api/rrts.h

   1 #ifndef RRTS_H
   2 #define RRTS_H
   3
   4 #include <chrono>
   5 #include <functional>
   6 #include <jsoncpp/json/json.h>
   7 #include <random>
   8 #include <vector>
   9 #include "bcar.h"
  10
  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); \
  15 })
  16
  17 /*! \brief Possible type of RRT node.
  18
  19 \param cusp The node that is cusp (change in direction).
  20 \param connected The node that branches generated steered path.
  21 */
  22 class RRTNodeType {
  23         public:
  24                 static const unsigned int cusp = 1 << 0;
  25                 static const unsigned int connected = 1 << 1;
  26 };
  27
  28 /*! \brief RRT node basic class.
  29
  30 \param c Cumulative cost from RRT data structure root.
  31 \param p Pointer to parent RRT node.
  32 \param ch The vector of pointers to children RRT nodes.
  33 */
  34 class RRTNode : public BicycleCar {
  35         private:
  36                 double c_ = 0;
  37                 RRTNode *p_ = nullptr;
  38                 unsigned int t_ = 0;
  39         public:
  40                 // getters, setters
  41                 double c() const { return this->c_; }
  42                 void c(double c) { this->c_ = c; }
  43
  44                 RRTNode *p() const { return this->p_; }
  45                 void p(RRTNode *p) { this->p_ = p; }
  46
  47                 bool t(unsigned int flag) { return this->t_ & flag; }
  48                 void set_t(unsigned int flag) { this->t_ |= flag; }
  49                 void clear_t(unsigned int flag) { this->t_ &= ~flag; }
  50
  51                 RRTNode();
  52                 RRTNode(const BicycleCar &bc);
  53 };
  54
  55 /*! \brief Polygon obstacle basic class.
  56
  57 \param poly Border polygon of the obstacle.
  58 */
  59 class Obstacle {
  60         private:
  61                 std::vector<std::tuple<double, double>> poly_;
  62         public:
  63                 // getters, setters
  64                 std::vector<std::tuple<double, double>> &poly()
  65                 {
  66                         return this->poly_;
  67                 }
  68
  69                 Obstacle();
  70 };
  71
  72 /*! \brief RRT* algorithm basic class.
  73
  74 \param icnt RRT algorithm iterations counter.
  75 \param goals The vector of goal nodes.
  76 \param nodes The vector of all nodes in RRT data structure.
  77 \param samples The vector of all samples of RRT algorithm.
  78 */
  79 class RRTS {
  80         private:
  81                 unsigned int icnt_ = 0;
  82                 std::chrono::high_resolution_clock::time_point tstart_;
  83                 double scnt_ = 0;
  84                 double pcnt_ = 0;
  85                 bool gf_ = false;
  86
  87                 std::vector<RRTNode> goals_;
  88                 std::vector<RRTNode> nodes_;
  89                 std::vector<Obstacle> obstacles_;
  90                 std::vector<RRTNode> samples_;
  91                 std::vector<RRTNode> steered_;
  92
  93                 /*! \brief Update and return elapsed time.
  94                 */
  95                 double elapsed();
  96         protected:
  97                 /*! \brief Store RRT node to tree data structure.
  98                 */
  99                 virtual void store_node(RRTNode n);
 100
 101                 // RRT procedures
 102                 std::tuple<bool, unsigned int, unsigned int>
 103                 collide(std::vector<std::tuple<double, double>> &poly);
 104                 virtual std::tuple<bool, unsigned int, unsigned int>
 105                 collide_steered_from(RRTNode &f);
 106                 virtual std::tuple<bool, unsigned int, unsigned int>
 107                 collide_two_nodes(RRTNode &f, RRTNode &t);
 108                 void sample();
 109                         std::default_random_engine gen_;
 110                         std::normal_distribution<double> ndx_;
 111                         std::normal_distribution<double> ndy_;
 112                         std::normal_distribution<double> ndh_;
 113                 virtual RRTNode *nn(RRTNode &t);
 114                 virtual std::vector<RRTNode *> nv(RRTNode &t);
 115                 void steer(RRTNode &f, RRTNode &t);
 116                 /*! \brief Join steered nodes to RRT data structure
 117
 118                 \param f RRT node to join steered nodes to.
 119                 */
 120                 void join_steered(RRTNode *f);
 121                 bool goal_found(RRTNode &f);
 122                 // RRT* procedures
 123                 bool connect();
 124                 void rewire();
 125         public:
 126                 /*! \brief Initialize RRT algorithm if needed.
 127                 */
 128                 virtual void init();
 129                 /*! \brief Deinitialize RRT algorithm if needed.
 130                 */
 131                 virtual void deinit();
 132                 /*! \brief Return path found by RRT*.
 133                 */
 134                 virtual std::vector<RRTNode *> path();
 135                 /*! \brief Return ``true`` if algorithm should stop.
 136
 137                 Update counters (iteration, seconds, ...) and return if
 138                 the current iteration should be the last one.
 139                 */
 140                 bool should_stop();
 141                 /*! \brief Return ``true`` if algorithm should continue.
 142
 143                 `pcnt_` is set to `scnt_`, so the difference is 0 and it can
 144                 start from scratch. After the `should_continue` is called,
 145                 there must be `while (rrts.next()) {}` loop.
 146                 */
 147                 bool should_continue();
 148                 /*! \brief Run next RRT* iteration.
 149                 */
 150                 bool next();
 151                 /*! \brief Set sampling info.
 152
 153                 There is normal distribution sampling for `x`, `y`, and
 154                 `h` parameters of RRT node.
 155
 156                 \param mx Mean x value.
 157                 \param dx Standard deviation of x.
 158                 \param my Mean y value.
 159                 \param dy Standard deviation of y.
 160                 \param mh Mean h value.
 161                 \param dh Standard deviation of h.
 162                 */
 163                 void set_sample(
 164                         double mx, double dx,
 165                         double my, double dy,
 166                         double mh, double dh
 167                 );
 168                 /*! \brief Generate JSON output.
 169                 */
 170                 Json::Value json();
 171
 172                 // RRT procedures
 173                 virtual double cost_build(RRTNode &f, RRTNode &t);
 174                 virtual double cost_search(RRTNode &f, RRTNode &t);
 175
 176                 // getters, setters
 177                 unsigned int icnt() const { return this->icnt_; }
 178                 double scnt() const { return this->scnt_; }
 179                 bool gf() const { return this->gf_; }
 180                 void gf(bool f) { this->gf_ = f; }
 181                 std::vector<RRTNode> &goals() { return this->goals_; }
 182                 std::vector<RRTNode> &nodes() { return this->nodes_; }
 183                 std::vector<Obstacle> &obstacles() { return this->obstacles_; }
 184                 std::vector<RRTNode> &samples() { return this->samples_; }
 185                 std::vector<RRTNode> &steered() { return this->steered_; }
 186
 187                 RRTS();
 188 };
 189
 190 /*! \brief Compute cumulative cost of RRT node.
 191
 192 \param t RRT node to compute cumulative cost to.
 193 */
 194 double cc(RRTNode &t);
 195
 196 #endif /* RRTS_H */