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 t Type of the RRT node (RRTNodeType).
  33 // -- from BicycleCar
  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.
  39 */
  40 class RRTNode {
  41         private:
  42                 double c_ = 0;
  43                 RRTNode *p_ = nullptr;
  44                 unsigned int t_ = 0;
  45                 // -- from BicycleCar
  46                 // coordinates
  47                 double x_ = 0;
  48                 double y_ = 0;
  49                 double h_ = 0;
  50                 // moving
  51                 double sp_ = 0;
  52                 double st_ = 0;
  53         public:
  54                 // getters, setters
  55                 double c() const { return this->c_; }
  56                 void c(double c) { this->c_ = c; }
  57
  58                 RRTNode *p() const { return this->p_; }
  59                 void p(RRTNode *p) { this->p_ = p; }
  60
  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; }
  64
  65                 // -- from BicycleCar
  66                 // getters, setters
  67                 double x() const { return this->x_; }
  68                 void x(double x) { this->x_ = x; }
  69
  70                 double y() const { return this->y_; }
  71                 void y(double y) { this->y_ = y; }
  72
  73                 double h() const { return this->h_; }
  74                 void h(double h)
  75                 {
  76                         while (h < -M_PI)
  77                                 h += 2 * M_PI;
  78                         while (h > +M_PI)
  79                                 h -= 2 * M_PI;
  80                         this->h_ = h;
  81                 }
  82
  83                 double sp() const { return this->sp_; }
  84                 void sp(double sp) { this->sp_ = sp; }
  85
  86                 double st() const { return this->st_; }
  87                 void st(double st) { this->st_ = st; }
  88
  89                 RRTNode();
  90                 RRTNode(const BicycleCar &bc);
  91                 bool operator==(const RRTNode& n);
  92                 friend std::ostream &operator<<(
  93                         std::ostream &out,
  94                         const RRTNode &bc
  95                 )
  96                 {
  97                         out << "[" << bc.x();
  98                         out << "," << bc.y();
  99                         out << "," << bc.h();
 100                         out << "]";
 101                         return out;
 102                 }
 103 };
 104
 105 /*! \brief Polygon obstacle basic class.
 106
 107 \param poly Border polygon of the obstacle.
 108 */
 109 class Obstacle {
 110         private:
 111                 std::vector<std::tuple<double, double>> poly_;
 112         public:
 113                 // getters, setters
 114                 std::vector<std::tuple<double, double>> &poly()
 115                 {
 116                         return this->poly_;
 117                 }
 118
 119                 Obstacle();
 120 };
 121
 122 /*! \brief RRT* algorithm basic class.
 123
 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)
 130 */
 131 class RRTS {
 132         private:
 133                 unsigned int icnt_ = 0;
 134                 std::chrono::high_resolution_clock::time_point tstart_;
 135                 double scnt_ = 0;
 136                 double pcnt_ = 0;
 137                 bool gf_ = false;
 138                 int sample_dist_type_ = 0;
 139
 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_;
 147
 148                 /*! \brief Update and return elapsed time.
 149                 */
 150                 double elapsed();
 151                 /*! \brief Log current path cost.
 152                 */
 153                 void log_path_cost();
 154                 /*! \brief Set normal distribution for sampling.
 155                 */
 156                 void set_sample_normal(
 157                         double x1, double x2,
 158                         double y1, double y2,
 159                         double h1, double h2
 160                 );
 161                 /*! \brief Set uniform distribution for sampling.
 162                 */
 163                 void set_sample_uniform(
 164                         double x1, double x2,
 165                         double y1, double y2,
 166                         double h1, double h2
 167                 );
 168                 /*! \brief Set uniform circle distribution for sampling.
 169                 */
 170                 void set_sample_uniform_circle();
 171         protected:
 172                 std::vector<RRTNode> tmp_steered_;
 173                 bool finishit = false;
 174                 double path_cost_before_opt_ = 9999;
 175
 176                 BicycleCar bc;
 177                 /*! \brief Store RRT node to tree data structure.
 178                 */
 179                 virtual void store_node(RRTNode n);
 180
 181                 // RRT procedures
 182                 std::tuple<bool, unsigned int, unsigned int>
 183                 collide(std::vector<std::tuple<double, double>> &poly);
 184                 virtual std::tuple<bool, unsigned int, unsigned int>
 185                 collide_steered_from(RRTNode &f);
 186                 virtual std::tuple<bool, unsigned int, unsigned int>
 187                 collide_two_nodes(RRTNode &f, RRTNode &t);
 188                 void sample();
 189                         std::default_random_engine gen_;
 190                         std::normal_distribution<double> ndx_;
 191                         std::normal_distribution<double> ndy_;
 192                         std::normal_distribution<double> ndh_;
 193                         std::uniform_real_distribution<double> udx_;
 194                         std::uniform_real_distribution<double> udy_;
 195                         std::uniform_real_distribution<double> udh_;
 196                         std::uniform_int_distribution<unsigned int> udi1_;
 197                         std::uniform_int_distribution<unsigned int> udi2_;
 198                 virtual RRTNode *nn(RRTNode &t);
 199                 virtual std::vector<RRTNode *> nv(RRTNode &t);
 200                 void steer(RRTNode &f, RRTNode &t);
 201                 void tmp_steer(RRTNode &f, RRTNode &t);
 202                 virtual void steer1(RRTNode &f, RRTNode &t);
 203                 virtual void steer2(RRTNode &f, RRTNode &t);
 204                 /*! \brief Join steered nodes to RRT data structure
 205
 206                 \param f RRT node to join steered nodes to.
