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 void RRTS::log_path_cost()
  46 {
  47         this->log_path_cost_.push_back(cc(this->goals().front()));
  48         this->log_path_time_ += 0.1;
  49 }
  50
  51 bool RRTS::should_stop()
  52 {
  53         // the following counters must be updated, do not comment
  54         this->icnt_++;
  55         this->elapsed();
  56         // current iteration stop conditions
  57         if (this->should_finish()) return true;
  58         if (this->should_break()) return true;
  59         // but continue by default
  60         return false;
  61 }
  62
  63 bool RRTS::should_finish()
  64 {
  65         // decide finish conditions (maybe comment some lines)
  66         //if (this->icnt_ > 999) return true;
  67         if (this->scnt_ > 2) return true;
  68         if (this->finishit) return true;
  69         //if (this->gf()) return true;
  70         // but continue by default
  71         return false;
  72 }
  73
  74 bool RRTS::should_break()
  75 {
  76         // decide break conditions (maybe comment some lines)
  77         //if (this->scnt_ - this->pcnt_ > 2) return true;
  78         // but continue by default
  79         return false;
  80 }
  81
  82 bool RRTS::should_continue()
  83 {
  84         // decide the stop conditions (maybe comment some lines)
  85         // it is exact opposite of `should_stop`
  86         //if (this->icnt_ > 999) return false;
  87         if (this->scnt_ > 10) return false;
  88         if (this->gf()) return false;
  89         // and reset pause counter if should continue
  90         this->pcnt_ = this->scnt_;
  91         return true;
  92 }
  93
  94 void RRTS::store_node(RRTNode n)
  95 {
  96         this->nodes().push_back(n);
  97 }
  98
  99 // RRT procedures
 100 std::tuple<bool, unsigned int, unsigned int>
 101 RRTS::collide(std::vector<std::tuple<double, double>> &poly)
 102 {
 103         for (auto &o: this->obstacles())
 104                 if (std::get<0>(::collide(poly, o.poly())))
 105                         return ::collide(poly, o.poly());
 106         return std::make_tuple(false, 0, 0);
 107 }
 108
 109 std::tuple<bool, unsigned int, unsigned int>
 110 RRTS::collide_steered_from(RRTNode &f)
 111 {
 112         auto fbc = BicycleCar();
 113         fbc.x(f.x());
 114         fbc.y(f.y());
 115         fbc.h(f.h());
 116         std::vector<std::tuple<double, double>> s;
 117         s.push_back(std::make_tuple(fbc.x(), fbc.y()));
 118         for (auto &n: this->steered()) {
 119                 auto nbc = BicycleCar();
 120                 nbc.x(n.x());
 121                 nbc.y(n.y());
 122                 nbc.h(n.h());
 123                 s.push_back(std::make_tuple(nbc.lfx(), nbc.lfy()));
 124                 s.push_back(std::make_tuple(nbc.lrx(), nbc.lry()));
 125                 s.push_back(std::make_tuple(nbc.rrx(), nbc.rry()));
 126                 s.push_back(std::make_tuple(nbc.rfx(), nbc.rfy()));
 127         }
 128         auto col = this->collide(s);
 129         auto strip_from = this->steered().size() - std::get<1>(col) / 4;
 130         if (std::get<0>(col) && strip_from > 0) {
 131                 while (strip_from-- > 0) {
 132                         this->steered().pop_back();
 133                 }
 134                 return this->collide_steered_from(f);
 135         }
 136         return col;
 137 }
 138
 139 std::tuple<bool, unsigned int, unsigned int>
 140 RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
 141 {
 142         auto fbc = BicycleCar();
 143         fbc.x(f.x());
 144         fbc.y(f.y());
 145         fbc.h(f.h());
 146         auto tbc = BicycleCar();
 147         tbc.x(f.x());
 148         tbc.y(f.y());
 149         tbc.h(f.h());
 150         std::vector<std::tuple<double, double>> p;
 151         p.push_back(std::make_tuple(fbc.lfx(), fbc.lfy()));
 152         p.push_back(std::make_tuple(fbc.lrx(), fbc.lry()));
 153         p.push_back(std::make_tuple(fbc.rrx(), fbc.rry()));
 154         p.push_back(std::make_tuple(fbc.rfx(), fbc.rfy()));
 155         p.push_back(std::make_tuple(tbc.lfx(), tbc.lfy()));
 156         p.push_back(std::make_tuple(tbc.lrx(), tbc.lry()));
 157         p.push_back(std::make_tuple(tbc.rrx(), tbc.rry()));
 158         p.push_back(std::make_tuple(tbc.rfx(), tbc.rfy()));
 159         return this->collide(p);
 160 }
 161
 162 double RRTS::cost_build(RRTNode &f, RRTNode &t)
 163 {
 164         double cost = 0;
 165         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 166         return cost;
 167 }
 168
 169 double RRTS::cost_search(RRTNode &f, RRTNode &t)
 170 {
 171         double cost = 0;
 172         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 173         return cost;
 174 }
 175
 176 void RRTS::sample()
 177 {
 178         double x = 0;
 179         double y = 0;
