--- /dev/null
+root = true
+
+[*.{cc,hh}]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+trim_trailing_whitespace = true
+indent_style = tab
+indent_size = 8
+max_line_length = 80
+
+[*.{py,md}]
+end_of_line = lf
+insert_final_newline = true
+charset = utf-8
+trim_trailing_whitespace = true
+indent_style = space
+indent_size = 4
+max_line_length = 80
#include "rrtext.h"
class RRTCE35
- : public RRTExt2
- , public RRTExt11
- , public RRTExt13
- , public RRTExt8
- , public RRTExt10
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt13
+ , public RRTExt8
+ , public RRTExt10
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt8::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt8::deinit();
- }
- void reset()
- {
- RRTExt8::reset();
- RRTExt13::reset();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt8::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt8::deinit();
+ }
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt13::reset();
+ }
};
class RRTCE34
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt8
- , public RRTExt10
- , public RRTExt12
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt8
+ , public RRTExt10
+ , public RRTExt12
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt8::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt8::deinit();
- }
- void reset()
- {
- RRTExt8::reset();
- RRTExt3::reset();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt8::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt8::deinit();
+ }
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE33
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt8
- , public RRTExt10
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt8
+ , public RRTExt10
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt8::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt8::deinit();
- }
- void reset()
- {
- RRTExt8::reset();
- RRTExt3::reset();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt8::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt8::deinit();
+ }
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE32
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt8
- , public RRTExt1
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt8
+ , public RRTExt1
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt8::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt8::deinit();
- }
- void reset()
- {
- RRTExt8::reset();
- RRTExt3::reset();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt8::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt8::deinit();
+ }
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE31
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt8
- , public RRTExt5
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt8
+ , public RRTExt5
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt8::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt8::deinit();
- }
- void reset()
- {
- RRTExt8::reset();
- RRTExt3::reset();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt8::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt8::deinit();
+ }
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE30
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt8
- , public RRTExt6
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt8
+ , public RRTExt6
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt8::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt8::deinit();
- }
- void reset()
- {
- RRTExt8::reset();
- RRTExt3::reset();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt8::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt8::deinit();
+ }
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE29
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt9
- , public RRTExt10
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt9
+ , public RRTExt10
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt9::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt9::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt9::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt9::deinit();
+ }
};
class RRTCE28
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt9
- , public RRTExt1
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt9
+ , public RRTExt1
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt9::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt9::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt9::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt9::deinit();
+ }
};
class RRTCE27
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt9
- , public RRTExt5
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt9
+ , public RRTExt5
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt9::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt9::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt9::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt9::deinit();
+ }
};
class RRTCE26
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt9
- , public RRTExt6
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt9
+ , public RRTExt6
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt9::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt9::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt9::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt9::deinit();
+ }
};
class RRTCE25
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt7
- , public RRTExt10
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt7
+ , public RRTExt10
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt7::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt7::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt7::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt7::deinit();
+ }
};
class RRTCE24
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt7
- , public RRTExt1
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt7
+ , public RRTExt1
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt7::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt7::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt7::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt7::deinit();
+ }
};
class RRTCE23
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt7
- , public RRTExt5
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt7
+ , public RRTExt5
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt7::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt7::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt7::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt7::deinit();
+ }
};
class RRTCE22
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt7
- , public RRTExt6
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt7
+ , public RRTExt6
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt7::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt7::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt7::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt7::deinit();
+ }
};
class RRTCE21
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt4
- , public RRTExt10
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt4
+ , public RRTExt10
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt4::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt4::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt4::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt4::deinit();
+ }
};
class RRTCE20
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt4
- , public RRTExt1
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt4
+ , public RRTExt1
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt4::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt4::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt4::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt4::deinit();
+ }
};
class RRTCE19
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt4
- , public RRTExt5
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt4
+ , public RRTExt5
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt4::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt4::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt4::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt4::deinit();
+ }
};
class RRTCE18
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt4
- , public RRTExt6
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt4
+ , public RRTExt6
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt4::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt4::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt4::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt4::deinit();
+ }
};
class RRTCE17
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt10
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt10
{};
class RRTCE16
- : public RRTExt2
- , public RRTExt3
- , public RRTExt9
- , public RRTExt1
+ : public RRTExt2
+ , public RRTExt3
+ , public RRTExt9
+ , public RRTExt1
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt9::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt9::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt9::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt9::deinit();
+ }
};
class RRTCE15
- : public RRTExt2
- , public RRTExt3
- , public RRTExt9
- , public RRTExt6
+ : public RRTExt2
+ , public RRTExt3
+ , public RRTExt9
+ , public RRTExt6
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt9::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt9::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt9::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt9::deinit();
+ }
};
class RRTCE14
- : public RRTExt2
- , public RRTExt3
- , public RRTExt8
- , public RRTExt1
+ : public RRTExt2
+ , public RRTExt3
+ , public RRTExt8
+ , public RRTExt1
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt8::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt8::deinit();
- }
- void reset()
- {
- RRTExt8::reset();
- RRTExt3::reset();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt8::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt8::deinit();
+ }
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE13
- : public RRTExt2
- , public RRTExt3
- , public RRTExt8
- , public RRTExt6
+ : public RRTExt2
+ , public RRTExt3
+ , public RRTExt8
+ , public RRTExt6
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt8::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt8::deinit();
- }
- void reset()
- {
- RRTExt8::reset();
- RRTExt3::reset();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt8::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt8::deinit();
+ }
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE12
- : public RRTExt2
- , public RRTExt3
- , public RRTExt7
- , public RRTExt1
+ : public RRTExt2
+ , public RRTExt3
+ , public RRTExt7
+ , public RRTExt1
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt7::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt7::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt7::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt7::deinit();
+ }
};
class RRTCE11
- : public RRTExt2
- , public RRTExt3
- , public RRTExt7
- , public RRTExt5
+ : public RRTExt2
+ , public RRTExt3
+ , public RRTExt7
+ , public RRTExt5
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt7::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt7::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt7::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt7::deinit();
+ }
};
class RRTCE10
- : public RRTExt2
- , public RRTExt3
- , public RRTExt7
- , public RRTExt6
+ : public RRTExt2
+ , public RRTExt3
+ , public RRTExt7
+ , public RRTExt6
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt7::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt7::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt7::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt7::deinit();
+ }
};
class RRTCE9
- : public RRTExt2
- , public RRTExt3
- , public RRTExt4
- , public RRTExt1
+ : public RRTExt2
+ , public RRTExt3
+ , public RRTExt4
+ , public RRTExt1
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt4::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt4::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt4::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt4::deinit();
+ }
};
class RRTCE8
- : public RRTExt2
- , public RRTExt3
- , public RRTExt4
- , public RRTExt6
+ : public RRTExt2
+ , public RRTExt3
+ , public RRTExt4
+ , public RRTExt6
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt4::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt4::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt4::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt4::deinit();
+ }
};
class RRTCE7
- : public RRTExt2
- , public RRTExt3
- , public RRTExt4
- , public RRTExt5
+ : public RRTExt2
+ , public RRTExt3
+ , public RRTExt4
+ , public RRTExt5
{
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt4::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt4::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt4::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt4::deinit();
+ }
};
class RRTCE6 : public RRTExt2, public RRTExt6, public RRTExt4 {
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt4::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt4::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt4::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt4::deinit();
+ }
};
class RRTCE5 : public RRTExt2, public RRTExt5, public RRTExt4 {
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt4::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt4::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt4::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt4::deinit();
+ }
};
class RRTCE4 : public RRTExt1, public RRTExt2, public RRTExt4 {
- public:
- void init()
- {
- RRTExt2::init();
- RRTExt4::init();
- }
- void deinit()
- {
- RRTExt2::deinit();
- RRTExt4::deinit();
- }
+ public:
+ void init()
+ {
+ RRTExt2::init();
+ RRTExt4::init();
+ }
+ void deinit()
+ {
+ RRTExt2::deinit();
+ RRTExt4::deinit();
+ }
};
class RRTCE3
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt6
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt6
{};
class RRTCE2
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt5
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt5
{};
class RRTCE1
- : public RRTExt2
- , public RRTExt11
- , public RRTExt3
- , public RRTExt1
+ : public RRTExt2
+ , public RRTExt11
+ , public RRTExt3
+ , public RRTExt1
{};
#endif /* RRTCE_H */
/*! Use Dijkstra-based path optimization, goal zone for interesting nodes. */
class RRTExt13 : public virtual RRTS {
- private:
- public:
- void reset();
- std::vector<RRTNode *> orig_path_;
- double orig_path_cost_ = 9999;
- std::vector<RRTNode *> first_optimized_path_;
- double first_optimized_path_cost_ = 9999;
- void first_path_optimization();
- void second_path_optimization();
- void compute_path();
- Json::Value json();
- void json(Json::Value jvi);
-
- // getter, setter
- std::vector<RRTNode *> &orig_path()
- {
- return this->orig_path_;
- };
- double &orig_path_cost() { return this->orig_path_cost_; }
- void orig_path_cost(double c) { this->orig_path_cost_ = c; }
- std::vector<RRTNode *> &first_optimized_path()
- {
- return this->first_optimized_path_;
- };
- double &first_optimized_path_cost() {
- return this->first_optimized_path_cost_;
- }
- void first_optimized_path_cost(double c) {
- this->first_optimized_path_cost_ = c;
- }
+ private:
+ public:
+ void reset();
+ std::vector<RRTNode *> orig_path_;
+ double orig_path_cost_ = 9999;
+ std::vector<RRTNode *> first_optimized_path_;
+ double first_optimized_path_cost_ = 9999;
+ void first_path_optimization();
+ void second_path_optimization();
+ void compute_path();
+ Json::Value json();
+ void json(Json::Value jvi);
+
+ // getter, setter
+ std::vector<RRTNode *> &orig_path()
+ {
+ return this->orig_path_;
+ };
+ double &orig_path_cost() { return this->orig_path_cost_; }
+ void orig_path_cost(double c) { this->orig_path_cost_ = c; }
+ std::vector<RRTNode *> &first_optimized_path()
+ {
+ return this->first_optimized_path_;
+ };
+ double &first_optimized_path_cost() {
+ return this->first_optimized_path_cost_;
+ }
+ void first_optimized_path_cost(double c) {
+ this->first_optimized_path_cost_ = c;
+ }
};
/*! \brief Different `steer` procedures.
Use sampling in control input for `steer1`. Use R&S steering for `steer2`.
*/
class RRTExt12 : public virtual RRTS {
- protected:
- void steer1(RRTNode &f, RRTNode &t);
- bool connect();
- public:
- bool next();
+ protected:
+ void steer1(RRTNode &f, RRTNode &t);
+ bool connect();
+ public:
+ bool next();
};
/*! \brief Goal Zone.
*/
class RRTExt11 : public virtual RRTS {
- protected:
- bool goal_found(RRTNode &f);
+ protected:
+ bool goal_found(RRTNode &f);
};
/*! \brief Different costs extension.
*/
class RRTExt10 : public virtual RRTS {
- public:
- /*! \brief Reeds and Shepp path length.
- */
- double cost_build(RRTNode &f, RRTNode &t);
- /*! \brief Heuristics distance.
- */
- double cost_search(RRTNode &f, RRTNode &t);
+ public:
+ /*! \brief Reeds and Shepp path length.
+ */
+ double cost_build(RRTNode &f, RRTNode &t);
+ /*! \brief Heuristics distance.
+ */
+ double cost_search(RRTNode &f, RRTNode &t);
};
/*! \brief Use grid data structure to store RRT nodes.
the near vertices procedures.
*/
class RRTExt9 : public virtual RRTS {
- private:
- class Cell {
- private:
- bool changed_ = false;
- std::vector<RRTNode *> nodes_;
- public:
- void nn(RRTNode *t, RRTNode **nn, RRTS *p);
- void store_node(RRTNode *n);
-
- // getter, setter
- bool changed() const
- {
- return this->changed_;
- }
- std::vector<RRTNode *> &nodes()
- {
- return this->nodes_;
- }
-
- Cell();
- };
- Cell grid_[GRID_MAX_XI][GRID_MAX_YI][GRID_MAX_HI];
- double x_min_ = 0;
- double x_max_ = 0;
- double y_min_ = 0;
- double y_max_ = 0;
- double h_min_ = 0;
- double h_max_ = 2 * M_PI;
-
- unsigned int xi(RRTNode n);
- unsigned int yi(RRTNode n);
- unsigned int hi(RRTNode n);
- public:
- void init();
- void deinit();
- void store_node(RRTNode n);
- RRTNode *nn(RRTNode &t);
- std::vector<RRTNode *> nv(RRTNode &t);
+ private:
+ class Cell {
+ private:
+ bool changed_ = false;
+ std::vector<RRTNode *> nodes_;
+ public:
+ void nn(RRTNode *t, RRTNode **nn, RRTS *p);
+ void store_node(RRTNode *n);
+
+ // getter, setter
+ bool changed() const
+ {
+ return this->changed_;
+ }
+ std::vector<RRTNode *> &nodes()
+ {
+ return this->nodes_;
+ }
+
+ Cell();
+ };
+ Cell grid_[GRID_MAX_XI][GRID_MAX_YI][GRID_MAX_HI];
+ double x_min_ = 0;
+ double x_max_ = 0;
+ double y_min_ = 0;
+ double y_max_ = 0;
+ double h_min_ = 0;
+ double h_max_ = 2 * M_PI;
+
+ unsigned int xi(RRTNode n);
+ unsigned int yi(RRTNode n);
+ unsigned int hi(RRTNode n);
+ public:
+ void init();
+ void deinit();
+ void store_node(RRTNode n);
+ RRTNode *nn(RRTNode &t);
+ std::vector<RRTNode *> nv(RRTNode &t);
};
/*! \brief Use k-d tree data structure to store RRT nodes.
