrts.next()) {}` loop.
 216                 */
 217                 bool should_continue();
 218                 /*! \brief Run next RRT* iteration.
 219                 */
 220                 bool next();
 221                 /*! \brief Set sampling info.
 222
 223                 Based on `sample_dist_type`, set proper distribution
 224                 parameters. The distribution parameters are relative to `front`
 225                 node in `nodes` (init).
 226
 227                 For normal sampling:
 228                 \param x1 Mean x value.
 229                 \param x2 Standard deviation of x.
 230                 \param y1 Mean y value.
 231                 \param y2 Standard deviation of y.
 232                 \param h1 Mean h value.
 233                 \param h2 Standard deviation of h.
 234
 235                 For uniform sampling:
 236                 \param x1 Minimum x value.
 237                 \param x2 Maximum x value.
 238                 \param y1 Minimum y value.
 239                 \param y2 Maximum y value.
 240                 \param h1 Minimum h value.
 241                 \param h2 Maximum h value.
 242                 */
 243                 void set_sample(
 244                         double x1, double x2,
 245                         double y1, double y2,
 246                         double h1, double h2
 247                 );
 248                 /*! \brief Generate JSON output.
 249                 */
 250                 Json::Value json();
 251                 /*! \brief Load JSON input.
 252                 */
 253                 void json(Json::Value jvi);
 254
 255                 // RRT procedures
 256                 virtual double cost_build(RRTNode &f, RRTNode &t);
 257                 virtual double cost_search(RRTNode &f, RRTNode &t);
 258
 259                 // getters, setters
 260                 unsigned int icnt() const { return this->icnt_; }
 261                 double scnt() const { return this->scnt_; }
 262                 bool gf() const { return this->gf_; }
 263                 void gf(bool f) { this->gf_ = f; }
 264                 int sample_dist_type() const { return this->sample_dist_type_;}
 265                 void sample_dist_type(int t) { this->sample_dist_type_ = t; }
 266                 std::vector<RRTNode> &goals() { return this->goals_; }
 267                 std::vector<RRTNode> &nodes() { return this->nodes_; }
 268                 std::vector<Obstacle> &obstacles() { return this->obstacles_; }
 269                 std::vector<RRTNode> &samples() { return this->samples_; }
 270                 std::vector<RRTNode> &steered() { return this->steered_; }
 271
 272                 RRTS();
 273 };
 274
 275 /*! \brief Compute cumulative cost of RRT node.
 276
 277 \param t RRT node to compute cumulative cost to.
 278 */
 279 double cc(RRTNode &t);
 280
 281 #endif /* RRTS_H */