src/rrts.cc

   1 #include <algorithm>
   2 #include "rrts.h"
   3
   4 #include "reeds_shepp.h"
   5
   6 template <typename T> int sgn(T val) {
   7         return (T(0) < val) - (val < T(0));
   8 }
   9
  10 RRTNode::RRTNode()
  11 {
  12 }
  13
  14 RRTNode::RRTNode(const BicycleCar &bc)
  15 {
  16     this->x(bc.x());
  17     this->y(bc.y());
  18     this->h(bc.h());
  19     this->sp(bc.sp());
  20     this->st(bc.st());
  21 }
  22
  23 bool RRTNode::operator==(const RRTNode& n)
  24 {
  25         if (this == &n)
  26                 return true;
  27         return false;
  28 }
  29
  30 Obstacle::Obstacle()
  31 {
  32 }
  33
  34 double RRTS::elapsed()
  35 {
  36         std::chrono::duration<double> dt;
  37         dt = std::chrono::duration_cast<std::chrono::duration<double>>(
  38                 std::chrono::high_resolution_clock::now()
  39                 - this->tstart_
  40         );
  41         this->scnt_ = dt.count();
  42         return this->scnt_;
  43 }
  44
  45 bool RRTS::should_stop()
  46 {
  47         // the following counters must be updated, do not comment
  48         this->icnt_++;
  49         this->elapsed();
  50         // current iteration stop conditions
  51         if (this->should_finish()) return true;
  52         if (this->should_break()) return true;
  53         // but continue by default
  54         return false;
  55 }
  56
  57 bool RRTS::should_finish()
  58 {
  59         // decide finish conditions (maybe comment some lines)
  60         //if (this->icnt_ > 999) return true;
  61         if (this->scnt_ > 10) return true;
  62         if (this->gf()) return true;
  63         // but continue by default
  64         return false;
  65 }
  66
  67 bool RRTS::should_break()
  68 {
  69         // decide break conditions (maybe comment some lines)
  70         //if (this->scnt_ - this->pcnt_ > 2) return true;
  71         // but continue by default
  72         return false;
  73 }
  74
  75 bool RRTS::should_continue()
  76 {
  77         // decide the stop conditions (maybe comment some lines)
  78         // it is exact opposite of `should_stop`
  79         //if (this->icnt_ > 999) return false;
  80         if (this->scnt_ > 10) return false;
  81         if (this->gf()) return false;
  82         // and reset pause counter if should continue
  83         this->pcnt_ = this->scnt_;
  84         return true;
  85 }
  86
  87 void RRTS::store_node(RRTNode n)
  88 {
  89         this->nodes().push_back(n);
  90 }
  91
  92 // RRT procedures
  93 std::tuple<bool, unsigned int, unsigned int>
  94 RRTS::collide(std::vector<std::tuple<double, double>> &poly)
  95 {
  96         for (auto &o: this->obstacles())
  97                 if (std::get<0>(::collide(poly, o.poly())))
  98                         return ::collide(poly, o.poly());
  99         return std::make_tuple(false, 0, 0);
 100 }
 101
 102 std::tuple<bool, unsigned int, unsigned int>
 103 RRTS::collide_steered_from(RRTNode &f)
 104 {
 105         std::vector<std::tuple<double, double>> s;
 106         s.push_back(std::make_tuple(f.x(), f.y()));
 107         for (auto &n: this->steered()) {
 108                 s.push_back(std::make_tuple(n.lfx(), n.lfy()));
 109                 s.push_back(std::make_tuple(n.lrx(), n.lry()));
 110                 s.push_back(std::make_tuple(n.rrx(), n.rry()));
 111                 s.push_back(std::make_tuple(n.rfx(), n.rfy()));
 112         }
 113         auto col = this->collide(s);
 114         auto strip_from = this->steered().size() - std::get<1>(col) / 4;
 115         if (std::get<0>(col) && strip_from > 0) {
 116                 while (strip_from-- > 0) {
 117                         this->steered().pop_back();
 118                 }
 119                 return this->collide_steered_from(f);
 120         }
 121         return col;
 122 }
 123
 124 std::tuple<bool, unsigned int, unsigned int>
 125 RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
 126 {
 127         std::vector<std::tuple<double, double>> p;
 128         p.push_back(std::make_tuple(f.lfx(), f.lfy()));
 129         p.push_back(std::make_tuple(f.lrx(), f.lry()));
 130         p.push_back(std::make_tuple(f.rrx(), f.rry()));
 131         p.push_back(std::make_tuple(f.rfx(), f.rfy()));
 132         p.push_back(std::make_tuple(t.lfx(), t.lfy()));
 133         p.push_back(std::make_tuple(t.lrx(), t.lry()));
 134         p.push_back(std::make_tuple(t.rrx(), t.rry()));
 135         p.push_back(std::make_tuple(t.rfx(), t.rfy()));
 136         return this->collide(p);
 137 }
 138
 139 double RRTS::cost_build(RRTNode &f, RRTNode &t)
 140 {
 141         double cost = 0;
 142         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 143         return cost;
 144 }
 145
 146 double RRTS::cost_search(RRTNode &f, RRTNode &t)
 147 {
 148         double cost = 0;
 149         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 150         return cost;