\see https://en.wikipedia.org/wiki/K-d_tree
*/
class RRTExt8 : public virtual RRTS {
- private:
- class KdNode {
- private:
- RRTNode *node_ = nullptr;
- KdNode *left_ = nullptr;
- KdNode *right_ = nullptr;
- public:
- // getter, setter
- RRTNode *node() const { return this->node_; }
- KdNode *&left() { return this->left_; }
- KdNode *&right() { return this->right_; }
- KdNode(RRTNode *n);
- };
- KdNode *kdroot_ = nullptr;
- void delete_kd_nodes(KdNode *n);
- void store_node(RRTNode *n, KdNode *&r, int l);
- void nn(RRTNode *&n, RRTNode &t, KdNode *r, int l, double &d);
- void nv(
- std::vector<RRTNode*>& n,
- RRTNode &t,
- KdNode *r,
- int l,
- double const& d
- );
- public:
- void delete_kd_nodes()
- {
- this->delete_kd_nodes(this->kdroot_);
- this->kdroot_ = nullptr;
- }
- void init();
- void reset();
- void deinit();
- void store_node(RRTNode n);
- RRTNode *nn(RRTNode &t);
- std::vector<RRTNode *> nv(RRTNode &t);
+ private:
+ class KdNode {
+ private:
+ RRTNode *node_ = nullptr;
+ KdNode *left_ = nullptr;
+ KdNode *right_ = nullptr;
+ public:
+ // getter, setter
+ RRTNode *node() const { return this->node_; }
+ KdNode *&left() { return this->left_; }
+ KdNode *&right() { return this->right_; }
+ KdNode(RRTNode *n);
+ };
+ KdNode *kdroot_ = nullptr;
+ void delete_kd_nodes(KdNode *n);
+ void store_node(RRTNode *n, KdNode *&r, int l);
+ void nn(RRTNode *&n, RRTNode &t, KdNode *r, int l, double &d);
+ void nv(
+ std::vector<RRTNode*>& n,
+ RRTNode &t,
+ KdNode *r,
+ int l,
+ double const& d
+ );
+ public:
+ void delete_kd_nodes()
+ {
+ this->delete_kd_nodes(this->kdroot_);
+ this->kdroot_ = nullptr;
+ }
+ void init();
+ void reset();
+ void deinit();
+ void store_node(RRTNode n);
+ RRTNode *nn(RRTNode &t);
+ std::vector<RRTNode *> nv(RRTNode &t);
};
/*! \brief Use k-d tree data structure to store RRT nodes.
\see https://en.wikipedia.org/wiki/K-d_tree
*/
class RRTExt7 : public virtual RRTS {
- private:
- class KdNode {
- private:
- RRTNode *node_ = nullptr;
- KdNode *left_ = nullptr;
- KdNode *right_ = nullptr;
- public:
- // getter, setter
- RRTNode *node() const { return this->node_; }
- KdNode *&left() { return this->left_; }
- KdNode *&right() { return this->right_; }
- KdNode(RRTNode *n);
- };
- KdNode *kdroot_ = nullptr;
- void delete_kd_nodes(KdNode *n);
- void store_node(RRTNode *n, KdNode *&r, int l);
- void nn(RRTNode *&n, RRTNode &t, KdNode *r, int l, double &d);
- public:
- void init();
- void deinit();
- void store_node(RRTNode n);
- RRTNode *nn(RRTNode &t);
- std::vector<RRTNode *> nv(RRTNode &t);
+ private:
+ class KdNode {
+ private:
+ RRTNode *node_ = nullptr;
+ KdNode *left_ = nullptr;
+ KdNode *right_ = nullptr;
+ public:
+ // getter, setter
+ RRTNode *node() const { return this->node_; }
+ KdNode *&left() { return this->left_; }
+ KdNode *&right() { return this->right_; }
+ KdNode(RRTNode *n);
+ };
+ KdNode *kdroot_ = nullptr;
+ void delete_kd_nodes(KdNode *n);
+ void store_node(RRTNode *n, KdNode *&r, int l);
+ void nn(RRTNode *&n, RRTNode &t, KdNode *r, int l, double &d);
+ public:
+ void init();
+ void deinit();
+ void store_node(RRTNode n);
+ RRTNode *nn(RRTNode &t);
+ std::vector<RRTNode *> nv(RRTNode &t);
};
/*! \brief Reeds and Shepp cost for building and search.
*/
class RRTExt6 : public virtual RRTS {
- public:
- /*! \brief Reeds and Shepp path length.
- */
- double cost_build(RRTNode &f, RRTNode &t);
- /*! \brief Reeds and Shepp path length.
- */
- double cost_search(RRTNode &f, RRTNode &t);
+ public:
+ /*! \brief Reeds and Shepp path length.
+ */
+ double cost_build(RRTNode &f, RRTNode &t);
+ /*! \brief Reeds and Shepp path length.
+ */
+ double cost_search(RRTNode &f, RRTNode &t);
};
/*! \brief Different costs extension.
structure. This one is complementary to `rrtext1.cc`.
*/
class RRTExt5 : public virtual RRTS {
- public:
- /*! \brief Reeds and Shepp path length.
- */
- double cost_build(RRTNode &f, RRTNode &t);
- /*! \brief Euclidean distance.
- */
- double cost_search(RRTNode &f, RRTNode &t);
+ public:
+ /*! \brief Reeds and Shepp path length.
+ */
+ double cost_build(RRTNode &f, RRTNode &t);
+ /*! \brief Euclidean distance.
+ */
+ double cost_search(RRTNode &f, RRTNode &t);
};
/*! \brief Use grid data structure to store RRT nodes.
the near vertices procedures.
*/
class RRTExt4 : public virtual RRTS {
- private:
- class Cell {
- private:
- bool changed_ = false;
- std::vector<RRTNode *> nodes_;
- public:
- void nn(RRTNode *t, RRTNode **nn, RRTS *p);
- void store_node(RRTNode *n);
-
- // getter, setter
- bool changed() const
- {
- return this->changed_;
- }
- std::vector<RRTNode *> &nodes()
- {
- return this->nodes_;
- }
-
- Cell();
- };
- Cell grid_[GRID_MAX_XI][GRID_MAX_YI]; // [0, 0] is bottom left
- double x_min_ = 0;
- double x_max_ = 0;
- double y_min_ = 0;
- double y_max_ = 0;
-
- unsigned int xi(RRTNode n);
- unsigned int yi(RRTNode n);
- public:
- void init();
- void deinit();
- void store_node(RRTNode n);
- RRTNode *nn(RRTNode &t);
- std::vector<RRTNode *> nv(RRTNode &t);
+ private:
+ class Cell {
+ private:
+ bool changed_ = false;
+ std::vector<RRTNode *> nodes_;
+ public:
+ void nn(RRTNode *t, RRTNode **nn, RRTS *p);
+ void store_node(RRTNode *n);
+
+ // getter, setter
+ bool changed() const
+ {
+ return this->changed_;
+ }
+ std::vector<RRTNode *> &nodes()
+ {
+ return this->nodes_;
+ }
+
+ Cell();
+ };
+ Cell grid_[GRID_MAX_XI][GRID_MAX_YI]; // [0, 0] is bottom left
+ double x_min_ = 0;
+ double x_max_ = 0;
+ double y_min_ = 0;
+ double y_max_ = 0;
+
+ unsigned int xi(RRTNode n);
+ unsigned int yi(RRTNode n);
+ public:
+ void init();
+ void deinit();
+ void store_node(RRTNode n);
+ RRTNode *nn(RRTNode &t);
+ std::vector<RRTNode *> nv(RRTNode &t);
};
/*! \brief Use Dijkstra algorithm to find the shorter path.
*/
class RRTExt3 : public virtual RRTS {
- private:
- public:
- void reset();
- std::vector<RRTNode *> orig_path_;
- double orig_path_cost_ = 9999;
- std::vector<RRTNode *> first_optimized_path_;
- double first_optimized_path_cost_ = 9999;
- void first_path_optimization();
- void second_path_optimization();
- void compute_path();
- Json::Value json();
- void json(Json::Value jvi);
-
- // getter, setter
- std::vector<RRTNode *> &orig_path()
- {
- return this->orig_path_;
- };
- double &orig_path_cost() { return this->orig_path_cost_; }
- void orig_path_cost(double c) { this->orig_path_cost_ = c; }
- std::vector<RRTNode *> &first_optimized_path()
- {
- return this->first_optimized_path_;
- };
- double &first_optimized_path_cost() {
- return this->first_optimized_path_cost_;
- }
- void first_optimized_path_cost(double c) {
- this->first_optimized_path_cost_ = c;
- }
+ private:
+ public:
+ void reset();
+ std::vector<RRTNode *> orig_path_;
+ double orig_path_cost_ = 9999;
+ std::vector<RRTNode *> first_optimized_path_;
+ double first_optimized_path_cost_ = 9999;
+ void first_path_optimization();
+ void second_path_optimization();
+ void compute_path();
+ Json::Value json();
+ void json(Json::Value jvi);
+
+ // getter, setter
+ std::vector<RRTNode *> &orig_path()
+ {
+ return this->orig_path_;
+ };
+ double &orig_path_cost() { return this->orig_path_cost_; }
+ void orig_path_cost(double c) { this->orig_path_cost_ = c; }
+ std::vector<RRTNode *> &first_optimized_path()
+ {
+ return this->first_optimized_path_;
+ };
+ double &first_optimized_path_cost() {
+ return this->first_optimized_path_cost_;
+ }
+ void first_optimized_path_cost(double c) {
+ this->first_optimized_path_cost_ = c;
+ }
};
/*! \brief Use cute_c2 for collision detection.
\see https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
*/
class RRTExt2 : public virtual RRTS {
- private:
- c2Poly c2_bc_;
- c2x c2x_bc_;
- std::vector<c2Poly> c2_obstacles_;
- public:
- void init();
- void deinit();
-
- // Collide RRT procedures
- std::tuple<bool, unsigned int, unsigned int>
- collide_steered_from(RRTNode &f);
- std::tuple<bool, unsigned int, unsigned int>
- collide_tmp_steered_from(RRTNode &f);
-
- std::tuple<bool, unsigned int, unsigned int>
- collide_two_nodes(RRTNode &f, RRTNode &t);
-
- // getters, setters
- c2Poly &c2_bc() { return this->c2_bc_; }
- c2x &c2x_bc() { return this->c2x_bc_; }
- std::vector<c2Poly> &c2_obstacles() {
- return this->c2_obstacles_;
- };
+ private:
+ c2Poly c2_bc_;
+ c2x c2x_bc_;
+ std::vector<c2Poly> c2_obstacles_;
+ public:
+ void init();
+ void deinit();
+
+ // Collide RRT procedures
+ std::tuple<bool, unsigned int, unsigned int>
+ collide_steered_from(RRTNode &f);
+ std::tuple<bool, unsigned int, unsigned int>
+ collide_tmp_steered_from(RRTNode &f);
+
+ std::tuple<bool, unsigned int, unsigned int>
+ collide_two_nodes(RRTNode &f, RRTNode &t);
+
+ // getters, setters
+ c2Poly &c2_bc() { return this->c2_bc_; }
+ c2x &c2x_bc() { return this->c2x_bc_; }
+ std::vector<c2Poly> &c2_obstacles() {
+ return this->c2_obstacles_;
+ };
};
/*! \brief Different costs extension.
structure.
*/
class RRTExt1 : public virtual RRTS {
- public:
- /*! \brief Reeds and Shepp path length.
- */
- double cost_build(RRTNode &f, RRTNode &t);
- /*! \brief Matej's heuristics.
- */
- double cost_search(RRTNode &f, RRTNode &t);
+ public:
+ /*! \brief Reeds and Shepp path length.
+ */
+ double cost_build(RRTNode &f, RRTNode &t);
+ /*! \brief Matej's heuristics.
+ */
+ double cost_search(RRTNode &f, RRTNode &t);
};
#endif /* RRTEXT_H */
#define ETA 1.0 // for steer, nv
#define GAMMA(cV) ({ \
- __typeof__ (cV) _cV = (cV); \
- pow(log(_cV) / _cV, 1.0 / 3.0); \
+ __typeof__ (cV) _cV = (cV); \
+ pow(log(_cV) / _cV, 1.0 / 3.0); \
})
/*! \brief Possible type of RRT node.
\param connected The node that branches generated steered path.
*/
class RRTNodeType {
- public:
- static const unsigned int cusp = 1 << 0;
- static const unsigned int connected = 1 << 1;
+ public:
+ static const unsigned int cusp = 1 << 0;
+ static const unsigned int connected = 1 << 1;
};
/*! \brief RRT node basic class.
\param st Steering of the car.