 180         double h = 0;
 181         switch (this->sample_dist_type()) {
 182         case 1: // uniform
 183                 x = this->udx_(this->gen_);
 184                 y = this->udy_(this->gen_);
 185                 h = this->udh_(this->gen_);
 186                 break;
 187         case 2: // uniform circle
 188         {
 189                 // see https://stackoverflow.com/questions/5837572/generate-a-random-point-within-a-circle-uniformly/50746409#50746409
 190                 double R = sqrt(
 191                         pow(
 192                                 this->nodes().front().x()
 193                                 - this->goals().front().x(),
 194                                 2
 195                         )
 196                         + pow(
 197                                 this->nodes().front().y()
 198                                 - this->goals().front().y(),
 199                                 2
 200                         )
 201                 );
 202                 double a = atan2(
 203                         this->goals().front().y() - this->nodes().front().y(),
 204                         this->goals().front().x() - this->nodes().front().x()
 205                 );
 206                 double cx = this->goals().front().x() - R/2 * cos(a);
 207                 double cy = this->goals().front().y() - R/2 * sin(a);
 208                 double r = R * sqrt(this->udx_(this->gen_));
 209                 double theta = this->udy_(this->gen_) * 2 * M_PI;
 210                 x = cx + r * cos(theta);
 211                 y = cy + r * sin(theta);
 212                 h = this->udh_(this->gen_);
 213         }
 214                 break;
 215         case 3: {
 216                 this->udi_ = std::uniform_int_distribution<unsigned int>(
 217                         0,
 218                         this->nodes().size() - 1
 219                 );
 220                 auto ind = this->udi_(this->gen_);
 221                 auto n = this->nodes()[ind];
 222                 x = n.x();
 223                 y = n.y();
 224                 h = n.h();
 225                 break;
 226                 }
 227         default: // normal
 228                 x = this->ndx_(this->gen_);
 229                 y = this->ndy_(this->gen_);
 230                 h = this->ndh_(this->gen_);
 231         }
 232         this->samples().push_back(RRTNode());
 233         this->samples().back().x(x);
 234         this->samples().back().y(y);
 235         this->samples().back().h(h);
 236 }
 237
 238 RRTNode *RRTS::nn(RRTNode &t)
 239 {
 240         RRTNode *nn = &this->nodes().front();
 241         double cost = this->cost_search(*nn, t);
 242         for (auto &f: this->nodes()) {
 243                 if (this->cost_search(f, t) < cost) {
 244                         nn = &f;
 245                         cost = this->cost_search(f, t);
 246                 }
 247         }
 248         return nn;
 249 }
 250
 251 std::vector<RRTNode *> RRTS::nv(RRTNode &t)
 252 {
 253         std::vector<RRTNode *> nv;
 254         double cost = std::min(GAMMA(this->nodes().size()), ETA);
 255         for (auto &f: this->nodes())
 256                 if (this->cost_search(f, t) < cost)
 257                         nv.push_back(&f);
 258         return nv;
 259 }
 260
 261 int cb_rs_steer(double q[4], void *user_data)
 262 {
 263         std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
 264         RRTNode *ln = nullptr;
 265         if (nodes->size() > 0)
 266                 ln = &nodes->back();
 267         nodes->push_back(RRTNode());
 268         nodes->back().x(q[0]);
 269         nodes->back().y(q[1]);
 270         nodes->back().h(q[2]);
 271         nodes->back().sp(q[3]);
 272         if (nodes->back().sp() == 0)
 273                 nodes->back().set_t(RRTNodeType::cusp);
 274         else if (ln != nullptr && sgn(ln->sp()) != sgn(nodes->back().sp()))
 275                 ln->set_t(RRTNodeType::cusp);
 276         return 0;
 277 }
 278
 279 void RRTS::steer(RRTNode &f, RRTNode &t)
 280 {
 281         this->steered().clear();
 282         double q0[] = {f.x(), f.y(), f.h()};
 283         double q1[] = {t.x(), t.y(), t.h()};
 284         ReedsSheppStateSpace rsss(this->bc.mtr());
 285         rsss.sample(q0, q1, 0.05, cb_rs_steer, &this->steered());
 286 }
 287
 288 void RRTS::steer1(RRTNode &f, RRTNode &t)
 289 {
 290     return this->steer(f, t);
 291 }
 292
 293 void RRTS::steer2(RRTNode &f, RRTNode &t)
 294 {
 295     return this->steer(f, t);
 296 }
 297
 298 void RRTS::join_steered(RRTNode *f)
 299 {
 300         while (this->steered().size() > 0) {
 301                 this->store_node(this->steered().front());
 302                 RRTNode *t = &this->nodes().back();
 303                 t->p(f);
 304                 t->c(this->cost_build(*f, *t));
