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                 void sample();
  72                         std::default_random_engine gen_;
  73                         std::normal_distribution<double> ndx_;
  74                         std::normal_distribution<double> ndy_;
  75                         std::normal_distribution<double> ndh_;
  76                 RRTNode *nn(RRTNode &t);
  77                 std::vector<RRTNode *> nv(RRTNode &t);
  78                 void steer(RRTNode &f, RRTNode &t);
  79                 // RRT* procedures
  80                 bool connect();
  81                 void rewire();
  82         public:
  83                 /*! \brief Return path found by RRT*.
  84                 */
  85                 std::vector<RRTNode *> path();
  86                 /*! \brief Run next RRT* iteration.
  87                 */
  88                 bool next();
  89                 /*! \brief Set sampling info.
  90
  91                 There is normal distribution sampling for `x`, `y`, and
  92                 `h` parameters of RRT node.
  93
  94                 \param mx Mean x value.
  95                 \param dx Standard deviation of x.
  96                 \param my Mean y value.
  97                 \param dy Standard deviation of y.
  98                 \param mh Mean h value.
  99                 \param dh Standard deviation of h.
 100                 */
 101                 void set_sample(
 102                         double mx, double dx,
 103                         double my, double dy,
 104                         double mh, double dh
 105                 );
 106
 107                 // getters, setters
 108                 std::vector<RRTNode> &goals() { return this->goals_; }
 109                 std::vector<RRTNode> &nodes() { return this->nodes_; }
 110                 std::vector<Obstacle> &obstacles() { return this->obstacles_; }
 111                 std::vector<RRTNode> &samples() { return this->samples_; }
 112                 std::vector<RRTNode> &steered() { return this->steered_; }
 113
 114                 RRTS();
 115 };
 116
 117 /*! \brief Compute cumulative cost of RRT node.
 118
 119 \param t RRT node to compute cumulative cost to.
 120 */
 121 double cc(RRTNode &t);
 122
 123 #endif /* RRTS_H */