*/
class RRTNode {
- private:
- RRTNode *p_ = nullptr;
- unsigned int t_ = 0;
- // -- from BicycleCar
- // coordinates
- double x_ = 0;
- double y_ = 0;
- double h_ = 0;
- // moving
- double sp_ = 0;
- double st_ = 0;
- public:
- double c_ = 0;
- double cc = 0.0;
- // getters, setters
- double c() const { return this->c_; }
- void c(double c)
- {
- this->c_ = c;
- this->cc = this->p_->cc + this->c_;
- }
-
- RRTNode *p() const { return this->p_; }
- void p(RRTNode *p) { this->p_ = p; }
-
- bool t(unsigned int flag) { return this->t_ & flag; }
- void set_t(unsigned int flag) { this->t_ |= flag; }
- void clear_t(unsigned int flag) { this->t_ &= ~flag; }
-
- // -- from BicycleCar
- // getters, setters
- double x() const { return this->x_; }
- void x(double x) { this->x_ = x; }
-
- double y() const { return this->y_; }
- void y(double y) { this->y_ = y; }
-
- double h() const { return this->h_; }
- void h(double h)
- {
- while (h < -M_PI)
- h += 2 * M_PI;
- while (h > +M_PI)
- h -= 2 * M_PI;
- this->h_ = h;
- }
-
- double sp() const { return this->sp_; }
- void sp(double sp) { this->sp_ = sp; }
-
- double st() const { return this->st_; }
- void st(double st) { this->st_ = st; }
-
- RRTNode();
- RRTNode(const BicycleCar &bc);
- bool operator==(const RRTNode& n);
- friend std::ostream &operator<<(
- std::ostream &out,
- const RRTNode &bc
- )
- {
- out << "[" << bc.x();
- out << "," << bc.y();
- out << "," << bc.h();
- out << "]";
- return out;
- }
+ private:
+ RRTNode *p_ = nullptr;
+ unsigned int t_ = 0;
+ // -- from BicycleCar
+ // coordinates
+ double x_ = 0;
+ double y_ = 0;
+ double h_ = 0;
+ // moving
+ double sp_ = 0;
+ double st_ = 0;
+ public:
+ double c_ = 0;
+ double cc = 0.0;
+ // getters, setters
+ double c() const { return this->c_; }
+ void c(double c)
+ {
+ this->c_ = c;
+ this->cc = this->p_->cc + this->c_;
+ }
+
+ RRTNode *p() const { return this->p_; }
+ void p(RRTNode *p) { this->p_ = p; }
+
+ bool t(unsigned int flag) { return this->t_ & flag; }
+ void set_t(unsigned int flag) { this->t_ |= flag; }
+ void clear_t(unsigned int flag) { this->t_ &= ~flag; }
+
+ // -- from BicycleCar
+ // getters, setters
+ double x() const { return this->x_; }
+ void x(double x) { this->x_ = x; }
+
+ double y() const { return this->y_; }
+ void y(double y) { this->y_ = y; }
+
+ double h() const { return this->h_; }
+ void h(double h)
+ {
+ while (h < -M_PI)
+ h += 2 * M_PI;
+ while (h > +M_PI)
+ h -= 2 * M_PI;
+ this->h_ = h;
+ }
+
+ double sp() const { return this->sp_; }
+ void sp(double sp) { this->sp_ = sp; }
+
+ double st() const { return this->st_; }
+ void st(double st) { this->st_ = st; }
+
+ RRTNode();
+ RRTNode(const BicycleCar &bc);
+ bool operator==(const RRTNode& n);
+ friend std::ostream &operator<<(
+ std::ostream &out,
+ const RRTNode &bc
+ )
+ {
+ out << "[" << bc.x();
+ out << "," << bc.y();
+ out << "," << bc.h();
+ out << "]";
+ return out;
+ }
};
/*! \brief Polygon obstacle basic class.
\param poly Border polygon of the obstacle.
*/
class Obstacle {
- private:
- std::vector<std::tuple<double, double>> poly_;
- public:
- // getters, setters
- std::vector<std::tuple<double, double>> &poly()
- {
- return this->poly_;
- }
-
- Obstacle();
+ private:
+ std::vector<std::tuple<double, double>> poly_;
+ public:
+ // getters, setters
+ std::vector<std::tuple<double, double>> &poly()
+ {
+ return this->poly_;
+ }
+
+ Obstacle();
};
/*! \brief RRT* algorithm basic class.
normal, 1 - uniform, 2 - uniform circle)
*/
class RRTS {
- protected:
- unsigned int icnt_ = 0;
- std::chrono::high_resolution_clock::time_point tstart_;
- double scnt_ = 0;
- double pcnt_ = 0;
- bool gf_ = false;
- int sample_dist_type_ = 0;
-
- std::vector<RRTNode> goals_;
- std::vector<RRTNode> nodes_;
- std::vector<Obstacle> obstacles_;
- std::vector<RRTNode> samples_;
- std::vector<RRTNode> steered_;
- std::vector<RRTNode *> path_;
- double log_path_time_ = 0.1;
- unsigned int log_path_iter_ = 20;
-
- /*! \brief Update and return elapsed time.
- */
- double elapsed();
- /*! \brief Log current path cost.
- */
- void log_path_cost();
- /*! \brief Set normal distribution for sampling.
- */
- void set_sample_normal(
- double x1, double x2,
- double y1, double y2,
- double h1, double h2
- );
- /*! \brief Set uniform distribution for sampling.
- */
- void set_sample_uniform(
- double x1, double x2,
- double y1, double y2,
- double h1, double h2
- );
- /*! \brief Set uniform circle distribution for sampling.
- */
- void set_sample_uniform_circle();
- RRTNode* use_nn; // Used for RRTExt12.
- std::vector<RRTNode> tmp_steered_;
- bool finishit = false;
- double path_cost_before_opt_ = 9999;
-
- BicycleCar bc;
- /*! \brief Store RRT node to tree data structure.
- */
- virtual void store_node(RRTNode n);
-
- // RRT procedures
- std::tuple<bool, unsigned int, unsigned int>
- collide(std::vector<std::tuple<double, double>> &poly);
- virtual std::tuple<bool, unsigned int, unsigned int>
- collide_steered_from(RRTNode &f);
- virtual std::tuple<bool, unsigned int, unsigned int>
- collide_tmp_steered_from(RRTNode &f);
- virtual std::tuple<bool, unsigned int, unsigned int>
- collide_two_nodes(RRTNode &f, RRTNode &t);
- void sample();
- std::default_random_engine gen_;
- std::normal_distribution<double> ndx_;
- std::normal_distribution<double> ndy_;
- std::normal_distribution<double> ndh_;
- std::uniform_real_distribution<double> udx_;
- std::uniform_real_distribution<double> udy_;
- std::uniform_real_distribution<double> udh_;
- std::uniform_int_distribution<unsigned int> udi1_;
- std::uniform_int_distribution<unsigned int> udi2_;
- virtual RRTNode *nn(RRTNode &t);
- virtual std::vector<RRTNode *> nv(RRTNode &t);
- void steer(RRTNode &f, RRTNode &t);
- void tmp_steer(RRTNode &f, RRTNode &t);
- virtual void steer1(RRTNode &f, RRTNode &t);
- virtual void steer2(RRTNode &f, RRTNode &t);
- /*! \brief Join steered nodes to RRT data structure
-
- \param f RRT node to join steered nodes to.
- */
- void join_steered(RRTNode *f);
- void join_tmp_steered(RRTNode *f);
- virtual bool goal_found(RRTNode &f);
- // RRT* procedures
- virtual bool connect();
- void rewire();
- public:
- /// ---
- std::vector<double> log_opt_time_;
- std::vector<double> log_path_cost_;
- struct { double x=0; double y=0; double b=0; double e=0; } entry;
- bool entry_set = false;
- struct { double x=0; double y=0; double h=0; } entry1;
- struct { double x=0; double y=0; double h=0; } entry2;
- bool entries_set = false;
- std::vector<RRTNode *> steered1_;
- std::vector<RRTNode *> steered2_;
- /// ---
- /*! \brief Initialize RRT algorithm if needed.
- */
- virtual void init();
- virtual void reset();
- /*! \brief Deinitialize RRT algorithm if needed.
- */
- virtual void deinit();
- /*! \brief Return path found by RRT*.
- */
- virtual std::vector<RRTNode *>& path()
- {
- return this->path_;
- }
- virtual void compute_path();
- /*! \brief Return ``true`` if algorithm should stop.
-
- Update counters (iteration, seconds, ...) and return if
- the current iteration should be the last one.
- */
- bool should_stop();
- /*! \brief Return ``true`` if the algorithm should finish.
-
- Finish means that the algorithm will not be resumed.
- */
- bool should_finish();
- /*! \brief Return ``true`` if the algorithm shoud break.
-
- Break means that the algorithm can be resumed.
- */
- bool should_break();
- /*! \brief Return ``true`` if algorithm should continue.
-
- `pcnt_` is set to `scnt_`, so the difference is 0 and it can
- start from scratch. After the `should_continue` is called,
- there must be `while (rrts.next()) {}` loop.
- */
- bool should_continue();
- /*! \brief Run next RRT* iteration.
- */
- virtual bool next();
- /*! \brief Set sampling info.
-
- Based on `sample_dist_type`, set proper distribution
- parameters. The distribution parameters are relative to `front`
- node in `nodes` (init).
-
- For normal sampling:
- \param x1 Mean x value.
- \param x2 Standard deviation of x.
- \param y1 Mean y value.
- \param y2 Standard deviation of y.
- \param h1 Mean h value.
- \param h2 Standard deviation of h.
-
- For uniform sampling:
- \param x1 Minimum x value.
- \param x2 Maximum x value.
- \param y1 Minimum y value.
- \param y2 Maximum y value.
- \param h1 Minimum h value.
- \param h2 Maximum h value.
-
- For uniform circle sampling:
- \param x1 Ignored.
- \param x2 Ignored.
- \param y1 Ignored.
- \param y2 Ignored.
- \param h1 Ignored.
- \param h2 Ignored.
- */
- void set_sample(
- double x1, double x2,
- double y1, double y2,
- double h1, double h2
- );
- /*! \brief Generate JSON output.
- */
- Json::Value json();
- /*! \brief Load JSON input.
- */
- void json(Json::Value jvi);
-
- // RRT procedures
- virtual double cost_build(RRTNode &f, RRTNode &t);
- virtual double cost_search(RRTNode &f, RRTNode &t);
-
- // getters, setters
- unsigned int icnt() const { return this->icnt_; }
- void icnt(unsigned int i) { this->icnt_ = i; }
- double scnt() const { return this->scnt_; }
- bool gf() const { return this->gf_; }
- void gf(bool f) { this->gf_ = f; }
- int sample_dist_type() const { return this->sample_dist_type_;}
- void sample_dist_type(int t) { this->sample_dist_type_ = t; }
- std::vector<RRTNode> &goals() { return this->goals_; }
- std::vector<RRTNode> &nodes() { return this->nodes_; }
- std::vector<Obstacle> &obstacles() { return this->obstacles_; }
- std::vector<RRTNode> &samples() { return this->samples_; }
- std::vector<RRTNode> &steered() { return this->steered_; }
-
- RRTS();
+ protected:
+ unsigned int icnt_ = 0;
+ std::chrono::high_resolution_clock::time_point tstart_;
+ double scnt_ = 0;
+ double pcnt_ = 0;
+ bool gf_ = false;
+ int sample_dist_type_ = 0;
+
+ std::vector<RRTNode> goals_;
+ std::vector<RRTNode> nodes_;
+ std::vector<Obstacle> obstacles_;
+ std::vector<RRTNode> samples_;
+ std::vector<RRTNode> steered_;
+ std::vector<RRTNode *> path_;
+ double log_path_time_ = 0.1;
+ unsigned int log_path_iter_ = 20;
+
+ /*! \brief Update and return elapsed time.
+ */
+ double elapsed();
+ /*! \brief Log current path cost.
+ */
+ void log_path_cost();
+ /*! \brief Set normal distribution for sampling.
+ */
+ void set_sample_normal(
+ double x1, double x2,
+ double y1, double y2,
+ double h1, double h2
+ );
+ /*! \brief Set uniform distribution for sampling.
+ */
+ void set_sample_uniform(
+ double x1, double x2,
+ double y1, double y2,
+ double h1, double h2
+ );
+ /*! \brief Set uniform circle distribution for sampling.
+ */
+ void set_sample_uniform_circle();
+ RRTNode* use_nn; // Used for RRTExt12.
+ std::vector<RRTNode> tmp_steered_;
+ bool finishit = false;
+ double path_cost_before_opt_ = 9999;
+
+ BicycleCar bc;
+ /*! \brief Store RRT node to tree data structure.
+ */
+ virtual void store_node(RRTNode n);
+
+ // RRT procedures
+ std::tuple<bool, unsigned int, unsigned int>
+ collide(std::vector<std::tuple<double, double>> &poly);
+ virtual std::tuple<bool, unsigned int, unsigned int>
+ collide_steered_from(RRTNode &f);
+ virtual std::tuple<bool, unsigned int, unsigned int>
+ collide_tmp_steered_from(RRTNode &f);
+ virtual std::tuple<bool, unsigned int, unsigned int>
+ collide_two_nodes(RRTNode &f, RRTNode &t);
+ void sample();
+ std::default_random_engine gen_;
+ std::normal_distribution<double> ndx_;
+ std::normal_distribution<double> ndy_;
+ std::normal_distribution<double> ndh_;
+ std::uniform_real_distribution<double> udx_;
+ std::uniform_real_distribution<double> udy_;
+ std::uniform_real_distribution<double> udh_;
+ std::uniform_int_distribution<unsigned int> udi1_;
+ std::uniform_int_distribution<unsigned int> udi2_;
+ virtual RRTNode *nn(RRTNode &t);
+ virtual std::vector<RRTNode *> nv(RRTNode &t);
+ void steer(RRTNode &f, RRTNode &t);
+ void tmp_steer(RRTNode &f, RRTNode &t);
+ virtual void steer1(RRTNode &f, RRTNode &t);
+ virtual void steer2(RRTNode &f, RRTNode &t);
+ /*! \brief Join steered nodes to RRT data structure
+
+ \param f RRT node to join steered nodes to.
+ */
+ void join_steered(RRTNode *f);
+ void join_tmp_steered(RRTNode *f);
+ virtual bool goal_found(RRTNode &f);
+ // RRT* procedures
+ virtual bool connect();
+ void rewire();
+ public:
+ /// ---
+ std::vector<double> log_opt_time_;
+ std::vector<double> log_path_cost_;
+ struct { double x=0; double y=0; double b=0; double e=0; } entry;
+ bool entry_set = false;
+ struct { double x=0; double y=0; double h=0; } entry1;
+ struct { double x=0; double y=0; double h=0; } entry2;
+ bool entries_set = false;
+ std::vector<RRTNode *> steered1_;
+ std::vector<RRTNode *> steered2_;
+ /// ---
+ /*! \brief Initialize RRT algorithm if needed.