 151 }
 152
 153 void RRTS::sample()
 154 {
 155         double x = 0;
 156         double y = 0;
 157         double h = 0;
 158         switch (this->sample_dist_type()) {
 159         case 1:
 160                 x = this->udx_(this->gen_);
 161                 y = this->udy_(this->gen_);
 162                 h = this->udh_(this->gen_);
 163                 break;
 164         default:
 165                 x = this->ndx_(this->gen_);
 166                 y = this->ndy_(this->gen_);
 167                 h = this->ndh_(this->gen_);
 168         }
 169         this->samples().push_back(RRTNode());
 170         this->samples().back().x(x);
 171         this->samples().back().y(y);
 172         this->samples().back().h(h);
 173 }
 174
 175 RRTNode *RRTS::nn(RRTNode &t)
 176 {
 177         RRTNode *nn = &this->nodes().front();
 178         double cost = this->cost_search(*nn, t);
 179         for (auto &f: this->nodes()) {
 180                 if (this->cost_search(f, t) < cost) {
 181                         nn = &f;
 182                         cost = this->cost_search(f, t);
 183                 }
 184         }
 185         return nn;
 186 }
 187
 188 std::vector<RRTNode *> RRTS::nv(RRTNode &t)
 189 {
 190         std::vector<RRTNode *> nv;
 191         double cost = std::min(GAMMA(this->nodes().size()), ETA);
 192         for (auto &f: this->nodes())
 193                 if (this->cost_search(f, t) < cost)
 194                         nv.push_back(&f);
 195         return nv;
 196 }
 197
 198 int cb_rs_steer(double q[4], void *user_data)
 199 {
 200         std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
 201         RRTNode *ln = nullptr;
 202         if (nodes->size() > 0)
 203                 ln = &nodes->back();
 204         nodes->push_back(RRTNode());
 205         nodes->back().x(q[0]);
 206         nodes->back().y(q[1]);
 207         nodes->back().h(q[2]);
 208         nodes->back().sp(q[3]);
 209         if (nodes->back().sp() == 0)
 210                 nodes->back().set_t(RRTNodeType::cusp);
 211         else if (ln != nullptr && sgn(ln->sp()) != sgn(nodes->back().sp()))
 212                 ln->set_t(RRTNodeType::cusp);
 213         return 0;
 214 }
 215
 216 void RRTS::steer(RRTNode &f, RRTNode &t)
 217 {
 218         this->steered().clear();
 219         double q0[] = {f.x(), f.y(), f.h()};
 220         double q1[] = {t.x(), t.y(), t.h()};
 221         ReedsSheppStateSpace rsss(f.mtr());
 222         rsss.sample(q0, q1, 0.5, cb_rs_steer, &this->steered());
 223 }
 224
 225 void RRTS::join_steered(RRTNode *f)
 226 {
 227         while (this->steered().size() > 0) {
 228                 this->store_node(this->steered().front());
 229                 RRTNode *t = &this->nodes().back();
 230                 t->p(f);
 231                 t->c(this->cost_build(*f, *t));
 232                 this->steered().erase(this->steered().begin());
 233                 f = t;
 234         }
 235 }
 236
 237 bool RRTS::goal_found(RRTNode &f)
 238 {
 239         auto &g = this->goals().front();
 240         double cost = this->cost_build(f, g);
 241         double edist = sqrt(
 242                 pow(f.x() - g.x(), 2)
 243                 + pow(f.y() - g.y(), 2)
 244         );
 245         double adist = std::abs(f.h() - g.h());
 246         if (edist < 0.05 && adist < M_PI / 32) {
 247                 if (g.p() == nullptr || cc(f) + cost < cc(g)) {
 248                         g.p(&f);
 249                         g.c(cost);
 250                 }
 251                 return true;
 252         }
 253         return false;
 254 }
 255
 256 // RRT* procedures
 257 bool RRTS::connect()
 258 {
 259         RRTNode *t = &this->steered().front();
 260         RRTNode *f = this->nn(this->samples().back());
 261         double cost = this->cost_search(*f, *t);
 262         for (auto n: this->nv(*t)) {
 263                 if (
 264                         !std::get<0>(this->collide_two_nodes(*n, *t))
 265                         && this->cost_search(*n, *t) < cost
 266                 ) {
 267                         f = n;
 268                         cost = this->cost_search(*n, *t);
 269                 }
 270         }
 271         this->store_node(this->steered().front());
 272         t = &this->nodes().back();
 273         t->p(f);
 274         t->c(this->cost_build(*f, *t));
 275         t->set_t(RRTNodeType::connected);
 276         return true;
 277 }
 278
 279 void RRTS::rewire()
 280 {
 281         RRTNode *f = &this->nodes().back();
 282         for (auto n: this->nv(*f)) {
 283                 if (
 284                         !std::get<0>(this->collide_two_nodes(*f, *n))
 285                         && cc(*f) + this->cost_search(*f, *n) < cc(*n)
 286                 ) {
 287                         n->p(f);
 288                         n->c(this->cost_build(*f, *n));
 289                 }
