+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
#include <algorithm>
-#include "rrts.h"
+#include <cassert>
+#include "rrts.hh"
+
+#ifndef USE_RRTS
+#define USE_RRTS 0 // TODO improve, this solution isn't clear.
+#endif
+
+namespace rrts {
+
+void
+Ter::start()
+{
+ this->tstart_ = std::chrono::high_resolution_clock::now();
+}
+
+double
+Ter::scnt() const
+{
+ using namespace std::chrono;
+ auto t = high_resolution_clock::now() - this->tstart_;
+ auto d = duration_cast<duration<double>>(t);
+ return d.count();
+}
+
+double
+RRTNode::c() const
+{
+ return this->c_;
+}
+
+void
+RRTNode::c(double c)
+{
+ assert(this->p_ != nullptr);
+ this->c_ = c;
+ this->cc_ = this->p_->cc() + c;
+}
+
+double
+RRTNode::cc() const
+{
+ return this->cc_;
+}
+
+RRTNode*
+RRTNode::p() const
+{
+ return this->p_;
+}
+
+void
+RRTNode::p(RRTNode& p)
+{
+ if (this != &p) {
+ this->p_ = &p;
+ }
+}
+
+unsigned int
+RRTNode::cusp() const
+{
+ return this->cusp_;
+}
-#include "reeds_shepp.h"
+void
+RRTNode::cusp(RRTNode const& p)
+{
+ this->cusp_ = p.cusp();
+ if (this->sp() != p.sp() || this->sp() == 0.0) {
+ this->cusp_++;
+ }
+}
-template <typename T> int sgn(T val) {
- return (T(0) < val) - (val < T(0));
+bool
+RRTNode::operator==(RRTNode const& n)
+{
+ return this == &n;
}
-RRTNode::RRTNode()
+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]));
+ }
}
-RRTNode::RRTNode(const BicycleCar &bc)
+void
+RRTS::recompute_path_cc()
{
- this->x(bc.x());
- this->y(bc.y());
- this->h(bc.h());
- this->sp(bc.sp());
- this->st(bc.st());
+ this->recompute_cc(&this->goal_);
}
-bool RRTNode::operator==(const RRTNode& n)
+double
+RRTS::min_gamma_eta() const
{
- if (this == &n)
- return true;
- return false;
+ double ns = this->nodes_.size();
+ double gamma = pow(log(ns) / ns, 1.0 / 3.0);
+ return std::min(gamma, this->eta_);
}
-Obstacle::Obstacle()
+bool
+RRTS::should_continue() const
{
+ return !this->should_finish();
}
-double RRTS::elapsed()
+void
+RRTS::join_steered(RRTNode* f)
{
- std::chrono::duration<double> dt;
- dt = std::chrono::duration_cast<std::chrono::duration<double>>(
- std::chrono::high_resolution_clock::now()
- - this->tstart_
- );
- this->scnt_ = dt.count();
- return this->scnt_;
+ while (this->steered_.size() > 0) {
+ this->store(this->steered_.front());
+ 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;
+ }
}
-void RRTS::log_path_cost()
+RRTNode&
+RRTS::nn()
{
- this->log_path_cost_.push_back(cc(this->goals().front()));
- this->log_path_time_ += 0.1;
+ return *this->nn_;
}
-bool RRTS::should_stop()
+bool
+RRTS::connect()
{
- // the following counters must be updated, do not comment
- this->icnt_++;
- this->elapsed();
- // current iteration stop conditions
- if (this->should_finish()) return true;
- if (this->should_break()) return true;
- // but continue by default
- return false;
+ 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 (nc < cost) {
+ f = n;
+ cost = nc;
+ }
+ }
+ // Check if it's possible to drive from *f to *t. If not, then fallback
+ // to *f = nn_. This could be also solved by additional steer from *f to
+ // *t instead of the following code.