+ */
+ virtual void init();
+ virtual void reset();
+ /*! \brief Deinitialize RRT algorithm if needed.
+ */
+ virtual void deinit();
+ /*! \brief Return path found by RRT*.
+ */
+ virtual std::vector<RRTNode *>& path()
+ {
+ return this->path_;
+ }
+ virtual void compute_path();
+ /*! \brief Return ``true`` if algorithm should stop.
+
+ Update counters (iteration, seconds, ...) and return if
+ the current iteration should be the last one.
+ */
+ bool should_stop();
+ /*! \brief Return ``true`` if the algorithm should finish.
+
+ Finish means that the algorithm will not be resumed.
+ */
+ bool should_finish();
+ /*! \brief Return ``true`` if the algorithm shoud break.
+
+ Break means that the algorithm can be resumed.
+ */
+ bool should_break();
+ /*! \brief Return ``true`` if algorithm should continue.
+
+ `pcnt_` is set to `scnt_`, so the difference is 0 and it can
+ start from scratch. After the `should_continue` is called,
+ there must be `while (rrts.next()) {}` loop.
+ */
+ bool should_continue();
+ /*! \brief Run next RRT* iteration.
+ */
+ virtual bool next();
+ /*! \brief Set sampling info.
+
+ Based on `sample_dist_type`, set proper distribution
+ parameters. The distribution parameters are relative to `front`
+ node in `nodes` (init).
+
+ For normal sampling:
+ \param x1 Mean x value.
+ \param x2 Standard deviation of x.
+ \param y1 Mean y value.
+ \param y2 Standard deviation of y.
+ \param h1 Mean h value.
+ \param h2 Standard deviation of h.
+
+ For uniform sampling:
+ \param x1 Minimum x value.
+ \param x2 Maximum x value.
+ \param y1 Minimum y value.
+ \param y2 Maximum y value.
+ \param h1 Minimum h value.
+ \param h2 Maximum h value.
+
+ For uniform circle sampling:
+ \param x1 Ignored.
+ \param x2 Ignored.
+ \param y1 Ignored.
+ \param y2 Ignored.
+ \param h1 Ignored.
+ \param h2 Ignored.
+ */
+ void set_sample(
+ double x1, double x2,
+ double y1, double y2,
+ double h1, double h2
+ );
+ /*! \brief Generate JSON output.
+ */
+ Json::Value json();
+ /*! \brief Load JSON input.
+ */
+ void json(Json::Value jvi);
+
+ // RRT procedures
+ virtual double cost_build(RRTNode &f, RRTNode &t);
+ virtual double cost_search(RRTNode &f, RRTNode &t);
+
+ // getters, setters
+ unsigned int icnt() const { return this->icnt_; }
+ void icnt(unsigned int i) { this->icnt_ = i; }
+ double scnt() const { return this->scnt_; }
+ bool gf() const { return this->gf_; }
+ void gf(bool f) { this->gf_ = f; }
+ int sample_dist_type() const { return this->sample_dist_type_;}
+ void sample_dist_type(int t) { this->sample_dist_type_ = t; }
+ std::vector<RRTNode> &goals() { return this->goals_; }
+ std::vector<RRTNode> &nodes() { return this->nodes_; }
+ std::vector<Obstacle> &obstacles() { return this->obstacles_; }
+ std::vector<RRTNode> &samples() { return this->samples_; }
+ std::vector<RRTNode> &steered() { return this->steered_; }
+
+ RRTS();
};
/*! \brief Compute cumulative cost of RRT node.
double RRTExt1::cost_build(RRTNode &f, RRTNode &t)
{
- double q0[] = {f.x(), f.y(), f.h()};
- double q1[] = {t.x(), t.y(), t.h()};
- ReedsSheppStateSpace rsss(this->bc.mtr());
- return rsss.distance(q0, q1);
+ double q0[] = {f.x(), f.y(), f.h()};
+ double q1[] = {t.x(), t.y(), t.h()};
+ ReedsSheppStateSpace rsss(this->bc.mtr());
+ return rsss.distance(q0, q1);
}
double RRTExt1::cost_search(RRTNode &f, RRTNode &t)
{
- double cost = 0;
- cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
- double heur = std::min(
- std::abs(t.h() - f.h()),
- 2 * M_PI - std::abs(t.h() - f.h())
- );
- heur *= this->bc.mtr();
- cost = std::max(cost, heur);
- return cost;
+ double cost = 0;
+ cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
+ double heur = std::min(
+ std::abs(t.h() - f.h()),
+ 2 * M_PI - std::abs(t.h() - f.h())
+ );
+ heur *= this->bc.mtr();
+ cost = std::max(cost, heur);
+ return cost;
}
double RRTExt10::cost_build(RRTNode &f, RRTNode &t)
{
- double q0[] = {f.x(), f.y(), f.h()};
- double q1[] = {t.x(), t.y(), t.h()};
- ReedsSheppStateSpace rsss(this->bc.mtr());
- return rsss.distance(q0, q1);
+ double q0[] = {f.x(), f.y(), f.h()};
+ double q1[] = {t.x(), t.y(), t.h()};
+ ReedsSheppStateSpace rsss(this->bc.mtr());
+ return rsss.distance(q0, q1);
}
double RRTExt10::cost_search(RRTNode &f, RRTNode &t)
{
- double cost = 0;
- cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
- cost += std::abs(t.h() - f.h());
- return cost;
+ double cost = 0;
+ cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
+ cost += std::abs(t.h() - f.h());
+ return cost;
}
bool RRTExt11::goal_found(RRTNode &f)
{
- auto &g = this->goals().front();
- auto fbc = BicycleCar();
- fbc.x(f.x());
- fbc.y(f.y());
- fbc.h(f.h());
- auto gbc = BicycleCar();
- gbc.x(g.x());
- gbc.y(g.y());
- gbc.h(g.h());
- bool drivable = false;
- if (this->entry_set)
- drivable = gbc.drivable(fbc, this->entry.b, this->entry.e);
- else
- drivable = gbc.drivable(fbc);
- if (drivable) {
- this->steer(f, g);
- if (std::get<0>(this->collide_steered_from(f)))
- return false;
- double cost = this->cost_build(f, g);
- this->join_steered(&f);
- if (g.p() == nullptr) {
- g.p(&f);
- g.c(cost);
- this->path_cost_before_opt_ = g.cc;
- } else if (f.cc + cost < g.cc) {
- g.p(&f);
- g.c(cost);
- }
- return true;
- }
- return false;
+ auto &g = this->goals().front();
+ auto fbc = BicycleCar();
+ fbc.x(f.x());
+ fbc.y(f.y());
+ fbc.h(f.h());
+ auto gbc = BicycleCar();
+ gbc.x(g.x());
+ gbc.y(g.y());
+ gbc.h(g.h());
+ bool drivable = false;
+ if (this->entry_set)
+ drivable = gbc.drivable(fbc, this->entry.b, this->entry.e);
+ else
+ drivable = gbc.drivable(fbc);
+ if (drivable) {
+ this->steer(f, g);
+ if (std::get<0>(this->collide_steered_from(f)))
+ return false;
+ double cost = this->cost_build(f, g);
+ this->join_steered(&f);
+ if (g.p() == nullptr) {
+ g.p(&f);
+ g.c(cost);
+ this->path_cost_before_opt_ = g.cc;
+ } else if (f.cc + cost < g.cc) {
+ g.p(&f);
+ g.c(cost);
+ }
+ return true;
+ }
+ return false;
}
void RRTExt12::steer1(RRTNode &f, RRTNode &t)
{
- // assume that `t` is circle uniformly sampled
- auto bc = BicycleCar();
- bc.x(f.x());
- bc.y(f.y());
- bc.h(f.h());
- bc.set_max_steer();
- auto max_steer = bc.st();
- // map t.h() in -PI...+PI to -max_steer...+max_steer
- bc.st(2 * max_steer * this->udh_(this->gen_) / (2 * M_PI) - max_steer);
- bc.sp((this->udy_(this->gen_) > 0.5) ? 0.5 : -0.5);
- this->steered().clear();
- while (true) {
- bc.next();
- auto n = RRTNode(bc);
- if (
- this->steered().size() == 0
- && std::get<0>(this->collide_two_nodes(f, n))
- ) {
- return;
- } else if (
- (
- this->steered().size() > 0
- && std::get<0>(this->collide_two_nodes(
- this->steered().back(),
- n
- ))
- )
- || this->steered().size() > 25
- ) {
- break;
- }
- this->steered().push_back(RRTNode(bc));
- }
- bc.sp(-1*bc.sp());
- bc.next();
- bc.sp(-1*bc.sp());
- this->samples().back().x(bc.x());
- this->samples().back().y(bc.y());
- this->samples().back().h(bc.h());
+ // assume that `t` is circle uniformly sampled
+ auto bc = BicycleCar();
+ bc.x(f.x());
+ bc.y(f.y());
+ bc.h(f.h());
+ bc.set_max_steer();
+ auto max_steer = bc.st();
+ // map t.h() in -PI...+PI to -max_steer...+max_steer
+ bc.st(2 * max_steer * this->udh_(this->gen_) / (2 * M_PI) - max_steer);
+ bc.sp((this->udy_(this->gen_) > 0.5) ? 0.5 : -0.5);
+ this->steered().clear();
+ while (true) {
+ bc.next();
+ auto n = RRTNode(bc);
+ if (
+ this->steered().size() == 0
+ && std::get<0>(this->collide_two_nodes(f, n))
+ ) {
+ return;
+ } else if (
+ (
+ this->steered().size() > 0
+ && std::get<0>(this->collide_two_nodes(
+ this->steered().back(),
+ n
+ ))
+ )
+ || this->steered().size() > 25
+ ) {
+ break;
+ }
+ this->steered().push_back(RRTNode(bc));
+ }
+ bc.sp(-1*bc.sp());
+ bc.next();
+ bc.sp(-1*bc.sp());
+ this->samples().back().x(bc.x());
+ this->samples().back().y(bc.y());
+ this->samples().back().h(bc.h());
}
bool RRTExt12::connect()
{
- RRTNode *t = &this->steered().front();
- RRTNode *f = this->use_nn;
- double cost = this->cost_search(*f, *t);
- // steer from f->t and then continue with the steered.
- this->tmp_steer(*f, *t);
- if (this->tmp_steered_.size() > 0) {
- auto col = this->collide_tmp_steered_from(*f);
- if (std::get<0>(col))
- return false;
- this->join_tmp_steered(f);
- f = &this->nodes().back();
- }
- if (sqrt(
- pow(f->x() - t->x(), 2)
- + pow(f->y() - t->y(), 2)
- ) > 0.5)
- return false;
- // cont.
- 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;
+ RRTNode *t = &this->steered().front();
+ RRTNode *f = this->use_nn;
+ double cost = this->cost_search(*f, *t);
+ // steer from f->t and then continue with the steered.
+ this->tmp_steer(*f, *t);
+ if (this->tmp_steered_.size() > 0) {
+ auto col = this->collide_tmp_steered_from(*f);
+ if (std::get<0>(col))
+ return false;
+ this->join_tmp_steered(f);
+ f = &this->nodes().back();
+ }
+ if (sqrt(
+ pow(f->x() - t->x(), 2)
+ + pow(f->y() - t->y(), 2)
+ ) > 0.5)
+ return false;
+ // cont.
