+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
#include <algorithm>
#include <cassert>
#include "rrts.hh"
+#ifndef USE_RRTS
+#define USE_RRTS 0 // TODO improve, this solution isn't clear.
+#endif
+
namespace rrts {
void
}
}
+unsigned int
+RRTNode::cusp() const
+{
+ return this->cusp_;
+}
+
+void
+RRTNode::cusp(RRTNode const& p)
+{
+ this->cusp_ = p.cusp();
+ if (this->sp() != p.sp() || this->sp() == 0.0) {
+ this->cusp_++;
+ }
+}
+
bool
RRTNode::operator==(RRTNode const& n)
{
return this == &n;
}
+void
+RRTS::recompute_cc(RRTNode* g)
+{
+ this->path_.clear();
+ while (g != nullptr) {
+ this->path_.push_back(g);
+ g = g->p();
+ }
+ std::reverse(this->path_.begin(), this->path_.end());
+ for (unsigned int i = 1; i < this->path_.size(); i++) {
+ this->path_[i]->c(this->cost_build(*this->path_[i - 1],
+ *this->path_[i]));
+ }
+}
+
+void
+RRTS::recompute_path_cc()
+{
+ this->recompute_cc(&this->goal_);
+}
+
double
RRTS::min_gamma_eta() const
{
RRTNode* t = &this->nodes_.back();
t->p(*f);
t->c(this->cost_build(*f, *t));
+ t->cusp(*f);
this->steered_.erase(this->steered_.begin());
f = t;
}
{
RRTNode* f = this->nn_;
RRTNode* t = &this->steered_.front();
+#if USE_RRTS
double cost = f->cc() + this->cost_build(*f, *t);
for (auto n: this->nv_) {
double nc = n->cc() + this->cost_build(*n, *t);
if (!this->bc_.drivable(*t)) {
f = this->nn_;
}
+#endif
this->store(this->steered_.front());
t = &this->nodes_.back();
t->p(*f);
t->c(this->cost_build(*f, *t));
+ t->cusp(*f);
this->steered_.erase(this->steered_.begin());
return true;
}
this->store(RRTNode()); // root
}
+BicycleCar &
+RRTS::bc()
+{
+ return this->bc_;
+}
+
+void
+RRTS::set_imax_reset(unsigned int i)
+{
+ this->_imax = i;
+}
+
unsigned int
RRTS::icnt() const
{
{
assert(jvi["init"] != Json::nullValue);
assert(jvi["goal"] != Json::nullValue);
- assert(jvi["obst"] != Json::nullValue);
this->nodes_.front().x(jvi["init"][0].asDouble());
this->nodes_.front().y(jvi["init"][1].asDouble());
this->nodes_.front().h(jvi["init"][2].asDouble());
double d1 = this->cost_search(this->nodes_.front(), rs);
double d2 = this->cost_search(rs, this->goal_);
if (this->last_goal_cc_ != 0.0 && d1 + d2 > this->last_goal_cc_) {
- this->icnt_ -= 1;
- return this->should_continue();
+ rs = this->last_path_[rand() % this->last_path_.size()];
}
}
#endif
if (this->collide_steered()) {
return this->should_continue();
}
+#if USE_RRTS
this->find_nv(this->steered_.front());
+#endif
if (!this->connect()) {
return this->should_continue();
}
+#if USE_RRTS
this->rewire();
+#endif
unsigned int ss = this->steered_.size();
this->join_steered(&this->nodes_.back());
RRTNode* just_added = &this->nodes_.back();
{
if (this->goal_.cc() != 0.0 && this->goal_.cc() < this->last_goal_cc_) {
this->last_goal_cc_ = this->goal_.cc();
+ this->last_path_.clear();
+ for (auto n: this->path_) {
+ this->last_path_.push_back(*n);
+ }
}
this->goal_ = RRTGoal(this->goal_.x(), this->goal_.y(), this->goal_.b(),
this->goal_.e());