 305                 this->steered().erase(this->steered().begin());
 306                 f = t;
 307         }
 308 }
 309
 310 bool RRTS::goal_found(RRTNode &f)
 311 {
 312         auto &g = this->goals().front();
 313         double cost = this->cost_build(f, g);
 314         double edist = sqrt(
 315                 pow(f.x() - g.x(), 2)
 316                 + pow(f.y() - g.y(), 2)
 317         );
 318         double adist = std::abs(f.h() - g.h());
 319         if (edist < 0.05 && adist < M_PI / 32) {
 320                 if (g.p() == nullptr || cc(f) + cost < cc(g)) {
 321                         g.p(&f);
 322                         g.c(cost);
 323                 }
 324                 return true;
 325         }
 326         return false;
 327 }
 328
 329 // RRT* procedures
 330 bool RRTS::connect()
 331 {
 332         RRTNode *t = &this->steered().front();
 333         RRTNode *f = this->nn(this->samples().back());
 334         double cost = this->cost_search(*f, *t);
 335         for (auto n: this->nv(*t)) {
 336                 if (
 337                         !std::get<0>(this->collide_two_nodes(*n, *t))
 338                         && this->cost_search(*n, *t) < cost
 339                 ) {
 340                         f = n;
 341                         cost = this->cost_search(*n, *t);
 342                 }
 343         }
 344         this->store_node(this->steered().front());
 345         t = &this->nodes().back();
 346         t->p(f);
 347         t->c(this->cost_build(*f, *t));
 348         t->set_t(RRTNodeType::connected);
 349         return true;
 350 }
 351
 352 void RRTS::rewire()
 353 {
 354         RRTNode *f = &this->nodes().back();
 355         for (auto n: this->nv(*f)) {
 356                 if (
 357                         !std::get<0>(this->collide_two_nodes(*f, *n))
 358                         && cc(*f) + this->cost_search(*f, *n) < cc(*n)
 359                 ) {
 360                         n->p(f);
 361                         n->c(this->cost_build(*f, *n));
 362                 }
 363         }
 364 }
 365
 366 // API
 367 void RRTS::init()
 368 {
 369 }
 370
 371 void RRTS::deinit()
 372 {
 373         this->nodes().clear();
 374         this->samples().clear();
 375         this->steered().clear();
 376         this->store_node(RRTNode()); // root
 377         this->icnt_ = 0;
 378         this->scnt_ = 0;
 379         this->pcnt_ = 0;
 380         this->gf_ = false;
 381 }
 382
 383 std::vector<RRTNode *> RRTS::path()
 384 {
 385         std::vector<RRTNode *> path;
 386         if (this->goals().size() == 0)
 387                 return path;
 388         RRTNode *goal = &this->goals().back();
 389         if (goal->p() == nullptr)
 390                 return path;
 391         while (goal != nullptr) {
 392                 path.push_back(goal);
 393                 goal = goal->p();
 394         }
 395         std::reverse(path.begin(), path.end());
 396         return path;
 397 }
 398
 399 bool RRTS::next()
 400 {
 401         if (this->icnt_ == 0)
 402                 this->tstart_ = std::chrono::high_resolution_clock::now();
 403         bool next = true;
 404         if (this->scnt_ > this->log_path_time_)
 405             this->log_path_cost();
 406         if (this->should_stop())
 407                 return false;
 408         if (this->samples().size() == 0) {
 409                 this->samples().push_back(RRTNode());
 410                 this->samples().back().x(this->goals().front().x());
 411                 this->samples().back().y(this->goals().front().y());
 412                 this->samples().back().h(this->goals().front().h());
 413         } else {
 414                 this->sample();
 415         }
 416         this->steer1(
 417                 *this->nn(this->samples().back()),
 418                 this->samples().back()
 419         );
 420         if (this->steered().size() == 0)
 421                 return next;
 422         auto col = this->collide_steered_from(
 423                 *this->nn(this->samples().back())
 424         );
 425         if (std::get<0>(col)) {
 426                 auto rcnt = this->steered().size() - std::get<1>(col);
 427                 while (rcnt-- > 0) {
 428                         this->steered().pop_back();
 429                 }
 430         }
 431         if (!this->connect())
 432                 return next;
 433         this->rewire();
 434         unsigned scnt = this->steered().size();
 435         this->join_steered(&this->nodes().back());
 436         RRTNode *just_added = &this->nodes().back();
 437         while (scnt > 0) {
 438                 scnt--;
 439                 auto &g = this->goals().front();
 440                 this->steer2(*just_added, g);
 441                 if (std::get<0>(this->collide_steered_from(
 442                         *just_added
 443                 )))
