api/rrts.h

   1 #ifndef RRTS_H
   2 #define RRTS_H
   3
   4 #include <functional>
   5 #include <random>
   6 #include <vector>
   7 #include "bcar.h"
   8
   9 /*! \brief RRT node basic class.
  10
  11 \param c Cumulative cost from RRT data structure root.
  12 \param p Pointer to parent RRT node.
  13 \param ch The vector of pointers to children RRT nodes.
  14 */
  15 class RRTNode : public BicycleCar {
  16         private:
  17                 double c_ = 0;
  18                 RRTNode *p_ = nullptr;
  19         public:
  20                 // getters, setters
  21                 double c() const { return this->c_; }
  22                 void c(double c) { this->c_ = c; }
  23
  24                 RRTNode *p() const { return this->p_; }
  25                 void p(RRTNode *p) { this->p_ = p; }
  26
  27                 RRTNode();
  28                 RRTNode(const BicycleCar &bc);
  29 };
  30
  31 /*! \brief Polygon obstacle basic class.
  32
  33 \param poly Border polygon of the obstacle.
  34 */
  35 class Obstacle {
  36         private:
  37                 std::vector<std::tuple<double, double>> poly_;
  38         public:
  39                 // getters, setters
  40                 std::vector<std::tuple<double, double>> &poly()
  41                 {
  42                         return this->poly_;
  43                 }
  44
  45                 Obstacle();
  46 };
  47
  48 /*! \brief RRT* algorithm basic class.
  49
  50 \param icnt RRT algorithm iterations counter.
  51 \param goals The vector of goal nodes.
  52 \param nodes The vector of all nodes in RRT data structure.
  53 \param samples The vector of all samples of RRT algorithm.
  54 */
  55 class RRTS {
  56         private:
  57                 unsigned int icnt_ = 0;
  58
  59                 std::vector<RRTNode> goals_;
  60                 std::vector<RRTNode> nodes_;
  61                 std::vector<Obstacle> obstacles_;
  62                 std::vector<RRTNode> samples_;
  63                 std::vector<RRTNode> steered_;
  64
  65                 // RRT procedures
  66                 bool collide(std::vector<std::tuple<double, double>> &poly);
  67                 bool collide_steered_from(RRTNode &f);
  68                 bool collide_two_nodes(RRTNode &f, RRTNode &t);
  69                 double cost(RRTNode &f, RRTNode &t);
  70                 double cost_build(RRTNode &f, RRTNode &t);
  71                 double cost_search(RRTNode &f, RRTNode &t);
  72                 void sample();
  73                         std::default_random_engine gen_;
  74                         std::normal_distribution<double> ndx_;
  75                         std::normal_distribution<double> ndy_;
  76                         std::normal_distribution<double> ndh_;
  77                 RRTNode *nn(RRTNode &t);
  78                 std::vector<RRTNode *> nv(RRTNode &t);
  79                 void steer(RRTNode &f, RRTNode &t);
  80                 // RRT* procedures
  81                 bool connect();
  82                 void rewire();
  83         public:
  84                 /*! \brief Return path found by RRT*.
  85                 */
  86                 std::vector<RRTNode *> path();
  87                 /*! \brief Run next RRT* iteration.
  88                 */
  89                 bool next();
  90                 /*! \brief Set sampling info.
  91
  92                 There is normal distribution sampling for `x`, `y`, and
  93                 `h` parameters of RRT node.
  94
  95                 \param mx Mean x value.
  96                 \param dx Standard deviation of x.
  97                 \param my Mean y value.
  98                 \param dy Standard deviation of y.
  99                 \param mh Mean h value.
 100                 \param dh Standard deviation of h.
 101                 */
 102                 void set_sample(
 103                         double mx, double dx,
 104                         double my, double dy,
 105                         double mh, double dh
 106                 );
 107
 108                 // getters, setters
 109                 std::vector<RRTNode> &goals() { return this->goals_; }
 110                 std::vector<RRTNode> &nodes() { return this->nodes_; }
 111                 std::vector<Obstacle> &obstacles() { return this->obstacles_; }
 112                 std::vector<RRTNode> &samples() { return this->samples_; }
 113                 std::vector<RRTNode> &steered() { return this->steered_; }
 114
 115                 RRTS();
 116 };
 117
 118 /*! \brief Compute cumulative cost of RRT node.
 119
 120 \param t RRT node to compute cumulative cost to.
 121 */
 122 double cc(RRTNode &t);
 123
 124 #endif /* RRTS_H */