+ this->bc_.set_pose(*f);
+ 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;
}
-bool RRTS::should_finish()
+void
+RRTS::rewire()
{
- // decide finish conditions (maybe comment some lines)
- //if (this->icnt_ > 999) return true;
- if (this->scnt_ > 2) return true;
- if (this->finishit) return true;
- //if (this->gf()) return true;
- // but continue by default
- return false;
+ RRTNode *f = &this->nodes_.back();
+ for (auto n: this->nv_) {
+ double fc = f->cc() + this->cost_build(*f, *n);
+ this->bc_.set_pose(*f);
+ bool drivable = this->bc_.drivable(*n);
+ if (drivable && fc < n->cc()) {
+ n->p(*f);
+ n->c(this->cost_build(*f, *n));
+ }
+ }
}
-bool RRTS::should_break()
+bool
+RRTS::goal_drivable_from(RRTNode const& f)
{
- // decide break conditions (maybe comment some lines)
- //if (this->scnt_ - this->pcnt_ > 2) return true;
- // but continue by default
- return false;
+ this->bc_.set_pose(f);
+ return this->bc_.drivable(this->goal_);
}
-bool RRTS::should_continue()
+void
+RRTS::store(RRTNode n)
{
- // decide the stop conditions (maybe comment some lines)
- // it is exact opposite of `should_stop`
- //if (this->icnt_ > 999) return false;
- if (this->scnt_ > 10) return false;
- if (this->gf()) return false;
- // and reset pause counter if should continue
- this->pcnt_ = this->scnt_;
- return true;
+ this->nodes_.push_back(n);
}
-void RRTS::store_node(RRTNode n)
+double
+RRTS::cost_build(RRTNode const& f, RRTNode const& t) const
{
- this->nodes().push_back(n);
+ return f.edist(t);
}
-// RRT procedures
-std::tuple<bool, unsigned int, unsigned int>
-RRTS::collide(std::vector<std::tuple<double, double>> &poly)
+double
+RRTS::cost_search(RRTNode const& f, RRTNode const& t) const
{
- for (auto &o: this->obstacles())
- if (std::get<0>(::collide(poly, o.poly())))
- return ::collide(poly, o.poly());
- return std::make_tuple(false, 0, 0);
+ return this->cost_build(f, t);
}
-std::tuple<bool, unsigned int, unsigned int>
-RRTS::collide_steered_from(RRTNode &f)
-{
- auto fbc = BicycleCar();
- fbc.x(f.x());
- fbc.y(f.y());
- fbc.h(f.h());
- std::vector<std::tuple<double, double>> s;
- s.push_back(std::make_tuple(fbc.x(), fbc.y()));
- for (auto &n: this->steered()) {
- auto nbc = BicycleCar();
- nbc.x(n.x());
- nbc.y(n.y());
- nbc.h(n.h());
- s.push_back(std::make_tuple(nbc.lfx(), nbc.lfy()));
- s.push_back(std::make_tuple(nbc.lrx(), nbc.lry()));
- s.push_back(std::make_tuple(nbc.rrx(), nbc.rry()));
- s.push_back(std::make_tuple(nbc.rfx(), nbc.rfy()));
- }
- auto col = this->collide(s);
- auto strip_from = this->steered().size() - std::get<1>(col) / 4;
- if (std::get<0>(col) && strip_from > 0) {
- while (strip_from-- > 0) {
- this->steered().pop_back();
- }
- return this->collide_steered_from(f);
- }
- return col;
-}
-
-std::tuple<bool, unsigned int, unsigned int>
-RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
-{
- auto fbc = BicycleCar();
- fbc.x(f.x());
- fbc.y(f.y());
- fbc.h(f.h());
- auto tbc = BicycleCar();
- tbc.x(f.x());
- tbc.y(f.y());
- tbc.h(f.h());
- std::vector<std::tuple<double, double>> p;
- p.push_back(std::make_tuple(fbc.lfx(), fbc.lfy()));
- p.push_back(std::make_tuple(fbc.lrx(), fbc.lry()));
- p.push_back(std::make_tuple(fbc.rrx(), fbc.rry()));
- p.push_back(std::make_tuple(fbc.rfx(), fbc.rfy()));
