Add setters for bc, imax

[hubacji1/rrts.git] / src / rrts.cc

diff --git a/src/rrts.cc b/src/rrts.cc
index 191bf7fbfd7f3449c2ea53297946419d4ced6402..2212e597b2eca7e6d32adeb5a8f6f8b175a39443 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -1,7 +1,17 @@
+/*
+ * 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
@@ -53,6 +63,21 @@ RRTNode::p(RRTNode& p)
        }
 }
 
+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)
 {
@@ -60,10 +85,9 @@ RRTNode::operator==(RRTNode const& n)
 }
 
 void
-RRTS::recompute_path_cc()
+RRTS::recompute_cc(RRTNode* g)
 {
        this->path_.clear();
-       RRTNode* g = &this->goal_;
        while (g != nullptr) {
                this->path_.push_back(g);
                g = g->p();
@@ -75,6 +99,12 @@ RRTS::recompute_path_cc()
        }
 }
 
+void
+RRTS::recompute_path_cc()
+{
+       this->recompute_cc(&this->goal_);
+}
+
 double
 RRTS::min_gamma_eta() const
 {
@@ -97,6 +127,7 @@ RRTS::join_steered(RRTNode* f)
                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;
        }
@@ -113,6 +144,7 @@ RRTS::connect()
 {
        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);
@@ -128,10 +160,12 @@ RRTS::connect()
        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;
 }
@@ -232,6 +266,18 @@ RRTS::RRTS() : gen_(std::random_device{}()), goal_(0.0, 0.0, 0.0, 0.0)
        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
 {
@@ -271,7 +317,6 @@ RRTS::json(Json::Value jvi)
 {
        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());
@@ -310,11 +355,15 @@ RRTS::next()
        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();