 444                         continue;
 445                 this->join_steered(just_added);
 446                 this->gf(this->goal_found(this->nodes().back()));
 447                 just_added = just_added->p();
 448         }
 449         return next;
 450 }
 451
 452 void RRTS::set_sample_normal(
 453         double mx, double dx,
 454         double my, double dy,
 455         double mh, double dh
 456 )
 457 {
 458         this->ndx_ = std::normal_distribution<double>(mx, dx);
 459         this->ndy_ = std::normal_distribution<double>(my, dy);
 460         this->ndh_ = std::normal_distribution<double>(mh, dh);
 461 }
 462 void RRTS::set_sample_uniform(
 463         double xmin, double xmax,
 464         double ymin, double ymax,
 465         double hmin, double hmax
 466 )
 467 {
 468         this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
 469         this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
 470         this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
 471 }
 472 void RRTS::set_sample_uniform_circle()
 473 {
 474         this->udx_ = std::uniform_real_distribution<double>(0, 1);
 475         this->udy_ = std::uniform_real_distribution<double>(0, 1);
 476         this->udh_ = std::uniform_real_distribution<double>(0, 2 * M_PI);
 477 }
 478 void RRTS::set_sample(
 479         double x1, double x2,
 480         double y1, double y2,
 481         double h1, double h2
 482 )
 483 {
 484         switch (this->sample_dist_type()) {
 485         case 1: // uniform
 486                 x1 += this->nodes().front().x();
 487                 x2 += this->nodes().front().x();
 488                 y1 += this->nodes().front().y();
 489                 y2 += this->nodes().front().y();
 490                 this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
 491                 break;
 492         case 2: // uniform circle
 493                 this->set_sample_uniform_circle();
 494                 break;
 495         case 3: // uniform index of node in nodes
 496                 this->set_sample_uniform_circle();
 497                 break;
 498         default: // normal
 499                 this->set_sample_normal(x1, x2, y1, y2, h1, h2);
 500         }
 501 }
 502
 503 Json::Value RRTS::json()
 504 {
 505         Json::Value jvo;
 506         {
 507                 jvo["time"] = this->scnt();
 508         }
 509         {
 510                 jvo["iterations"] = this->icnt();
 511         }
 512         {
 513                 jvo["init"][0] = this->nodes().front().x();
 514                 jvo["init"][1] = this->nodes().front().y();
 515                 jvo["init"][2] = this->nodes().front().h();
 516         }
 517         {
 518                 jvo["path_cost_before_opt"] = this->path_cost_before_opt_;
 519         }
 520         {
 521                 if (this->path().size() > 0) {
 522                         jvo["cost"] = cc(*this->path().back());
 523                         jvo["entry"][0] = this->goals().front().x();
 524                         jvo["entry"][1] = this->goals().front().y();
 525                         jvo["entry"][2] = this->goals().front().h();
 526                         jvo["goal"][0] = this->goals().back().x();
 527                         jvo["goal"][1] = this->goals().back().y();
 528                         jvo["goal"][2] = this->goals().back().h();
 529                 }
 530         }
 531         {
 532                 unsigned int cu = 0;
 533                 unsigned int co = 0;
 534                 unsigned int pcnt = 0;
 535                 for (auto n: this->path()) {
 536                         jvo["path"][pcnt][0] = n->x();
 537                         jvo["path"][pcnt][1] = n->y();
 538                         jvo["path"][pcnt][2] = n->h();
 539                         if (n->t(RRTNodeType::cusp))
 540                                 cu++;
 541                         if (n->t(RRTNodeType::connected))
 542                                 co++;
 543                         pcnt++;
 544                 }
 545                 jvo["cusps-in-path"] = cu;
 546                 jvo["connecteds-in-path"] = co;
 547         }
 548         {
 549                 unsigned int gcnt = 0;
 550                 for (auto g: this->goals()) {
 551                         jvo["goals"][gcnt][0] = g.x();
 552                         jvo["goals"][gcnt][1] = g.y();
 553                         jvo["goals"][gcnt][2] = g.h();
 554                         gcnt++;
 555                 }
 556         }
 557         {
 558                 unsigned int ocnt = 0;
 559                 for (auto o: this->obstacles()) {
 560                         unsigned int ccnt = 0;
 561                         for (auto c: o.poly()) {
 562                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 563                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 564                                 ccnt++;