- p.push_back(std::make_tuple(tbc.lfx(), tbc.lfy()));
- p.push_back(std::make_tuple(tbc.lrx(), tbc.lry()));
- p.push_back(std::make_tuple(tbc.rrx(), tbc.rry()));
- p.push_back(std::make_tuple(tbc.rfx(), tbc.rfy()));
- return this->collide(p);
-}
-
-double RRTS::cost_build(RRTNode &f, RRTNode &t)
-{
- double cost = 0;
- cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
- return cost;
-}
-
-double RRTS::cost_search(RRTNode &f, RRTNode &t)
-{
- double cost = 0;
- cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
- return cost;
-}
-
-void RRTS::sample()
-{
- double x = 0;
- double y = 0;
- double h = 0;
- switch (this->sample_dist_type()) {
- case 1: // uniform
- x = this->udx_(this->gen_);
- y = this->udy_(this->gen_);
- h = this->udh_(this->gen_);
- break;
- case 2: // uniform circle
- {
- // see https://stackoverflow.com/questions/5837572/generate-a-random-point-within-a-circle-uniformly/50746409#50746409
- double R = sqrt(
- pow(
- this->nodes().front().x()
- - this->goals().front().x(),
- 2
- )
- + pow(
- this->nodes().front().y()
- - this->goals().front().y(),
- 2
- )
- );
- double a = atan2(
- this->goals().front().y() - this->nodes().front().y(),
- this->goals().front().x() - this->nodes().front().x()
- );
- double cx = this->goals().front().x() - R/2 * cos(a);
- double cy = this->goals().front().y() - R/2 * sin(a);
- double r = R * sqrt(this->udx_(this->gen_));
- double theta = this->udy_(this->gen_) * 2 * M_PI;
- x = cx + r * cos(theta);
- y = cy + r * sin(theta);
- h = this->udh_(this->gen_);
- }
- break;
- case 3: {
- this->udi_ = std::uniform_int_distribution<unsigned int>(
- 0,
- this->nodes().size() - 1
- );
- auto ind = this->udi_(this->gen_);
- auto n = this->nodes()[ind];
- x = n.x();
- y = n.y();
- h = n.h();
- break;
- }
- default: // normal
- x = this->ndx_(this->gen_);
- y = this->ndy_(this->gen_);
- h = this->ndh_(this->gen_);
- }
- this->samples().push_back(RRTNode());
- this->samples().back().x(x);
- this->samples().back().y(y);
- this->samples().back().h(h);
-}
-
-RRTNode *RRTS::nn(RRTNode &t)
-{
- RRTNode *nn = &this->nodes().front();
- double cost = this->cost_search(*nn, t);
- for (auto &f: this->nodes()) {
- if (this->cost_search(f, t) < cost) {
- nn = &f;
- cost = this->cost_search(f, t);
- }
- }
- return nn;
-}
-
-std::vector<RRTNode *> RRTS::nv(RRTNode &t)
-{
- std::vector<RRTNode *> nv;
- double cost = std::min(GAMMA(this->nodes().size()), ETA);
- for (auto &f: this->nodes())
- if (this->cost_search(f, t) < cost)
- nv.push_back(&f);
- return nv;
-}
-
-int cb_rs_steer(double q[4], void *user_data)
-{
- std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
- nodes->push_back(RRTNode());
- nodes->back().x(q[0]);
- nodes->back().y(q[1]);
- nodes->back().h(q[2]);
- nodes->back().sp(q[3]);
- if (nodes->back().sp() == 0) {
- nodes->back().set_t(RRTNodeType::cusp);
- } else if (nodes->size() >= 2) {
- RRTNode* lln = nodes->back().p();
- RRTNode* ln = &nodes->back();
- if (lln != nullptr && ln != nullptr && sgn(lln->sp()) != sgn(ln->sp()))
- ln->set_t(RRTNodeType::cusp);
- }
- return 0;
-}
-
-void RRTS::steer(RRTNode &f, RRTNode &t)
-{
- this->steered().clear();
- double q0[] = {f.x(), f.y(), f.h()};
- double q1[] = {t.x(), t.y(), t.h()};
- ReedsSheppStateSpace rsss(this->bc.mtr());