 290         }
 291 }
 292
 293 // API
 294 void RRTS::init()
 295 {
 296 }
 297
 298 void RRTS::deinit()
 299 {
 300         this->nodes().clear();
 301         this->samples().clear();
 302         this->steered().clear();
 303         this->store_node(RRTNode()); // root
 304         this->icnt_ = 0;
 305         this->scnt_ = 0;
 306         this->pcnt_ = 0;
 307         this->gf_ = false;
 308 }
 309
 310 std::vector<RRTNode *> RRTS::path()
 311 {
 312         std::vector<RRTNode *> path;
 313         if (this->goals().size() == 0)
 314                 return path;
 315         RRTNode *goal = &this->goals().front();
 316         if (goal->p() == nullptr)
 317                 return path;
 318         while (goal != nullptr) {
 319                 path.push_back(goal);
 320                 goal = goal->p();
 321         }
 322         std::reverse(path.begin(), path.end());
 323         return path;
 324 }
 325
 326 bool RRTS::next()
 327 {
 328         if (this->icnt_ == 0)
 329                 this->tstart_ = std::chrono::high_resolution_clock::now();
 330         bool next = true;
 331         if (this->should_stop())
 332                 return false;
 333         this->sample();
 334         this->steer(
 335                 *this->nn(this->samples().back()),
 336                 this->samples().back()
 337         );
 338         if (std::get<0>(this->collide_steered_from(
 339                 *this->nn(this->samples().back())
 340         )))
 341                 return next;
 342         if (!this->connect())
 343                 return next;
 344         this->rewire();
 345         unsigned scnt = this->steered().size();
 346         this->join_steered(&this->nodes().back());
 347         RRTNode *just_added = &this->nodes().back();
 348         while (scnt > 0) {
 349                 scnt--;
 350                 auto &g = this->goals().front();
 351                 this->steer(*just_added, g);
 352                 if (std::get<0>(this->collide_steered_from(
 353                         *just_added
 354                 )))
 355                         continue;
 356                 this->join_steered(just_added);
 357                 this->gf(this->goal_found(this->nodes().back()));
 358                 just_added = just_added->p();
 359         }
 360         return next;
 361 }
 362
 363 void RRTS::set_sample_normal(
 364         double mx, double dx,
 365         double my, double dy,
 366         double mh, double dh
 367 )
 368 {
 369         this->ndx_ = std::normal_distribution<double>(mx, dx);
 370         this->ndy_ = std::normal_distribution<double>(my, dy);
 371         this->ndh_ = std::normal_distribution<double>(mh, dh);
 372 }
 373 void RRTS::set_sample_uniform(
 374         double xmin, double xmax,
 375         double ymin, double ymax,
 376         double hmin, double hmax
 377 )
 378 {
 379         this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
 380         this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
 381         this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
 382 }
 383 void RRTS::set_sample(
 384         double x1, double x2,
 385         double y1, double y2,
 386         double h1, double h2
 387 )
 388 {
 389         switch (this->sample_dist_type()) {
 390         case 1:
 391                 x1 += this->nodes().front().x();
 392                 x2 += this->nodes().front().x();
 393                 y1 += this->nodes().front().y();
 394                 y2 += this->nodes().front().y();
 395                 this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
 396                 break;
 397         default:
 398                 this->set_sample_normal(x1, x2, y1, y2, h1, h2);
 399         }
 400 }
 401
 402 Json::Value RRTS::json()
 403 {
 404         Json::Value jvo;
 405         {
 406                 jvo["time"] = this->scnt();
 407         }
 408         {
 409                 jvo["iterations"] = this->icnt();
 410         }
 411         {
 412                 jvo["init"][0] = this->nodes().front().x();
 413                 jvo["init"][1] = this->nodes().front().y();
 414                 jvo["init"][2] = this->nodes().front().h();
 415         }
 416         {
 417                 if (this->path().size() > 0) {
 418                         jvo["cost"] = cc(*this->path().back());
 419                         jvo["goal"][0] = this->path().back()->x();
 420                         jvo["goal"][1] = this->path().back()->y();
 421                         jvo["goal"][2] = this->path().back()->h();
 422                 }
 423         }
 424         {
 425                 unsigned int cu = 0;
 426                 unsigned int co = 0;
 427                 unsigned int pcnt = 0;
 428                 for (auto n: this->path()) {
 429                         jvo["path"][pcnt][0] = n->x();
 430                         jvo["path"][pcnt][1] = n->y();