 565                         }
 566                         ocnt++;
 567                 }
 568         }
 569         {
 570                 jvo["nodes"] = (unsigned int) this->nodes().size();
 571         }
 572         {
 573                 unsigned int cnt = 0;
 574                 for (auto i: this->log_path_cost_)
 575                         jvo["log_path_cost"][cnt++] = i;
 576         }
 577         //{
 578         //        unsigned int ncnt = 0;
 579         //        for (auto n: this->nodes()) {
 580         //                jvo["nodes_x"][ncnt] = n.x();
 581         //                jvo["nodes_y"][ncnt] = n.y();
 582         //                //jvo["nodes_h"][ncnt] = n.h();
 583         //                ncnt++;
 584         //        }
 585         //}
 586         return jvo;
 587 }
 588
 589 void RRTS::json(Json::Value jvi)
 590 {
 591         assert(jvi["init"] != Json::nullValue);
 592         assert(jvi["goals"] != Json::nullValue);
 593         assert(jvi["obst"] != Json::nullValue);
 594
 595         this->nodes().front().x(jvi["init"][0].asDouble());
 596         this->nodes().front().y(jvi["init"][1].asDouble());
 597         this->nodes().front().h(jvi["init"][2].asDouble());
 598         {
 599                 RRTNode* gp = nullptr;
 600                 if (jvi["entry"] != Json::nullValue) {
 601                         this->entry_set = true;
 602                         this->entry.x = jvi["entry"][0].asDouble();
 603                         this->entry.y = jvi["entry"][1].asDouble();
 604                         this->entry.b = jvi["entry"][2].asDouble();
 605                         this->entry.e = jvi["entry"][3].asDouble();
 606                         RRTNode tmp_node;
 607                         tmp_node.x(this->entry.x);
 608                         tmp_node.y(this->entry.y);
 609                         tmp_node.h((this->entry.b + this->entry.e) / 2.0);
 610                         this->goals().push_back(tmp_node);
 611                         this->goals().back().p(gp);
 612                         gp = &this->goals().back();
 613                 }
 614                 for (auto g: jvi["goals"]) {
 615                         RRTNode tmp_node;
 616                         tmp_node.x(g[0].asDouble());
 617                         tmp_node.y(g[1].asDouble());
 618                         tmp_node.h(g[2].asDouble());
 619                         this->goals().push_back(tmp_node);
 620                         this->goals().back().p(gp);
 621                         gp = &this->goals().back();
 622                 }
 623                 this->goals().front().set_t(RRTNodeType::cusp);
 624                 this->goals().back().set_t(RRTNodeType::cusp);
 625         }
 626         {
 627                 Obstacle tmp_obstacle;
 628                 for (auto o: jvi["obst"]) {
 629                         tmp_obstacle.poly().clear();
 630                         for (auto c: o) {
 631                                 double tmp_x = c[0].asDouble();
 632                                 double tmp_y = c[1].asDouble();
 633                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
 634                                 tmp_obstacle.poly().push_back(tmp_tuple);
 635                         }
 636                         this->obstacles().push_back(tmp_obstacle);
 637                 }
 638         }
 639         {
 640                 double edist_init_goal = sqrt(
 641                         pow(
 642                                 this->nodes().front().x()
 643                                 - this->goals().front().x(),
 644                                 2
 645                         )
 646                         + pow(
 647                                 this->nodes().front().y()
 648                                 - this->goals().front().y(),
 649                                 2
 650                         )
 651                 );
 652                 this->set_sample(
 653                         this->nodes().front().x(), edist_init_goal,
 654                         this->nodes().front().y(), edist_init_goal,
 655                         0, 2 * M_PI
 656                 );
 657         }
 658 }
 659
 660 RRTS::RRTS()
 661         : gen_(std::random_device{}())
 662 {
 663         this->goals().reserve(100);
 664         this->nodes().reserve(4000000);
 665         this->samples().reserve(1000);
 666         this->steered().reserve(20000);
 667         this->store_node(RRTNode()); // root
 668 }
 669
 670 double cc(RRTNode &t)
 671 {
 672         RRTNode *n = &t;
 673         double cost = 0;
 674         while (n != nullptr) {
 675                 cost += n->c();
 676                 n = n->p();
 677         }
 678         return cost;
 679 }