+ 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;
}
bool RRTExt12::next()
{
- if (this->icnt_ == 0)
- this->tstart_ = std::chrono::high_resolution_clock::now();
- bool next = true;
- if (this->icnt_ > this->log_path_iter_)
- 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());
- this->use_nn = &this->nodes().front();
- } else {
- this->sample();
- }
- this->steer1(
- *this->use_nn,
- this->samples().back()
- );
- if (this->steered().size() == 0)
- return next;
- auto col = this->collide_steered_from(*this->use_nn);
- 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) {
- // store all the steered1 nodes
- this->steered1_.push_back(just_added);
- scnt--;
- auto &g = this->goals().front();
- this->steer2(*just_added, g);
- auto col = this->collide_steered_from(*just_added);
- if (std::get<0>(col)) {
- auto rcnt = this->steered().size() - std::get<1>(col);
- while (rcnt-- > 0) {
- this->steered().pop_back();
- }
- }
- this->join_steered(just_added);
- // store all the steered2 nodes
- RRTNode* jap = &this->nodes().back();
- while (jap != just_added) {
- this->steered2_.push_back(jap);
- jap = jap->p();
- }
- this->gf(this->goal_found(this->nodes().back()));
- just_added = just_added->p();
- }
- return next;
+ if (this->icnt_ == 0)
+ this->tstart_ = std::chrono::high_resolution_clock::now();
+ bool next = true;
+ if (this->icnt_ > this->log_path_iter_)
+ 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());
+ this->use_nn = &this->nodes().front();
+ } else {
+ this->sample();
+ }
+ this->steer1(
+ *this->use_nn,
+ this->samples().back()
+ );
+ if (this->steered().size() == 0)
+ return next;
+ auto col = this->collide_steered_from(*this->use_nn);
+ 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) {
+ // store all the steered1 nodes
+ this->steered1_.push_back(just_added);
+ scnt--;
+ auto &g = this->goals().front();
+ this->steer2(*just_added, g);
+ auto col = this->collide_steered_from(*just_added);
+ if (std::get<0>(col)) {
+ auto rcnt = this->steered().size() - std::get<1>(col);
+ while (rcnt-- > 0) {
+ this->steered().pop_back();
+ }
+ }
+ this->join_steered(just_added);
+ // store all the steered2 nodes
+ RRTNode* jap = &this->nodes().back();
+ while (jap != just_added) {
+ this->steered2_.push_back(jap);
+ jap = jap->p();
+ }
+ this->gf(this->goal_found(this->nodes().back()));
+ just_added = just_added->p();
+ }
+ return next;
}
void RRTExt13::reset()
{
- RRTS::reset();
- this->orig_path().clear();
- this->first_optimized_path().clear();
- this->orig_path_cost_ = 9999.9;
- this->first_optimized_path_cost_ = 9999.9;
+ RRTS::reset();
+ this->orig_path().clear();
+ this->first_optimized_path().clear();
+ this->orig_path_cost_ = 9999.9;
+ this->first_optimized_path_cost_ = 9999.9;
}
void RRTExt13::first_path_optimization()
{
- if (this->orig_path().size() == 0) {
- this->orig_path_ = RRTS::path();
- if (this->orig_path().size() == 0)
- return;
- else
- this->orig_path_cost(this->orig_path().back()->cc);
- }
- class DijkstraNode : public RRTNode {
- public:
- DijkstraNode *s = nullptr;
- RRTNode *n = nullptr;
- unsigned int i = 0;
- double cc = 9999;
- bool v = false;
- bool vi()
- {
- if (this->v)
- return true;
- this->v = true;
- return false;
- }
- DijkstraNode(const RRTNode& n) {
- this->x(n.x());
- this->y(n.y());
- this->h(n.h());
- this->sp(n.sp());
- this->st(n.st());
- }
- // override
- DijkstraNode *p_ = nullptr;
- DijkstraNode *p() const { return this->p_; }
- void p(DijkstraNode *p) { this->p_ = p; }
- };
- class DijkstraNodeComparator {
- public:
- int operator() (
- const DijkstraNode &n1,
- const DijkstraNode &n2
- )
- {
- return n1.cc > n2.cc;
- }
- };
- std::vector<DijkstraNode> dn;
- unsigned int ops = this->orig_path().size();
- auto op = this->orig_path();
- dn.reserve(ops);
- unsigned int dncnt = 0;
- dn.push_back(DijkstraNode(*this->orig_path().front()));
- dn.back().cc = this->orig_path().front()->cc;
- dn.back().s = &dn.back();
- dn.back().n = this->orig_path().front();
- dn.back().i = dncnt++;
- for (unsigned int i = 0; i < ops - 1; i++) {
- auto ibc = BicycleCar();
- ibc.x(op[i]->x());
- ibc.y(op[i]->y());
- ibc.h(op[i]->h());
- for (unsigned int j = i + 1; j < ops; j++) {
- auto jbc = BicycleCar();
- jbc.x(op[j]->x());
- jbc.y(op[j]->y());
- jbc.h(op[j]->h());
- if (!jbc.drivable(ibc)) {
- dn.push_back(DijkstraNode(*op[j-1]));
- dn.back().cc = op[j-1]->cc;
- dn.back().s = &dn.back();
- dn.back().n = op[j-1];
- dn.back().i = dncnt++;
- i = j;
- break;
- }
- }
- }
- dn.push_back(DijkstraNode(*this->orig_path().back()));
- dn.back().cc = this->orig_path().back()->cc;
- dn.back().s = &dn.back();
- dn.back().n = this->orig_path().back();
- dn.back().i = dncnt++;
- std::priority_queue<
- DijkstraNode,
- std::vector<DijkstraNode>,
- DijkstraNodeComparator
- > pq;
- dn.front().vi();
- pq.push(dn.front());
- while (!pq.empty()) {
- DijkstraNode f = pq.top();
- pq.pop();
- for (unsigned int i = f.i + 1; i < dncnt; i++) {
- double cost = f.cc + this->cost_search(f, dn[i]);
- this->steer(f, dn[i]);
- if (this->steered().size() == 0)
- break; // TODO why not continue?
- if (std::get<0>(this->collide_steered_from(f)))
- continue;
- if (cost < dn[i].cc) {
- dn[i].cc = cost;
- dn[i].p(f.s);
- if (!dn[i].vi())
- pq.push(dn[i]);
- }
- }
- }
- DijkstraNode *ln = nullptr;
- for (auto &n: dn) {
- if (n.v)
- ln = &n;
- }
- if (ln == nullptr || ln->p() == nullptr)
- return;
- while (ln->p() != nullptr) {
- RRTNode *t = ln->n;
- RRTNode *f = ln->p()->n;
- this->steer(*f, *t);
- if (std::get<0>(this->collide_steered_from(*f)))
- return;
- this->join_steered(f);
- t->p(&this->nodes().back());
- t->c(this->cost_build(this->nodes().back(), *t));
- ln = ln->p();
- }
- RRTS::compute_path();
+ if (this->orig_path().size() == 0) {
+ this->orig_path_ = RRTS::path();
+ if (this->orig_path().size() == 0)
+ return;
+ else
+ this->orig_path_cost(this->orig_path().back()->cc);
+ }
+ class DijkstraNode : public RRTNode {
+ public:
+ DijkstraNode *s = nullptr;
+ RRTNode *n = nullptr;
+ unsigned int i = 0;
+ double cc = 9999;
+ bool v = false;
+ bool vi()
+ {
+ if (this->v)
+ return true;
+ this->v = true;
+ return false;
+ }
+ DijkstraNode(const RRTNode& n) {
+ this->x(n.x());
+ this->y(n.y());
+ this->h(n.h());
+ this->sp(n.sp());
+ this->st(n.st());
+ }
+ // override
+ DijkstraNode *p_ = nullptr;
+ DijkstraNode *p() const { return this->p_; }
+ void p(DijkstraNode *p) { this->p_ = p; }
+ };
+ class DijkstraNodeComparator {
+ public:
+ int operator() (
+ const DijkstraNode &n1,
+ const DijkstraNode &n2
+ )
+ {
+ return n1.cc > n2.cc;
+ }
+ };
+ std::vector<DijkstraNode> dn;
+ unsigned int ops = this->orig_path().size();
+ auto op = this->orig_path();
+ dn.reserve(ops);
+ unsigned int dncnt = 0;
+ dn.push_back(DijkstraNode(*this->orig_path().front()));
+ dn.back().cc = this->orig_path().front()->cc;
+ dn.back().s = &dn.back();
+ dn.back().n = this->orig_path().front();
+ dn.back().i = dncnt++;
+ for (unsigned int i = 0; i < ops - 1; i++) {
+ auto ibc = BicycleCar();
+ ibc.x(op[i]->x());
+ ibc.y(op[i]->y());
+ ibc.h(op[i]->h());
+ for (unsigned int j = i + 1; j < ops; j++) {
+ auto jbc = BicycleCar();
+ jbc.x(op[j]->x());
+ jbc.y(op[j]->y());
+ jbc.h(op[j]->h());
+ if (!jbc.drivable(ibc)) {
+ dn.push_back(DijkstraNode(*op[j-1]));
+ dn.back().cc = op[j-1]->cc;
+ dn.back().s = &dn.back();
+ dn.back().n = op[j-1];
+ dn.back().i = dncnt++;
+ i = j;
+ break;
+ }
+ }
+ }
+ dn.push_back(DijkstraNode(*this->orig_path().back()));
+ dn.back().cc = this->orig_path().back()->cc;
+ dn.back().s = &dn.back();
+ dn.back().n = this->orig_path().back();
+ dn.back().i = dncnt++;
+ std::priority_queue<
+ DijkstraNode,
+ std::vector<DijkstraNode>,
+ DijkstraNodeComparator
+ > pq;
+ dn.front().vi();
+ pq.push(dn.front());
+ while (!pq.empty()) {
+ DijkstraNode f = pq.top();
+ pq.pop();
+ for (unsigned int i = f.i + 1; i < dncnt; i++) {
+ double cost = f.cc + this->cost_search(f, dn[i]);
+ this->steer(f, dn[i]);
+ if (this->steered().size() == 0)
+ break; // TODO why not continue?
+ if (std::get<0>(this->collide_steered_from(f)))
+ continue;
+ if (cost < dn[i].cc) {
+ dn[i].cc = cost;
+ dn[i].p(f.s);
+ if (!dn[i].vi())
+ pq.push(dn[i]);
+ }
+ }
+ }
+ DijkstraNode *ln = nullptr;
+ for (auto &n: dn) {
+ if (n.v)
+ ln = &n;
+ }
+ if (ln == nullptr || ln->p() == nullptr)
+ return;
+ while (ln->p() != nullptr) {
+ RRTNode *t = ln->n;
+ RRTNode *f = ln->p()->n;
+ this->steer(*f, *t);
+ if (std::get<0>(this->collide_steered_from(*f)))
+ return;
+ this->join_steered(f);
+ t->p(&this->nodes().back());
+ t->c(this->cost_build(this->nodes().back(), *t));
+ ln = ln->p();
+ }
+ RRTS::compute_path();
}
void RRTExt13::second_path_optimization()
{
- if (this->first_optimized_path().size() == 0) {
- return;
- }
- class DijkstraNode : public RRTNode {
- public:
- DijkstraNode *s = nullptr;
- RRTNode *n = nullptr;
- unsigned int i = 0;
- double cc = 9999;
- bool v = false;
- bool vi()
- {
- if (this->v)
- return true;
- this->v = true;
- return false;
- }
- DijkstraNode(const RRTNode& n) {
- this->x(n.x());
- this->y(n.y());
- this->h(n.h());
- this->sp(n.sp());
- this->st(n.st());
- }
- // override
- DijkstraNode *p_ = nullptr;
- DijkstraNode *p() const { return this->p_; }
- void p(DijkstraNode *p) { this->p_ = p; }
- };
- class DijkstraNodeComparator {
- public:
- int operator() (
- const DijkstraNode &n1,
- const DijkstraNode &n2
- )
- {
- return n1.cc > n2.cc;
- }
- };
- std::vector<DijkstraNode> dn;
- unsigned int ops = this->orig_path().size();
- auto op = this->orig_path();
- dn.reserve(ops);
- unsigned int dncnt = 0;
- dn.push_back(DijkstraNode(*this->orig_path().front()));
- dn.back().cc = this->orig_path().front()->cc;
- dn.back().s = &dn.back();
- dn.back().n = this->orig_path().front();
- dn.back().i = dncnt++;
- for (unsigned int i = ops - 1; i > 1; i--) {
- auto ibc = BicycleCar();
- ibc.x(op[i]->x());
- ibc.y(op[i]->y());
- ibc.h(op[i]->h());
- for (unsigned int j = i - 1; j > 0; j--) {
- auto jbc = BicycleCar();
- jbc.x(op[j]->x());
- jbc.y(op[j]->y());
- jbc.h(op[j]->h());
- if (!jbc.drivable(ibc)) {
- dn.push_back(DijkstraNode(*op[j-1]));
- dn.back().cc = op[j-1]->cc;
- dn.back().s = &dn.back();
- dn.back().n = op[j-1];
- dn.back().i = dncnt++;
- i = j;
- break;
- }
- }
- }
- dn.push_back(DijkstraNode(*this->orig_path().back()));
- dn.back().cc = this->orig_path().back()->cc;
- dn.back().s = &dn.back();
- dn.back().n = this->orig_path().back();
- dn.back().i = dncnt++;
- std::priority_queue<
- DijkstraNode,
- std::vector<DijkstraNode>,
- DijkstraNodeComparator
- > pq;
- // TODO rewrite
- dn.back().vi();
- pq.push(dn.back());
- while (!pq.empty()) {
- DijkstraNode t = pq.top();
- pq.pop();
- for (unsigned int i = t.i - 1; i > 0; i--) {
- double cost = dn[i].cc + this->cost_search(dn[i], t);
- this->steer(dn[i], t);
- if (this->steered().size() == 0)
- break; // TODO why not continue?
- if (std::get<0>(this->collide_steered_from(dn[i])))
- continue;
- if (cost < t.cc) {
- t.cc = cost;
- t.p(dn[i].s);
- if (!dn[i].vi())
- pq.push(dn[i]);
- }
- }
- }
- DijkstraNode *fn = nullptr;
- for (auto &n: dn) {
- if (n.v) {
- fn = &n;
- break;
- }
- }
- if (fn == nullptr || fn->p() == nullptr)
- return;
- DijkstraNode *ln = &dn.back();
- while (ln->p() != fn) {
- RRTNode *t = ln->n;
- RRTNode *f = ln->p()->n;
- this->steer(*f, *t);
- if (std::get<0>(this->collide_steered_from(*f)))
- return;
- this->join_steered(f);
- t->p(&this->nodes().back());
- t->c(this->cost_build(this->nodes().back(), *t));
- ln = ln->p();
- }
- RRTS::compute_path();
+ if (this->first_optimized_path().size() == 0) {
+ return;
+ }
+ class DijkstraNode : public RRTNode {
+ public:
+ DijkstraNode *s = nullptr;
+ RRTNode *n = nullptr;
+ unsigned int i = 0;
+ double cc = 9999;
+ bool v = false;
+ bool vi()
+ {
+ if (this->v)
+ return true;
+ this->v = true;
+ return false;
+ }
+ DijkstraNode(const RRTNode& n) {
+ this->x(n.x());
+ this->y(n.y());
+ this->h(n.h());
+ this->sp(n.sp());
+ this->st(n.st());
+ }
+ // override
+ DijkstraNode *p_ = nullptr;
+ DijkstraNode *p() const { return this->p_; }
+ void p(DijkstraNode *p) { this->p_ = p; }
+ };
+ class DijkstraNodeComparator {
+ public:
+ int operator() (
+ const DijkstraNode &n1,
+ const DijkstraNode &n2
+ )
+ {
+ return n1.cc > n2.cc;
+ }
+ };
+ std::vector<DijkstraNode> dn;
+ unsigned int ops = this->orig_path().size();
+ auto op = this->orig_path();
+ dn.reserve(ops);
+ unsigned int dncnt = 0;
+ dn.push_back(DijkstraNode(*this->orig_path().front()));
+ dn.back().cc = this->orig_path().front()->cc;
+ dn.back().s = &dn.back();
+ dn.back().n = this->orig_path().front();
+ dn.back().i = dncnt++;
+ for (unsigned int i = ops - 1; i > 1; i--) {
+ auto ibc = BicycleCar();
+ ibc.x(op[i]->x());
+ ibc.y(op[i]->y());
+ ibc.h(op[i]->h());
+ for (unsigned int j = i - 1; j > 0; j--) {
+ auto jbc = BicycleCar();
+ jbc.x(op[j]->x());
+ jbc.y(op[j]->y());
+ jbc.h(op[j]->h());
+ if (!jbc.drivable(ibc)) {
+ dn.push_back(DijkstraNode(*op[j-1]));
+ dn.back().cc = op[j-1]->cc;
+ dn.back().s = &dn.back();
+ dn.back().n = op[j-1];
+ dn.back().i = dncnt++;
+ i = j;
+ break;
+ }
+ }
+ }
+ dn.push_back(DijkstraNode(*this->orig_path().back()));
+ dn.back().cc = this->orig_path().back()->cc;
+ dn.back().s = &dn.back();
+ dn.back().n = this->orig_path().back();
+ dn.back().i = dncnt++;
+ std::priority_queue<
+ DijkstraNode,
+ std::vector<DijkstraNode>,
+ DijkstraNodeComparator
+ > pq;
+ // TODO rewrite
+ dn.back().vi();
+ pq.push(dn.back());
+ while (!pq.empty()) {
+ DijkstraNode t = pq.top();
+ pq.pop();
+ for (unsigned int i = t.i - 1; i > 0; i--) {
+ double cost = dn[i].cc + this->cost_search(dn[i], t);
+ this->steer(dn[i], t);
+ if (this->steered().size() == 0)
+ break; // TODO why not continue?