- rsss.sample(q0, q1, 0.2, cb_rs_steer, &this->steered());
-}
-
-void RRTS::steer1(RRTNode &f, RRTNode &t)
-{
- return this->steer(f, t);
-}
-
-void RRTS::steer2(RRTNode &f, RRTNode &t)
-{
- return this->steer(f, t);
-}
-
-void RRTS::join_steered(RRTNode *f)
-{
- while (this->steered().size() > 0) {
- this->store_node(this->steered().front());
- RRTNode *t = &this->nodes().back();
- t->p(f);
- t->c(this->cost_build(*f, *t));
- this->steered().erase(this->steered().begin());
- f = t;
- }
-}
-
-bool RRTS::goal_found(RRTNode &f)
-{
- auto &g = this->goals().front();
- double cost = this->cost_build(f, g);
- double edist = sqrt(
- pow(f.x() - g.x(), 2)
- + pow(f.y() - g.y(), 2)
- );
- double adist = std::abs(f.h() - g.h());
- if (edist < 0.05 && adist < M_PI / 32) {
- if (g.p() == nullptr || cc(f) + cost < cc(g)) {
- g.p(&f);
- g.c(cost);
- }
- return true;
- }
- return false;
-}
-
-// RRT* procedures
-bool RRTS::connect()
-{
- RRTNode *t = &this->steered().front();
- RRTNode *f = this->nn(this->samples().back());
- double cost = this->cost_search(*f, *t);
- for (auto n: this->nv(*t)) {
- if (
- !std::get<0>(this->collide_two_nodes(*n, *t))
- && this->cost_search(*n, *t) < cost
- ) {
- f = n;
- cost = this->cost_search(*n, *t);
- }
- }
- this->store_node(this->steered().front());
- t = &this->nodes().back();
- t->p(f);
- t->c(this->cost_build(*f, *t));
- t->set_t(RRTNodeType::connected);
- return true;
-}
-
-void RRTS::rewire()
-{
- RRTNode *f = &this->nodes().back();
- for (auto n: this->nv(*f)) {
- if (
- !std::get<0>(this->collide_two_nodes(*f, *n))
- && cc(*f) + this->cost_search(*f, *n) < cc(*n)
- ) {
- n->p(f);
- n->c(this->cost_build(*f, *n));
- }
- }
-}
-
-// API
-void RRTS::init()
-{
-}
-
-void RRTS::deinit()
-{
- this->nodes().clear();
- this->samples().clear();
- this->steered().clear();
- this->store_node(RRTNode()); // root
- this->icnt_ = 0;
- this->scnt_ = 0;
- this->pcnt_ = 0;
- this->gf_ = false;
-}
-
-std::vector<RRTNode *> RRTS::path()
-{
- std::vector<RRTNode *> path;
- if (this->goals().size() == 0)
- return path;
- RRTNode *goal = &this->goals().back();
- if (goal->p() == nullptr)
- return path;
- while (goal != nullptr) {
- path.push_back(goal);
- goal = goal->p();
- }
- std::reverse(path.begin(), path.end());
- return path;
-}
-
-bool RRTS::next()
-{
- if (this->icnt_ == 0)
- this->tstart_ = std::chrono::high_resolution_clock::now();
- bool next = true;
- if (this->scnt_ > this->log_path_time_)
- this->log_path_cost();
- if (this->should_stop())
- return false;
- if (this->samples().size() == 0) {
- this->samples().push_back(RRTNode());
- this->samples().back().x(this->goals().front().x());
- this->samples().back().y(this->goals().front().y());
- this->samples().back().h(this->goals().front().h());
- } else {
- this->sample();
- }
- this->steer1(
- *this->nn(this->samples().back()),
- this->samples().back()
- );
- if (this->steered().size() == 0)
- return next;
- auto col = this->collide_steered_from(
- *this->nn(this->samples().back())
- );
- if (std::get<0>(col)) {
- auto rcnt = this->steered().size() - std::get<1>(col);
- while (rcnt-- > 0) {
- this->steered().pop_back();
- }
- }
- if (!this->connect())
- return next;
- this->rewire();
- unsigned scnt = this->steered().size();