 431                         jvo["path"][pcnt][2] = n->h();
 432                         if (n->t(RRTNodeType::cusp))
 433                                 cu++;
 434                         if (n->t(RRTNodeType::connected))
 435                                 co++;
 436                         pcnt++;
 437                 }
 438                 jvo["cusps-in-path"] = cu;
 439                 jvo["connecteds-in-path"] = co;
 440         }
 441         {
 442                 unsigned int gcnt = 0;
 443                 for (auto g: this->goals()) {
 444                         jvo["goals"][gcnt][0] = g.x();
 445                         jvo["goals"][gcnt][1] = g.y();
 446                         jvo["goals"][gcnt][2] = g.h();
 447                         gcnt++;
 448                 }
 449         }
 450         {
 451                 unsigned int ocnt = 0;
 452                 for (auto o: this->obstacles()) {
 453                         unsigned int ccnt = 0;
 454                         for (auto c: o.poly()) {
 455                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 456                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 457                                 ccnt++;
 458                         }
 459                         ocnt++;
 460                 }
 461         }
 462         {
 463                 jvo["nodes"] = (unsigned int) this->nodes().size();
 464         }
 465         //{
 466         //        unsigned int ncnt = 0;
 467         //        for (auto n: this->nodes()) {
 468         //                jvo["nodes_x"][ncnt] = n.x();
 469         //                jvo["nodes_y"][ncnt] = n.y();
 470         //                //jvo["nodes_h"][ncnt] = n.h();
 471         //                ncnt++;
 472         //        }
 473         //}
 474         return jvo;
 475 }
 476
 477 void RRTS::json(Json::Value jvi)
 478 {
 479         assert(jvi["init"] != Json::nullValue);
 480         assert(jvi["goal"] != Json::nullValue);
 481         assert(jvi["goals"] != Json::nullValue);
 482         assert(jvi["obst"] != Json::nullValue);
 483
 484         this->nodes().front().x(jvi["init"][0].asDouble());
 485         this->nodes().front().y(jvi["init"][1].asDouble());
 486         this->nodes().front().h(jvi["init"][2].asDouble());
 487         {
 488                 RRTNode tmp_node;
 489                 tmp_node.x(jvi["goal"][0].asDouble());
 490                 tmp_node.y(jvi["goal"][1].asDouble());
 491                 tmp_node.h(jvi["goal"][2].asDouble());
 492                 this->goals().push_back(tmp_node);
 493                 for (auto g: jvi["goals"]) {
 494                         tmp_node.x(g[0].asDouble());
 495                         tmp_node.y(g[1].asDouble());
 496                         tmp_node.h(g[2].asDouble());
 497                         this->goals().push_back(tmp_node);
 498                 }
 499         }
 500         {
 501                 Obstacle tmp_obstacle;
 502                 for (auto o: jvi["obst"]) {
 503                         tmp_obstacle.poly().clear();
 504                         for (auto c: o) {
 505                                 double tmp_x = c[0].asDouble();
 506                                 double tmp_y = c[1].asDouble();
 507                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
 508                                 tmp_obstacle.poly().push_back(tmp_tuple);
 509                         }
 510                         this->obstacles().push_back(tmp_obstacle);
 511                 }
 512         }
 513         {
 514                 double edist_init_goal = sqrt(
 515                         pow(
 516                                 this->nodes().front().x()
 517                                 - this->goals().front().x(),
 518                                 2
 519                         )
 520                         + pow(
 521                                 this->nodes().front().y()
 522                                 - this->goals().front().y(),
 523                                 2
 524                         )
 525                 );
 526                 this->set_sample(
 527                         this->nodes().front().x(), edist_init_goal,
 528                         this->nodes().front().y(), edist_init_goal,
 529                         0, 2 * M_PI
 530                 );
 531         }
 532 }
 533
 534 RRTS::RRTS()
 535         : gen_(std::random_device{}())
 536 {
 537         this->goals().reserve(100);
 538         this->nodes().reserve(4000000);
 539         this->samples().reserve(1000);
 540         this->steered().reserve(20000);
 541         this->store_node(RRTNode()); // root
 542 }
 543
 544 double cc(RRTNode &t)
 545 {
 546         RRTNode *n = &t;
 547         double cost = 0;
 548         while (n != nullptr) {
 549                 cost += n->c();
 550                 n = n->p();
 551         }
 552         return cost;
 553 }