+ if (std::get<0>(this->collide_steered_from(dn[i])))
+ continue;
+ if (cost < t.cc) {
+ t.cc = cost;
+ t.p(dn[i].s);
+ if (!dn[i].vi())
+ pq.push(dn[i]);
+ }
+ }
+ }
+ DijkstraNode *fn = nullptr;
+ for (auto &n: dn) {
+ if (n.v) {
+ fn = &n;
+ break;
+ }
+ }
+ if (fn == nullptr || fn->p() == nullptr)
+ return;
+ DijkstraNode *ln = &dn.back();
+ while (ln->p() != fn) {
+ RRTNode *t = ln->n;
+ RRTNode *f = ln->p()->n;
+ this->steer(*f, *t);
+ if (std::get<0>(this->collide_steered_from(*f)))
+ return;
+ this->join_steered(f);
+ t->p(&this->nodes().back());
+ t->c(this->cost_build(this->nodes().back(), *t));
+ ln = ln->p();
+ }
+ RRTS::compute_path();
}
void RRTExt13::compute_path()
{
- RRTS::compute_path();
- auto tstart = std::chrono::high_resolution_clock::now();
- this->first_path_optimization();
- this->first_optimized_path_ = RRTS::path();
- if (this->first_optimized_path_.size() > 0) {
- this->first_optimized_path_cost(
- this->first_optimized_path_.back()->cc
- );
- } else {
- return;
- }
- this->second_path_optimization();
- auto tend = std::chrono::high_resolution_clock::now();
- auto tdiff = std::chrono::duration_cast<std::chrono::duration<double>>(
- tend - tstart);
- this->log_opt_time_.push_back(tdiff.count());
+ RRTS::compute_path();
+ auto tstart = std::chrono::high_resolution_clock::now();
+ this->first_path_optimization();
+ this->first_optimized_path_ = RRTS::path();
+ if (this->first_optimized_path_.size() > 0) {
+ this->first_optimized_path_cost(
+ this->first_optimized_path_.back()->cc
+ );
+ } else {
+ return;
+ }
+ this->second_path_optimization();
+ auto tend = std::chrono::high_resolution_clock::now();
+ auto tdiff = std::chrono::duration_cast<std::chrono::duration<double>>(
+ tend - tstart);
+ this->log_opt_time_.push_back(tdiff.count());
}
Json::Value RRTExt13::json()
{
- Json::Value jvo = RRTS::json();
- jvo["orig_path_cost"] = this->orig_path_cost();
- {
- unsigned int cu = 0;
- unsigned int co = 0;
- unsigned int pcnt = 0;
- for (auto n: this->orig_path()) {
- jvo["orig_path"][pcnt][0] = n->x();
- jvo["orig_path"][pcnt][1] = n->y();
- jvo["orig_path"][pcnt][2] = n->h();
- if (n->t(RRTNodeType::cusp))
- cu++;
- if (n->t(RRTNodeType::connected))
- co++;
- pcnt++;
- }
- jvo["orig_cusps-in-path"] = cu;
- jvo["orig_connecteds-in-path"] = co;
- }
- return jvo;
+ Json::Value jvo = RRTS::json();
+ jvo["orig_path_cost"] = this->orig_path_cost();
+ {
+ unsigned int cu = 0;
+ unsigned int co = 0;
+ unsigned int pcnt = 0;
+ for (auto n: this->orig_path()) {
+ jvo["orig_path"][pcnt][0] = n->x();
+ jvo["orig_path"][pcnt][1] = n->y();
+ jvo["orig_path"][pcnt][2] = n->h();
+ if (n->t(RRTNodeType::cusp))
+ cu++;
+ if (n->t(RRTNodeType::connected))
+ co++;
+ pcnt++;
+ }
+ jvo["orig_cusps-in-path"] = cu;
+ jvo["orig_connecteds-in-path"] = co;
+ }
+ return jvo;
}
void RRTExt13::json(Json::Value jvi)
{
- return RRTS::json(jvi);
+ return RRTS::json(jvi);
}
void RRTExt2::init()
{
- BicycleCar bc;
- this->c2_bc().count = 4;
- this->c2_bc().verts[0].x = bc.lfx();
- this->c2_bc().verts[0].y = bc.lfy();
- this->c2_bc().verts[1].x = bc.lrx();
- this->c2_bc().verts[1].y = bc.lry();
- this->c2_bc().verts[2].x = bc.rrx();
- this->c2_bc().verts[2].y = bc.rry();
- this->c2_bc().verts[3].x = bc.rfx();
- this->c2_bc().verts[3].y = bc.rfy();
+ BicycleCar bc;
+ this->c2_bc().count = 4;
+ this->c2_bc().verts[0].x = bc.lfx();
+ this->c2_bc().verts[0].y = bc.lfy();
+ this->c2_bc().verts[1].x = bc.lrx();
+ this->c2_bc().verts[1].y = bc.lry();
+ this->c2_bc().verts[2].x = bc.rrx();
+ this->c2_bc().verts[2].y = bc.rry();
+ this->c2_bc().verts[3].x = bc.rfx();
+ this->c2_bc().verts[3].y = bc.rfy();
- for (auto o: this->obstacles()) {
- c2Poly c2tmp;
- c2tmp.count = (o.poly().size() < C2_MAX_POLYGON_VERTS)
- ? o.poly().size()
- : C2_MAX_POLYGON_VERTS
- ;
- int i = 0;
- for (auto c: o.poly()) {
- if (i < C2_MAX_POLYGON_VERTS) {
- c2tmp.verts[i].x = std::get<0>(c);
- c2tmp.verts[i].y = std::get<1>(c);
- }
- i++;
- }
- this->c2_obstacles().push_back(c2tmp);
- }
+ for (auto o: this->obstacles()) {
+ c2Poly c2tmp;
+ c2tmp.count = (o.poly().size() < C2_MAX_POLYGON_VERTS)
+ ? o.poly().size()
+ : C2_MAX_POLYGON_VERTS
+ ;
+ int i = 0;
+ for (auto c: o.poly()) {
+ if (i < C2_MAX_POLYGON_VERTS) {
+ c2tmp.verts[i].x = std::get<0>(c);
+ c2tmp.verts[i].y = std::get<1>(c);
+ }
+ i++;
+ }
+ this->c2_obstacles().push_back(c2tmp);
+ }
}
void RRTExt2::deinit()
{
- this->c2_obstacles().clear();
- RRTS::deinit();
+ this->c2_obstacles().clear();
+ RRTS::deinit();
}
std::tuple<bool, unsigned int, unsigned int>
RRTExt2::collide_steered_from(RRTNode &f)
{
- this->c2x_bc().p.x = f.x();
- this->c2x_bc().p.y = f.y();
- this->c2x_bc().r.c = cos(f.h());
- this->c2x_bc().r.s = sin(f.h());
- for (auto &o: this->c2_obstacles()) {
- if (c2PolytoPoly(
- &this->c2_bc(), &this->c2x_bc(),
- &o, NULL
- )) {
- return std::make_tuple(true, 0, 0);
- }
- }
- unsigned int i = 0;
- for (auto &n: this->steered()) {
- this->c2x_bc().p.x = n.x();
- this->c2x_bc().p.y = n.y();
- this->c2x_bc().r.c = cos(n.h());
- this->c2x_bc().r.s = sin(n.h());
- for (auto &o: this->c2_obstacles()) {
- if (c2PolytoPoly(
- &this->c2_bc(), &this->c2x_bc(),
- &o, NULL
- )) {
- return std::make_tuple(true, i, 0);
- }
- }
- i++;
- }
- return std::make_tuple(false, 0, 0);
+ this->c2x_bc().p.x = f.x();
+ this->c2x_bc().p.y = f.y();
+ this->c2x_bc().r.c = cos(f.h());
+ this->c2x_bc().r.s = sin(f.h());
+ for (auto &o: this->c2_obstacles()) {
+ if (c2PolytoPoly(
+ &this->c2_bc(), &this->c2x_bc(),
+ &o, NULL
+ )) {
+ return std::make_tuple(true, 0, 0);
+ }
+ }
+ unsigned int i = 0;
+ for (auto &n: this->steered()) {
+ this->c2x_bc().p.x = n.x();
+ this->c2x_bc().p.y = n.y();
+ this->c2x_bc().r.c = cos(n.h());
+ this->c2x_bc().r.s = sin(n.h());
+ for (auto &o: this->c2_obstacles()) {
+ if (c2PolytoPoly(
+ &this->c2_bc(), &this->c2x_bc(),
+ &o, NULL
+ )) {
+ return std::make_tuple(true, i, 0);
+ }
+ }
+ i++;
+ }
+ return std::make_tuple(false, 0, 0);
}
std::tuple<bool, unsigned int, unsigned int>
RRTExt2::collide_tmp_steered_from(RRTNode &f)
{
- this->c2x_bc().p.x = f.x();
- this->c2x_bc().p.y = f.y();
- this->c2x_bc().r.c = cos(f.h());
- this->c2x_bc().r.s = sin(f.h());
- for (auto &o: this->c2_obstacles()) {
- if (c2PolytoPoly(
- &this->c2_bc(), &this->c2x_bc(),
- &o, NULL
- )) {
- return std::make_tuple(true, 0, 0);
- }
- }
- unsigned int i = 0;
- for (auto n: this->tmp_steered_) {
- this->c2x_bc().p.x = n.x();
- this->c2x_bc().p.y = n.y();
- this->c2x_bc().r.c = cos(n.h());
- this->c2x_bc().r.s = sin(n.h());
- for (auto &o: this->c2_obstacles()) {
- if (c2PolytoPoly(
- &this->c2_bc(), &this->c2x_bc(),
- &o, NULL
- )) {
- return std::make_tuple(true, i, 0);
- }
- }
- i++;
- }
- return std::make_tuple(false, 0, 0);
+ this->c2x_bc().p.x = f.x();
+ this->c2x_bc().p.y = f.y();
+ this->c2x_bc().r.c = cos(f.h());
+ this->c2x_bc().r.s = sin(f.h());
+ for (auto &o: this->c2_obstacles()) {
+ if (c2PolytoPoly(
+ &this->c2_bc(), &this->c2x_bc(),
+ &o, NULL
+ )) {
+ return std::make_tuple(true, 0, 0);
+ }
+ }
+ unsigned int i = 0;
+ for (auto n: this->tmp_steered_) {
+ this->c2x_bc().p.x = n.x();
+ this->c2x_bc().p.y = n.y();
+ this->c2x_bc().r.c = cos(n.h());
+ this->c2x_bc().r.s = sin(n.h());
+ for (auto &o: this->c2_obstacles()) {
+ if (c2PolytoPoly(
+ &this->c2_bc(), &this->c2x_bc(),
+ &o, NULL
+ )) {
+ return std::make_tuple(true, i, 0);
+ }
+ }
+ i++;
+ }
+ return std::make_tuple(false, 0, 0);
}
std::tuple<bool, unsigned int, unsigned int>
RRTExt2::collide_two_nodes(RRTNode &f, RRTNode &t)
{
- this->c2x_bc().p.x = f.x();
- this->c2x_bc().p.y = f.y();
- this->c2x_bc().r.c = cos(f.h());
- this->c2x_bc().r.s = sin(f.h());
- for (auto &o: this->c2_obstacles()) {
- if (c2PolytoPoly(
- &this->c2_bc(), &this->c2x_bc(),
- &o, NULL
- )) {
- return std::make_tuple(true, 1, 0);
- }
- }
- this->c2x_bc().p.x = t.x();
- this->c2x_bc().p.y = t.y();
- this->c2x_bc().r.c = cos(t.h());
- this->c2x_bc().r.s = sin(t.h());
- for (auto &o: this->c2_obstacles()) {
- if (c2PolytoPoly(
- &this->c2_bc(), &this->c2x_bc(),
- &o, NULL
- )) {
- return std::make_tuple(true, 2, 0);
- }
- }
- return std::make_tuple(false, 0, 0);
+ this->c2x_bc().p.x = f.x();
+ this->c2x_bc().p.y = f.y();
+ this->c2x_bc().r.c = cos(f.h());
+ this->c2x_bc().r.s = sin(f.h());
+ for (auto &o: this->c2_obstacles()) {
+ if (c2PolytoPoly(
+ &this->c2_bc(), &this->c2x_bc(),
+ &o, NULL
+ )) {
+ return std::make_tuple(true, 1, 0);
+ }
+ }
+ this->c2x_bc().p.x = t.x();
+ this->c2x_bc().p.y = t.y();
+ this->c2x_bc().r.c = cos(t.h());
+ this->c2x_bc().r.s = sin(t.h());
+ for (auto &o: this->c2_obstacles()) {
+ if (c2PolytoPoly(
+ &this->c2_bc(), &this->c2x_bc(),
+ &o, NULL
+ )) {
+ return std::make_tuple(true, 2, 0);
+ }
+ }
+ return std::make_tuple(false, 0, 0);
}
void RRTExt3::reset()
{
- RRTS::reset();
- this->orig_path().clear();
- this->first_optimized_path().clear();
- this->orig_path_cost_ = 9999.9;
- this->first_optimized_path_cost_ = 9999.9;
+ RRTS::reset();
+ this->orig_path().clear();
+ this->first_optimized_path().clear();
+ this->orig_path_cost_ = 9999.9;
+ this->first_optimized_path_cost_ = 9999.9;
}
void RRTExt3::first_path_optimization()
{
- if (this->orig_path().size() == 0) {
- this->orig_path_ = RRTS::path();
- if (this->orig_path().size() == 0)
- return;
- else
- this->orig_path_cost(this->orig_path().back()->cc);
- }
- class DijkstraNode : public RRTNode {
- public:
- DijkstraNode *s = nullptr;
- RRTNode *n = nullptr;
- unsigned int i = 0;
- double cc = 9999;
- bool v = false;
- bool vi()
- {
- if (this->v)
- return true;
- this->v = true;
- return false;
- }
- DijkstraNode(const RRTNode& n) {
- this->x(n.x());
- this->y(n.y());
- this->h(n.h());
- this->sp(n.sp());
- this->st(n.st());
- }
- // override
- DijkstraNode *p_ = nullptr;
- DijkstraNode *p() const { return this->p_; }
- void p(DijkstraNode *p) { this->p_ = p; }
- };
- class DijkstraNodeComparator {
- public:
- int operator() (
- const DijkstraNode &n1,
- const DijkstraNode &n2
- )
- {
- return n1.cc > n2.cc;
- }
- };
- std::vector<DijkstraNode> dn;
- dn.reserve(this->orig_path().size());
- unsigned int dncnt = 0;
- for (auto n: this->orig_path()) {
- if (
- n->t(RRTNodeType::cusp)
- || n->t(RRTNodeType::connected)
- ) {
- dn.push_back(DijkstraNode(*n));
- dn.back().cc = n->cc;
- dn.back().s = &dn.back();
- dn.back().n = n;
- dn.back().i = dncnt++;
- }
- }
- dn.push_back(DijkstraNode(*this->orig_path().back()));
- dn.back().cc = this->orig_path().back()->cc;
- dn.back().s = &dn.back();
- dn.back().n = this->orig_path().back();
- dn.back().i = dncnt++;
- std::priority_queue<
- DijkstraNode,
- std::vector<DijkstraNode>,
- DijkstraNodeComparator
- > pq;
- dn.front().vi();
- pq.push(dn.front());
- while (!pq.empty()) {
- DijkstraNode f = pq.top();
- pq.pop();
- for (unsigned int i = f.i + 1; i < dncnt; i++) {
- double cost = f.cc + this->cost_search(f, dn[i]);
- this->steer(f, dn[i]);
- if (this->steered().size() == 0)
- break; // TODO why not continue?