- this->join_steered(&this->nodes().back());
- RRTNode *just_added = &this->nodes().back();
- while (scnt > 0) {
- scnt--;
- auto &g = this->goals().front();
- this->steer2(*just_added, g);
- if (std::get<0>(this->collide_steered_from(
- *just_added
- )))
- continue;
- this->join_steered(just_added);
- this->gf(this->goal_found(this->nodes().back()));
- just_added = just_added->p();
- }
- return next;
-}
-
-void RRTS::set_sample_normal(
- double mx, double dx,
- double my, double dy,
- double mh, double dh
-)
-{
- this->ndx_ = std::normal_distribution<double>(mx, dx);
- this->ndy_ = std::normal_distribution<double>(my, dy);
- this->ndh_ = std::normal_distribution<double>(mh, dh);
-}
-void RRTS::set_sample_uniform(
- double xmin, double xmax,
- double ymin, double ymax,
- double hmin, double hmax
-)
-{
- this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
- this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
- this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
-}
-void RRTS::set_sample_uniform_circle()
-{
- this->udx_ = std::uniform_real_distribution<double>(0, 1);
- this->udy_ = std::uniform_real_distribution<double>(0, 1);
- this->udh_ = std::uniform_real_distribution<double>(0, 2 * M_PI);
-}
-void RRTS::set_sample(
- double x1, double x2,
- double y1, double y2,
- double h1, double h2
-)
-{
- switch (this->sample_dist_type()) {
- case 1: // uniform
- x1 += this->nodes().front().x();
- x2 += this->nodes().front().x();
- y1 += this->nodes().front().y();
- y2 += this->nodes().front().y();
- this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
- break;
- case 2: // uniform circle
- this->set_sample_uniform_circle();
- break;
- case 3: // uniform index of node in nodes
- this->set_sample_uniform_circle();
- break;
- default: // normal
- this->set_sample_normal(x1, x2, y1, y2, h1, h2);
- }
-}
-
-Json::Value RRTS::json()
-{
- Json::Value jvo;
- {
- jvo["time"] = this->scnt();
- }
- {
- jvo["iterations"] = this->icnt();
- }
- {
- jvo["init"][0] = this->nodes().front().x();
- jvo["init"][1] = this->nodes().front().y();
- jvo["init"][2] = this->nodes().front().h();
- }
- {
- jvo["path_cost_before_opt"] = this->path_cost_before_opt_;
- }
- {
- if (this->path().size() > 0) {
- jvo["cost"] = cc(*this->path().back());
- jvo["entry"][0] = this->goals().front().x();
- jvo["entry"][1] = this->goals().front().y();
- jvo["entry"][2] = this->goals().front().h();
- jvo["goal"][0] = this->goals().back().x();
- jvo["goal"][1] = this->goals().back().y();
- jvo["goal"][2] = this->goals().back().h();
- }
- }
- {
- unsigned int cu = 0;
- unsigned int co = 0;
- unsigned int pcnt = 0;
- for (auto n: this->path()) {
- jvo["path"][pcnt][0] = n->x();
- jvo["path"][pcnt][1] = n->y();
- jvo["path"][pcnt][2] = n->h();
- if (n->t(RRTNodeType::cusp))
- cu++;
- if (n->t(RRTNodeType::connected))
- co++;
- pcnt++;
- }
- jvo["cusps-in-path"] = cu;
- jvo["connecteds-in-path"] = co;
- }
- {
- unsigned int gcnt = 0;
- for (auto g: this->goals()) {
- jvo["goals"][gcnt][0] = g.x();
- jvo["goals"][gcnt][1] = g.y();
- jvo["goals"][gcnt][2] = g.h();
- gcnt++;
- }
- }
- {
- unsigned int ocnt = 0;
- for (auto o: this->obstacles()) {
- unsigned int ccnt = 0;
- for (auto c: o.poly()) {
- jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
- jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
- ccnt++;
- }
- ocnt++;
- }
- }
- {
- jvo["nodes"] = (unsigned int) this->nodes().size();
- }
- {
- unsigned int cnt = 0;
- for (auto i: this->log_path_cost_)
- jvo["log_path_cost"][cnt++] = i;
- }
- //{
- // unsigned int ncnt = 0;
- // for (auto n: this->nodes()) {
- // jvo["nodes_x"][ncnt] = n.x();
- // jvo["nodes_y"][ncnt] = n.y();
- // //jvo["nodes_h"][ncnt] = n.h();
- // ncnt++;
- // }
- //}
- return jvo;
-}
-
-void RRTS::json(Json::Value jvi)
-{
- assert(jvi["init"] != Json::nullValue);
- assert(jvi["goals"] != 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());
- {
- RRTNode* gp = nullptr;
- if (jvi["entry"] != Json::nullValue) {
- this->entry_set = true;
- this->entry.x = jvi["entry"][0].asDouble();
- this->entry.y = jvi["entry"][1].asDouble();
- this->entry.b = jvi["entry"][2].asDouble();
- this->entry.e = jvi["entry"][3].asDouble();
- RRTNode tmp_node;
- tmp_node.x(this->entry.x);
- tmp_node.y(this->entry.y);
- tmp_node.h((this->entry.b + this->entry.e) / 2.0);
- this->goals().push_back(tmp_node);
- this->goals().back().p(gp);
- gp = &this->goals().back();
- }
- for (auto g: jvi["goals"]) {
- RRTNode tmp_node;
- tmp_node.x(g[0].asDouble());
- tmp_node.y(g[1].asDouble());
- tmp_node.h(g[2].asDouble());
- this->goals().push_back(tmp_node);
- this->goals().back().p(gp);
- gp = &this->goals().back();
- }
- this->goals().front().set_t(RRTNodeType::cusp);
- this->goals().back().set_t(RRTNodeType::cusp);
- }
- {
- Obstacle tmp_obstacle;
- for (auto o: jvi["obst"]) {
- tmp_obstacle.poly().clear();
- for (auto c: o) {
- double tmp_x = c[0].asDouble();
- double tmp_y = c[1].asDouble();
- auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
- tmp_obstacle.poly().push_back(tmp_tuple);
- }
- this->obstacles().push_back(tmp_obstacle);
- }
- }
- {
- double edist_init_goal = sqrt(
- pow(
- this->nodes().front().x()
- - this->goals().front().x(),
- 2
- )
- + pow(
- this->nodes().front().y()
- - this->goals().front().y(),
- 2
- )
- );
- this->set_sample(
- this->nodes().front().x(), edist_init_goal,
- this->nodes().front().y(), edist_init_goal,
- 0, 2 * M_PI
- );
- }
-}
-
-RRTS::RRTS()
- : gen_(std::random_device{}())
-{
- this->goals().reserve(100);
- this->nodes().reserve(4000000);
- this->samples().reserve(1000);
- this->steered().reserve(20000);
- this->store_node(RRTNode()); // root
-}
-
-double cc(RRTNode &t)
-{
- RRTNode *n = &t;
- double cost = 0;
- while (n != nullptr) {
- cost += n->c();
- n = n->p();
- }
- return cost;
+void
+RRTS::find_nn(RRTNode const& t)
+{
+ this->nn_ = &this->nodes_.front();
+ this->cost_ = this->cost_search(*this->nn_, t);
+ for (auto& f: this->nodes_) {
+ if (this->cost_search(f, t) < this->cost_) {
+ this->nn_ = &f;
+ this->cost_ = this->cost_search(f, t);
+ }
+ }
}
+
+void
+RRTS::find_nv(RRTNode const& t)
+{
+ this->nv_.clear();
+ this->cost_ = this->min_gamma_eta();
+ for (auto& f: this->nodes_) {
+ if (this->cost_search(f, t) < this->cost_) {
+ this->nv_.push_back(&f);
+ }
+ }
+}
+
+void
+RRTS::compute_path()
+{
+ this->path_.clear();
+ RRTNode *g = &this->goal_;
+ if (g->p() == nullptr) {
+ return;
+ }
+ while (g != nullptr && this->path_.size() < 10000) {
+ /* FIXME in ext13
+ *
+ * There shouldn't be this->path_.size() < 10000 condition.