 207                 */
 208                 void join_steered(RRTNode *f);
 209                 void join_tmp_steered(RRTNode *f);
 210                 virtual bool goal_found(RRTNode &f);
 211                 // RRT* procedures
 212                 bool connect();
 213                 void rewire();
 214         public:
 215                 /// ---
 216                 struct { double x=0; double y=0; double b=0; double e=0; } entry;
 217                 bool entry_set = false;
 218                 std::vector<RRTNode *> steered1_;
 219                 std::vector<RRTNode *> steered2_;
 220                 /// ---
 221                 /*! \brief Initialize RRT algorithm if needed.
 222                 */
 223                 virtual void init();
 224                 /*! \brief Deinitialize RRT algorithm if needed.
 225                 */
 226                 virtual void deinit();
 227                 /*! \brief Return path found by RRT*.
 228                 */
 229                 virtual std::vector<RRTNode *> path();
 230                 /*! \brief Return ``true`` if algorithm should stop.
 231
 232                 Update counters (iteration, seconds, ...) and return if
 233                 the current iteration should be the last one.
 234                 */
 235                 bool should_stop();
 236                 /*! \brief Return ``true`` if the algorithm should finish.
 237
 238                 Finish means that the algorithm will not be resumed.
 239                 */
 240                 bool should_finish();
 241                 /*! \brief Return ``true`` if the algorithm shoud break.
 242
 243                 Break means that the algorithm can be resumed.
 244                 */
 245                 bool should_break();
 246                 /*! \brief Return ``true`` if algorithm should continue.
 247
 248                 `pcnt_` is set to `scnt_`, so the difference is 0 and it can
 249                 start from scratch. After the `should_continue` is called,
 250                 there must be `while (rrts.next()) {}` loop.
 251                 */
 252                 bool should_continue();
 253                 /*! \brief Run next RRT* iteration.
 254                 */
 255                 bool next();
 256                 /*! \brief Set sampling info.
 257
 258                 Based on `sample_dist_type`, set proper distribution
 259                 parameters. The distribution parameters are relative to `front`
 260                 node in `nodes` (init).
 261
 262                 For normal sampling:
 263                 \param x1 Mean x value.
 264                 \param x2 Standard deviation of x.
 265                 \param y1 Mean y value.
 266                 \param y2 Standard deviation of y.
 267                 \param h1 Mean h value.
 268                 \param h2 Standard deviation of h.
 269
 270                 For uniform sampling:
 271                 \param x1 Minimum x value.
 272                 \param x2 Maximum x value.
 273                 \param y1 Minimum y value.
 274                 \param y2 Maximum y value.
 275                 \param h1 Minimum h value.
 276                 \param h2 Maximum h value.
 277
 278                 For uniform circle sampling:
 279                 \param x1 Ignored.
 280                 \param x2 Ignored.
 281                 \param y1 Ignored.
 282                 \param y2 Ignored.
 283                 \param h1 Ignored.
 284                 \param h2 Ignored.
 285                 */
 286                 void set_sample(
 287                         double x1, double x2,
 288                         double y1, double y2,
 289                         double h1, double h2
 290                 );
 291                 /*! \brief Generate JSON output.
 292                 */
 293                 Json::Value json();
 294                 /*! \brief Load JSON input.
 295                 */
 296                 void json(Json::Value jvi);
 297
 298                 // RRT procedures
 299                 virtual double cost_build(RRTNode &f, RRTNode &t);
 300                 virtual double cost_search(RRTNode &f, RRTNode &t);
 301
 302                 // getters, setters
 303                 unsigned int icnt() const { return this->icnt_; }
 304                 double scnt() const { return this->scnt_; }
 305                 bool gf() const { return this->gf_; }
 306                 void gf(bool f) { this->gf_ = f; }
 307                 int sample_dist_type() const { return this->sample_dist_type_;}
 308                 void sample_dist_type(int t) { this->sample_dist_type_ = t; }
 309                 std::vector<RRTNode> &goals() { return this->goals_; }
 310                 std::vector<RRTNode> &nodes() { return this->nodes_; }
 311                 std::vector<Obstacle> &obstacles() { return this->obstacles_; }
 312                 std::vector<RRTNode> &samples() { return this->samples_; }
 313                 std::vector<RRTNode> &steered() { return this->steered_; }
 314
 315                 RRTS();
 316 };
 317
 318 /*! \brief Compute cumulative cost of RRT node.
 319
 320 \param t RRT node to compute cumulative cost to.
 321 */
 322 double cc(RRTNode &t);
 323
 324 #endif /* RRTS_H */