- if (std::get<0>(this->collide_steered_from(f)))
- continue;
- if (cost < dn[i].cc) {
- dn[i].cc = cost;
- dn[i].p(f.s);
- if (!dn[i].vi())
- pq.push(dn[i]);
- }
- }
- }
- DijkstraNode *ln = nullptr;
- for (auto &n: dn) {
- if (n.v)
- ln = &n;
- }
- if (ln == nullptr || ln->p() == nullptr)
- return;
- while (ln->p() != nullptr) {
- RRTNode *t = ln->n;
- RRTNode *f = ln->p()->n;
- this->steer(*f, *t);
- if (std::get<0>(this->collide_steered_from(*f)))
- return;
- this->join_steered(f);
- t->p(&this->nodes().back());
- t->c(this->cost_build(this->nodes().back(), *t));
- ln = ln->p();
- }
- RRTS::compute_path();
+ if (this->orig_path().size() == 0) {
+ this->orig_path_ = RRTS::path();
+ if (this->orig_path().size() == 0)
+ return;
+ else
+ this->orig_path_cost(this->orig_path().back()->cc);
+ }
+ class DijkstraNode : public RRTNode {
+ public:
+ DijkstraNode *s = nullptr;
+ RRTNode *n = nullptr;
+ unsigned int i = 0;
+ double cc = 9999;
+ bool v = false;
+ bool vi()
+ {
+ if (this->v)
+ return true;
+ this->v = true;
+ return false;
+ }
+ DijkstraNode(const RRTNode& n) {
+ this->x(n.x());
+ this->y(n.y());
+ this->h(n.h());
+ this->sp(n.sp());
+ this->st(n.st());
+ }
+ // override
+ DijkstraNode *p_ = nullptr;
+ DijkstraNode *p() const { return this->p_; }
+ void p(DijkstraNode *p) { this->p_ = p; }
+ };
+ class DijkstraNodeComparator {
+ public:
+ int operator() (
+ const DijkstraNode &n1,
+ const DijkstraNode &n2
+ )
+ {
+ return n1.cc > n2.cc;
+ }
+ };
+ std::vector<DijkstraNode> dn;
+ dn.reserve(this->orig_path().size());
+ unsigned int dncnt = 0;
+ for (auto n: this->orig_path()) {
+ if (
+ n->t(RRTNodeType::cusp)
+ || n->t(RRTNodeType::connected)
+ ) {
+ dn.push_back(DijkstraNode(*n));
+ dn.back().cc = n->cc;
+ dn.back().s = &dn.back();
+ dn.back().n = n;
+ dn.back().i = dncnt++;
+ }
+ }
+ dn.push_back(DijkstraNode(*this->orig_path().back()));
+ dn.back().cc = this->orig_path().back()->cc;
+ dn.back().s = &dn.back();
+ dn.back().n = this->orig_path().back();
+ dn.back().i = dncnt++;
+ std::priority_queue<
+ DijkstraNode,
+ std::vector<DijkstraNode>,
+ DijkstraNodeComparator
+ > pq;
+ dn.front().vi();
+ pq.push(dn.front());
+ while (!pq.empty()) {
+ DijkstraNode f = pq.top();
+ pq.pop();
+ for (unsigned int i = f.i + 1; i < dncnt; i++) {
+ double cost = f.cc + this->cost_search(f, dn[i]);
+ this->steer(f, dn[i]);
+ if (this->steered().size() == 0)
+ break; // TODO why not continue?
+ if (std::get<0>(this->collide_steered_from(f)))
+ continue;
+ if (cost < dn[i].cc) {
+ dn[i].cc = cost;
+ dn[i].p(f.s);
+ if (!dn[i].vi())
+ pq.push(dn[i]);
+ }
+ }
+ }
+ DijkstraNode *ln = nullptr;
+ for (auto &n: dn) {
+ if (n.v)
+ ln = &n;
+ }
+ if (ln == nullptr || ln->p() == nullptr)
+ return;
+ while (ln->p() != nullptr) {
+ RRTNode *t = ln->n;
+ RRTNode *f = ln->p()->n;
+ this->steer(*f, *t);
+ if (std::get<0>(this->collide_steered_from(*f)))
+ return;
+ this->join_steered(f);
+ t->p(&this->nodes().back());
+ t->c(this->cost_build(this->nodes().back(), *t));
+ ln = ln->p();
+ }
+ RRTS::compute_path();
}
void RRTExt3::second_path_optimization()
{
- if (this->first_optimized_path().size() == 0) {
- return;
- }
- class DijkstraNode : public RRTNode {
- public:
- DijkstraNode *s = nullptr;
- RRTNode *n = nullptr;
- unsigned int i = 0;
- double cc = 9999;
- bool v = false;
- bool vi()
- {
- if (this->v)
- return true;
- this->v = true;
- return false;
- }
- DijkstraNode(const RRTNode& n) {
- this->x(n.x());
- this->y(n.y());
- this->h(n.h());
- this->sp(n.sp());
- this->st(n.st());
- }
- // override
- DijkstraNode *p_ = nullptr;
- DijkstraNode *p() const { return this->p_; }
- void p(DijkstraNode *p) { this->p_ = p; }
- };
- class DijkstraNodeComparator {
- public:
- int operator() (
- const DijkstraNode &n1,
- const DijkstraNode &n2
- )
- {
- return n1.cc > n2.cc;
- }
- };
- std::vector<DijkstraNode> dn;
- dn.reserve(this->orig_path().size());
- unsigned int dncnt = 0;
- for (auto n: this->orig_path()) {
- if (
- n->t(RRTNodeType::cusp)
- || n->t(RRTNodeType::connected)
- ) {
- dn.push_back(DijkstraNode(*n));
- dn.back().cc = n->cc;
- dn.back().s = &dn.back();
- dn.back().n = n;
- dn.back().i = dncnt++;
- }
- }
- dn.push_back(DijkstraNode(*this->orig_path().back()));
- dn.back().cc = this->orig_path().back()->cc;
- dn.back().s = &dn.back();
- dn.back().n = this->orig_path().back();
- dn.back().i = dncnt++;
- std::priority_queue<
- DijkstraNode,
- std::vector<DijkstraNode>,
- DijkstraNodeComparator
- > pq;
- // TODO rewrite
- dn.back().vi();
- pq.push(dn.back());
- while (!pq.empty()) {
- DijkstraNode t = pq.top();
- pq.pop();
- for (unsigned int i = t.i - 1; i > 0; i--) {
- double cost = dn[i].cc + this->cost_search(dn[i], t);
- this->steer(dn[i], t);
- if (this->steered().size() == 0)
- break; // TODO why not continue?
- if (std::get<0>(this->collide_steered_from(dn[i])))
- continue;
- if (cost < t.cc) {
- t.cc = cost;
- t.p(dn[i].s);
- if (!dn[i].vi())
- pq.push(dn[i]);
- }
- }
- }
- DijkstraNode *fn = nullptr;
- for (auto &n: dn) {
- if (n.v) {
- fn = &n;
- break;
- }
- }
- if (fn == nullptr || fn->p() == nullptr)
- return;
- DijkstraNode *ln = &dn.back();
- while (ln->p() != fn) {
- RRTNode *t = ln->n;
- RRTNode *f = ln->p()->n;
- this->steer(*f, *t);
- if (std::get<0>(this->collide_steered_from(*f)))
- return;
- this->join_steered(f);
- t->p(&this->nodes().back());
- t->c(this->cost_build(this->nodes().back(), *t));
- ln = ln->p();
- }
- RRTS::compute_path();
+ if (this->first_optimized_path().size() == 0) {
+ return;
+ }
+ class DijkstraNode : public RRTNode {
+ public:
+ DijkstraNode *s = nullptr;
+ RRTNode *n = nullptr;
+ unsigned int i = 0;
+ double cc = 9999;
+ bool v = false;
+ bool vi()
+ {
+ if (this->v)
+ return true;
+ this->v = true;
+ return false;
+ }
+ DijkstraNode(const RRTNode& n) {
+ this->x(n.x());
+ this->y(n.y());
+ this->h(n.h());
+ this->sp(n.sp());
+ this->st(n.st());
+ }
+ // override
+ DijkstraNode *p_ = nullptr;
+ DijkstraNode *p() const { return this->p_; }
+ void p(DijkstraNode *p) { this->p_ = p; }
+ };
+ class DijkstraNodeComparator {
+ public:
+ int operator() (
+ const DijkstraNode &n1,
+ const DijkstraNode &n2
+ )
+ {
+ return n1.cc > n2.cc;
+ }
+ };
+ std::vector<DijkstraNode> dn;
+ dn.reserve(this->orig_path().size());
+ unsigned int dncnt = 0;
+ for (auto n: this->orig_path()) {
+ if (
+ n->t(RRTNodeType::cusp)
+ || n->t(RRTNodeType::connected)
+ ) {
+ dn.push_back(DijkstraNode(*n));
+ dn.back().cc = n->cc;
+ dn.back().s = &dn.back();
+ dn.back().n = n;
+ dn.back().i = dncnt++;
+ }
+ }
+ dn.push_back(DijkstraNode(*this->orig_path().back()));
+ dn.back().cc = this->orig_path().back()->cc;
+ dn.back().s = &dn.back();
+ dn.back().n = this->orig_path().back();
+ dn.back().i = dncnt++;
+ std::priority_queue<
+ DijkstraNode,
+ std::vector<DijkstraNode>,
+ DijkstraNodeComparator
+ > pq;
+ // TODO rewrite
+ dn.back().vi();
+ pq.push(dn.back());
+ while (!pq.empty()) {
+ DijkstraNode t = pq.top();
+ pq.pop();
+ for (unsigned int i = t.i - 1; i > 0; i--) {
+ double cost = dn[i].cc + this->cost_search(dn[i], t);
+ this->steer(dn[i], t);
+ if (this->steered().size() == 0)
+ break; // TODO why not continue?