+ * However, the RRTS::compute_path() called from
+ * RRTExt13::compute_path tends to re-allocate this->path_
+ * infinitely. There's probably node->p() = &node somewhere...
+ */
+ this->path_.push_back(g);
+ g = g->p();
+ }
+ std::reverse(this->path_.begin(), this->path_.end());
+}
+
+RRTS::RRTS() : gen_(std::random_device{}()), goal_(0.0, 0.0, 0.0, 0.0)
+{
+ this->nodes_.reserve(4000000);
+ this->steered_.reserve(1000);
+ this->path_.reserve(10000);
+ this->nv_.reserve(1000);
+ 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
+{
+ return this->icnt_;
+}
+
+void
+RRTS::icnt(unsigned int i)
+{
+ this->icnt_ = i;
+}
+
+double
+RRTS::scnt() const
+{
+ return this->ter_.scnt();
+}
+
+Json::Value
+RRTS::json() const
+{
+ Json::Value jvo;
+ unsigned int i = 0;
+ for (auto n: this->path_) {
+ jvo["path"][i][0] = n->x();
+ jvo["path"][i][1] = n->y();
+ jvo["path"][i][2] = n->h();
+ i++;
+ }
+ jvo["goal_cc"] = this->goal_.cc();
+ jvo["time"] = this->time_;
+ return jvo;
+}
+
+void
+RRTS::json(Json::Value jvi)
+{
+ assert(jvi["init"] != Json::nullValue);
+ assert(jvi["goal"] != 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());
+ if (jvi["goal"].size() == 4) {
+ this->goal_ = RRTGoal(jvi["goal"][0].asDouble(),
+ jvi["goal"][1].asDouble(),
+ jvi["goal"][2].asDouble(),
+ jvi["goal"][3].asDouble());
+ } else {
+ this->goal_ = RRTGoal(jvi["goal"][0].asDouble(),
+ jvi["goal"][1].asDouble(),
+ jvi["goal"][2].asDouble(),
+ jvi["goal"][2].asDouble());
+ }
+}
+
+bool
+RRTS::next()
+{
+ if (this->icnt_ == 0) {
+ this->ter_.start();
+ }
+ this->icnt_ += 1;
+ auto rs = this->sample();
+#if 1 // anytime RRTs
+{
+ 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_) {
+ rs = this->last_path_[rand() % this->last_path_.size()];
+ }
+}
+#endif
+ this->find_nn(rs);
+ this->steer(this->nn(), rs);
+ 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();
+ bool gf = false;
+ while (ss > 0 && just_added->p() != nullptr) {
+ this->steer(*just_added, this->goal_);
+ if (this->collide_steered()) {
+ ss--;
+ just_added = just_added->p();
+ continue;
+ }
+ this->join_steered(just_added);
+ bool gn = this->goal_.edist(this->nodes_.back()) < this->eta_;
+ bool gd = this->goal_drivable_from(this->nodes_.back());
+ if (gn && gd) {
+ double nc = this->cost_build(this->nodes_.back(),
+ this->goal_);
+ double ncc = this->nodes_.back().cc() + nc;
+ if (this->goal_.p() == nullptr
+ || ncc < this->goal_.cc()) {
+ this->goal_.p(this->nodes_.back());
+ this->goal_.c(nc);
+ gf = true;
+ }
+ }
+ ss--;
+ just_added = just_added->p();
+ }
+ if (gf) {
+ this->compute_path();
+ }
+ this->time_ = this->ter_.scnt();
+ return this->should_continue();
+}
+
+void
+RRTS::reset()
+{
+ 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());
+ this->path_.clear();
+ this->steered_.clear();
+ this->nodes_.erase(this->nodes_.begin() + 1, this->nodes_.end());
+ this->nv_.clear();
+ this->nn_ = nullptr;
+}
+
+} // namespace rrts
projects / hubacji1 / rrts.git / blobdiff