6 #include <jsoncpp/json/json.h>
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); \
17 /*! \brief Possible type of RRT node.
19 \param cusp The node that is cusp (change in direction).
20 \param connected The node that branches generated steered path.
24 static const unsigned int cusp = 1 << 0;
25 static const unsigned int connected = 1 << 1;
28 /*! \brief RRT node basic class.
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).
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.
43 RRTNode *p_ = nullptr;
55 double c() const { return this->c_; }
56 void c(double c) { this->c_ = c; }
58 RRTNode *p() const { return this->p_; }
59 void p(RRTNode *p) { this->p_ = p; }
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; }
67 double x() const { return this->x_; }
68 void x(double x) { this->x_ = x; }
70 double y() const { return this->y_; }
71 void y(double y) { this->y_ = y; }
73 double h() const { return this->h_; }
83 double sp() const { return this->sp_; }
84 void sp(double sp) { this->sp_ = sp; }
86 double st() const { return this->st_; }
87 void st(double st) { this->st_ = st; }
90 RRTNode(const BicycleCar &bc);
91 bool operator==(const RRTNode& n);
92 friend std::ostream &operator<<(
105 /*! \brief Polygon obstacle basic class.
107 \param poly Border polygon of the obstacle.
111 std::vector<std::tuple<double, double>> poly_;
114 std::vector<std::tuple<double, double>> &poly()
122 /*! \brief RRT* algorithm basic class.
124 \param icnt RRT algorithm iterations counter.
125 \param goals The vector of goal nodes.
126 \param nodes The vector of all nodes in RRT data structure.
127 \param samples The vector of all samples of RRT algorithm.
128 \param sample_dist_type Random distribution type for sampling function (0 -
129 normal, 1 - uniform, 2 - uniform circle)
133 unsigned int icnt_ = 0;
134 std::chrono::high_resolution_clock::time_point tstart_;
138 int sample_dist_type_ = 0;
140 std::vector<RRTNode> goals_;
141 std::vector<RRTNode> nodes_;
142 std::vector<Obstacle> obstacles_;
143 std::vector<RRTNode> samples_;
144 std::vector<RRTNode> steered_;
145 double log_path_time_ = 0.1;
146 std::vector<double> log_path_cost_;
148 /*! \brief Update and return elapsed time.
151 /*! \brief Log current path cost.
153 void log_path_cost();
154 /*! \brief Set normal distribution for sampling.
156 void set_sample_normal(
157 double x1, double x2,
158 double y1, double y2,
161 /*! \brief Set uniform distribution for sampling.
163 void set_sample_uniform(
164 double x1, double x2,
165 double y1, double y2,
168 /*! \brief Set uniform circle distribution for sampling.
170 void set_sample_uniform_circle();
172 bool finishit = false;
173 double path_cost_before_opt_ = 9999;
176 /*! \brief Store RRT node to tree data structure.
178 virtual void store_node(RRTNode n);
181 std::tuple<bool, unsigned int, unsigned int>
182 collide(std::vector<std::tuple<double, double>> &poly);
183 virtual std::tuple<bool, unsigned int, unsigned int>
184 collide_steered_from(RRTNode &f);
185 virtual std::tuple<bool, unsigned int, unsigned int>
186 collide_two_nodes(RRTNode &f, RRTNode &t);
188 std::default_random_engine gen_;
189 std::normal_distribution<double> ndx_;
190 std::normal_distribution<double> ndy_;
191 std::normal_distribution<double> ndh_;
192 std::uniform_real_distribution<double> udx_;
193 std::uniform_real_distribution<double> udy_;
194 std::uniform_real_distribution<double> udh_;
195 std::uniform_int_distribution<unsigned int> udi_;
196 virtual RRTNode *nn(RRTNode &t);
197 virtual std::vector<RRTNode *> nv(RRTNode &t);
198 void steer(RRTNode &f, RRTNode &t);
199 virtual void steer1(RRTNode &f, RRTNode &t);
200 virtual void steer2(RRTNode &f, RRTNode &t);
201 /*! \brief Join steered nodes to RRT data structure
203 \param f RRT node to join steered nodes to.
205 void join_steered(RRTNode *f);
206 virtual bool goal_found(RRTNode &f);
212 struct { double x=0; double y=0; double b=0; double e=0; } entry;
213 bool entry_set = false;
215 /*! \brief Initialize RRT algorithm if needed.
218 /*! \brief Deinitialize RRT algorithm if needed.
220 virtual void deinit();
221 /*! \brief Return path found by RRT*.
223 virtual std::vector<RRTNode *> path();
224 /*! \brief Return ``true`` if algorithm should stop.
226 Update counters (iteration, seconds, ...) and return if
227 the current iteration should be the last one.
230 /*! \brief Return ``true`` if the algorithm should finish.
232 Finish means that the algorithm will not be resumed.
234 bool should_finish();
235 /*! \brief Return ``true`` if the algorithm shoud break.
237 Break means that the algorithm can be resumed.
240 /*! \brief Return ``true`` if algorithm should continue.
242 `pcnt_` is set to `scnt_`, so the difference is 0 and it can
243 start from scratch. After the `should_continue` is called,
244 there must be `while (rrts.next()) {}` loop.
246 bool should_continue();
247 /*! \brief Run next RRT* iteration.
250 /*! \brief Set sampling info.
252 Based on `sample_dist_type`, set proper distribution
253 parameters. The distribution parameters are relative to `front`
254 node in `nodes` (init).
257 \param x1 Mean x value.
258 \param x2 Standard deviation of x.
259 \param y1 Mean y value.
260 \param y2 Standard deviation of y.
261 \param h1 Mean h value.
262 \param h2 Standard deviation of h.
264 For uniform sampling:
265 \param x1 Minimum x value.
266 \param x2 Maximum x value.
267 \param y1 Minimum y value.
268 \param y2 Maximum y value.
269 \param h1 Minimum h value.
270 \param h2 Maximum h value.
272 For uniform circle sampling:
281 double x1, double x2,
282 double y1, double y2,
285 /*! \brief Generate JSON output.
288 /*! \brief Load JSON input.
290 void json(Json::Value jvi);
293 virtual double cost_build(RRTNode &f, RRTNode &t);
294 virtual double cost_search(RRTNode &f, RRTNode &t);
297 unsigned int icnt() const { return this->icnt_; }
298 double scnt() const { return this->scnt_; }
299 bool gf() const { return this->gf_; }
300 void gf(bool f) { this->gf_ = f; }
301 int sample_dist_type() const { return this->sample_dist_type_;}
302 void sample_dist_type(int t) { this->sample_dist_type_ = t; }
303 std::vector<RRTNode> &goals() { return this->goals_; }
304 std::vector<RRTNode> &nodes() { return this->nodes_; }
305 std::vector<Obstacle> &obstacles() { return this->obstacles_; }
306 std::vector<RRTNode> &samples() { return this->samples_; }
307 std::vector<RRTNode> &steered() { return this->steered_; }
312 /*! \brief Compute cumulative cost of RRT node.
314 \param t RRT node to compute cumulative cost to.
316 double cc(RRTNode &t);