+ if (std::get<0>(this->collide_steered_from(dn[i])))
+ continue;
+ if (cost < t.cc) {
+ t.cc = cost;
+ t.p(dn[i].s);
+ if (!dn[i].vi())
+ pq.push(dn[i]);
+ }
+ }
+ }
+ DijkstraNode *fn = nullptr;
+ for (auto &n: dn) {
+ if (n.v) {
+ fn = &n;
+ break;
+ }
+ }
+ if (fn == nullptr || fn->p() == nullptr)
+ return;
+ DijkstraNode *ln = &dn.back();
+ while (ln->p() != fn) {
+ RRTNode *t = ln->n;
+ RRTNode *f = ln->p()->n;
+ this->steer(*f, *t);
+ if (std::get<0>(this->collide_steered_from(*f)))
+ return;
+ this->join_steered(f);
+ t->p(&this->nodes().back());
+ t->c(this->cost_build(this->nodes().back(), *t));
+ ln = ln->p();
+ }
+ RRTS::compute_path();
}
void RRTExt3::compute_path()
{
- RRTS::compute_path();
- auto tstart = std::chrono::high_resolution_clock::now();
- this->first_path_optimization();
- this->first_optimized_path_ = RRTS::path();
- if (this->first_optimized_path_.size() > 0) {
- this->first_optimized_path_cost(
- this->first_optimized_path_.back()->cc
- );
- } else {
- return;
- }
- this->second_path_optimization();
- auto tend = std::chrono::high_resolution_clock::now();
- auto tdiff = std::chrono::duration_cast<std::chrono::duration<double>>(
- tend - tstart);
- this->log_opt_time_.push_back(tdiff.count());
+ RRTS::compute_path();
+ auto tstart = std::chrono::high_resolution_clock::now();
+ this->first_path_optimization();
+ this->first_optimized_path_ = RRTS::path();
+ if (this->first_optimized_path_.size() > 0) {
+ this->first_optimized_path_cost(
+ this->first_optimized_path_.back()->cc
+ );
+ } else {
+ return;
+ }
+ this->second_path_optimization();
+ auto tend = std::chrono::high_resolution_clock::now();
+ auto tdiff = std::chrono::duration_cast<std::chrono::duration<double>>(
+ tend - tstart);
+ this->log_opt_time_.push_back(tdiff.count());
}
Json::Value RRTExt3::json()
{
- Json::Value jvo = RRTS::json();
- jvo["orig_path_cost"] = this->orig_path_cost();
- {
- unsigned int cu = 0;
- unsigned int co = 0;
- unsigned int pcnt = 0;
- for (auto n: this->orig_path()) {
- jvo["orig_path"][pcnt][0] = n->x();
- jvo["orig_path"][pcnt][1] = n->y();
- jvo["orig_path"][pcnt][2] = n->h();
- if (n->t(RRTNodeType::cusp))
- cu++;
- if (n->t(RRTNodeType::connected))
- co++;
- pcnt++;
- }
- jvo["orig_cusps-in-path"] = cu;
- jvo["orig_connecteds-in-path"] = co;
- }
- return jvo;
+ Json::Value jvo = RRTS::json();
+ jvo["orig_path_cost"] = this->orig_path_cost();
+ {
+ unsigned int cu = 0;
+ unsigned int co = 0;
+ unsigned int pcnt = 0;
+ for (auto n: this->orig_path()) {
+ jvo["orig_path"][pcnt][0] = n->x();
+ jvo["orig_path"][pcnt][1] = n->y();
+ jvo["orig_path"][pcnt][2] = n->h();
+ if (n->t(RRTNodeType::cusp))
+ cu++;
+ if (n->t(RRTNodeType::connected))
+ co++;
+ pcnt++;
+ }
+ jvo["orig_cusps-in-path"] = cu;
+ jvo["orig_connecteds-in-path"] = co;
+ }
+ return jvo;
}
void RRTExt3::json(Json::Value jvi)
{
- return RRTS::json(jvi);
+ return RRTS::json(jvi);
}
void RRTExt4::Cell::nn(RRTNode *t, RRTNode **nn, RRTS *p)
{
- double cost = p->cost_search(**nn, *t);
- for (auto f: this->nodes()) {
- if (p->cost_search(*f, *t) < cost) {
- *nn = f;
- cost = p->cost_search(*f, *t);
- }
- }
+ double cost = p->cost_search(**nn, *t);
+ for (auto f: this->nodes()) {
+ if (p->cost_search(*f, *t) < cost) {
+ *nn = f;
+ cost = p->cost_search(*f, *t);
+ }
+ }
}
void RRTExt4::Cell::store_node(RRTNode *n)
{
- this->nodes_.push_back(n);
- this->changed_ = true;
+ this->nodes_.push_back(n);
+ this->changed_ = true;
}
RRTExt4::Cell::Cell()
unsigned int RRTExt4::xi(RRTNode n)
{
- if (n.x() >= this->x_max_)
- return GRID_MAX_XI - 1;
- if (n.x() <= this->x_min_)
- return 0;
- return (unsigned int) (floor(n.x() - this->x_min_) / GRID);
+ if (n.x() >= this->x_max_)
+ return GRID_MAX_XI - 1;
+ if (n.x() <= this->x_min_)
+ return 0;
+ return (unsigned int) (floor(n.x() - this->x_min_) / GRID);
}
unsigned int RRTExt4::yi(RRTNode n)
{
- if (n.y() > this->y_max_)
- return GRID_MAX_YI - 1;
- if (n.y() <= this->y_min_)
- return 0;
- return (unsigned int) (floor(n.y() - this->y_min_) / GRID);
+ if (n.y() > this->y_max_)
+ return GRID_MAX_YI - 1;
+ if (n.y() <= this->y_min_)
+ return 0;
+ return (unsigned int) (floor(n.y() - this->y_min_) / GRID);
}
// API
void RRTExt4::init()
{
- this->x_min_ = this->nodes().back().x() - GRID_WIDTH / 2;
- this->x_max_ = this->nodes().back().x() + GRID_WIDTH / 2;
- this->y_min_ = this->nodes().back().y() - GRID_HEIGHT / 2;
- this->y_max_ = this->nodes().back().y() + GRID_HEIGHT / 2;
+ this->x_min_ = this->nodes().back().x() - GRID_WIDTH / 2;
+ this->x_max_ = this->nodes().back().x() + GRID_WIDTH / 2;
+ this->y_min_ = this->nodes().back().y() - GRID_HEIGHT / 2;
+ this->y_max_ = this->nodes().back().y() + GRID_HEIGHT / 2;
}
void RRTExt4::deinit()
{
- for (unsigned int i = 0; i < GRID_MAX_XI; i++)
- for (unsigned int j = 0; j < GRID_MAX_YI; j++)
- this->grid_[i][j].nodes().clear();
+ for (unsigned int i = 0; i < GRID_MAX_XI; i++)
+ for (unsigned int j = 0; j < GRID_MAX_YI; j++)
+ this->grid_[i][j].nodes().clear();
}
void RRTExt4::store_node(RRTNode n)
{
- RRTS::store_node(n);
- RRTNode *sn = &this->nodes().back();
- this->grid_[this->xi(n)][this->yi(n)].store_node(sn);
+ RRTS::store_node(n);
+ RRTNode *sn = &this->nodes().back();
+ this->grid_[this->xi(n)][this->yi(n)].store_node(sn);
}
RRTNode *RRTExt4::nn(RRTNode &t)
{
- RRTNode *nn = &this->nodes().front();
- unsigned int txi = this->xi(t);
- unsigned int tyi = this->yi(t);
- unsigned int l = 0;
- while (this->cost_search(*nn, t) > l * GRID) {
- int xi_min = txi - l;
- if (xi_min < 0)
- xi_min = 0;
- int xi_max = txi + l;
- if (xi_max > GRID_MAX_XI - 1)
- xi_max = GRID_MAX_XI - 1;
- int yi_min = tyi - l;
- if (yi_min < 0)
- yi_min = 0;
- int yi_max = tyi + l;
- if (yi_max > GRID_MAX_YI - 1)
- yi_max = GRID_MAX_YI - 1;
- for (int xi = xi_min; xi <= xi_max; xi++) {
- this->grid_[xi][yi_max].nn(&t, &nn, this);
- }
- for (int xi = xi_min; xi <= xi_max; xi++) {
- this->grid_[xi][yi_min].nn(&t, &nn, this);
- }
- for (int yi = yi_min + 1; yi <= yi_max - 1; yi++) {
- this->grid_[xi_min][yi].nn(&t, &nn, this);
- }
- for (int yi = yi_min + 1; yi <= yi_max - 1; yi++) {
- this->grid_[xi_max][yi].nn(&t, &nn, this);
- }
- l++;
- }
- return nn;
+ RRTNode *nn = &this->nodes().front();
+ unsigned int txi = this->xi(t);
+ unsigned int tyi = this->yi(t);
+ unsigned int l = 0;
+ while (this->cost_search(*nn, t) > l * GRID) {
+ int xi_min = txi - l;
+ if (xi_min < 0)
+ xi_min = 0;
+ int xi_max = txi + l;
+ if (xi_max > GRID_MAX_XI - 1)
+ xi_max = GRID_MAX_XI - 1;
+ int yi_min = tyi - l;
+ if (yi_min < 0)
+ yi_min = 0;
+ int yi_max = tyi + l;
+ if (yi_max > GRID_MAX_YI - 1)
+ yi_max = GRID_MAX_YI - 1;
+ for (int xi = xi_min; xi <= xi_max; xi++) {
+ this->grid_[xi][yi_max].nn(&t, &nn, this);
+ }
+ for (int xi = xi_min; xi <= xi_max; xi++) {
+ this->grid_[xi][yi_min].nn(&t, &nn, this);
+ }
+ for (int yi = yi_min + 1; yi <= yi_max - 1; yi++) {
+ this->grid_[xi_min][yi].nn(&t, &nn, this);
+ }
+ for (int yi = yi_min + 1; yi <= yi_max - 1; yi++) {
+ this->grid_[xi_max][yi].nn(&t, &nn, this);
+ }
+ l++;
+ }
+ return nn;
}
std::vector<RRTNode *> RRTExt4::nv(RRTNode &t)
{
- std::vector<RRTNode *> nv;
- unsigned int txi = this->xi(t);
- unsigned int tyi = this->yi(t);
- unsigned int l = 0;
- double cost = std::min(GAMMA(this->nodes().size()), ETA);
- for (auto f: this->grid_[txi][tyi].nodes())
- if (this->cost_search(*f, t) < cost)
- nv.push_back(f);
- return nv;
+ std::vector<RRTNode *> nv;
+ unsigned int txi = this->xi(t);
+ unsigned int tyi = this->yi(t);
+ unsigned int l = 0;
+ double cost = std::min(GAMMA(this->nodes().size()), ETA);
+ for (auto f: this->grid_[txi][tyi].nodes())
+ if (this->cost_search(*f, t) < cost)
+ nv.push_back(f);
+ return nv;
}
double RRTExt5::cost_build(RRTNode &f, RRTNode &t)
{
- double q0[] = {f.x(), f.y(), f.h()};
- double q1[] = {t.x(), t.y(), t.h()};
- ReedsSheppStateSpace rsss(this->bc.mtr());
- return rsss.distance(q0, q1);
+ double q0[] = {f.x(), f.y(), f.h()};
+ double q1[] = {t.x(), t.y(), t.h()};
+ ReedsSheppStateSpace rsss(this->bc.mtr());
+ return rsss.distance(q0, q1);
}
double RRTExt5::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;
+ double cost = 0;
+ cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
+ return cost;
}
double RRTExt6::cost_build(RRTNode &f, RRTNode &t)
{
- double q0[] = {f.x(), f.y(), f.h()};
- double q1[] = {t.x(), t.y(), t.h()};
- ReedsSheppStateSpace rsss(this->bc.mtr());
- return rsss.distance(q0, q1);
+ double q0[] = {f.x(), f.y(), f.h()};
+ double q1[] = {t.x(), t.y(), t.h()};
+ ReedsSheppStateSpace rsss(this->bc.mtr());
+ return rsss.distance(q0, q1);
}
double RRTExt6::cost_search(RRTNode &f, RRTNode &t)
{
- double q0[] = {f.x(), f.y(), f.h()};
- double q1[] = {t.x(), t.y(), t.h()};
- ReedsSheppStateSpace rsss(this->bc.mtr());
- return rsss.distance(q0, q1);
+ double q0[] = {f.x(), f.y(), f.h()};
+ double q1[] = {t.x(), t.y(), t.h()};
+ ReedsSheppStateSpace rsss(this->bc.mtr());
+ return rsss.distance(q0, q1);
}
#include "rrtext.h"
RRTExt7::KdNode::KdNode(RRTNode *n)
- : node_(n)
- , left_(nullptr)
- , right_(nullptr)
+ : node_(n)
+ , left_(nullptr)
+ , right_(nullptr)
{
}
void RRTExt7::delete_kd_nodes(KdNode *n)
{
- if (!n)
- return;
- if (n->left() != nullptr)
- delete_kd_nodes(n->left());
- if (n->right() != nullptr)
- delete_kd_nodes(n->right());
- delete n;
+ if (!n)
+ return;
+ if (n->left() != nullptr)
+ delete_kd_nodes(n->left());
+ if (n->right() != nullptr)
+ delete_kd_nodes(n->right());
+ delete n;
}
void RRTExt7::store_node(RRTNode *n, KdNode *&r, int l)
{
- if (r == nullptr)
- r = new KdNode(n);
- else if (l % 2 == 0 && n->x() < r->node()->x())
- store_node(n, r->left(), l + 1);
- else if (l % 2 == 0)
- store_node(n, r->right(), l + 1);
- else if (l % 2 == 1 && n->y() < r->node()->y())
- store_node(n, r->left(), l + 1);
- else
- store_node(n, r->right(), l + 1);
+ if (r == nullptr)
+ r = new KdNode(n);
+ else if (l % 2 == 0 && n->x() < r->node()->x())
+ store_node(n, r->left(), l + 1);
+ else if (l % 2 == 0)
+ store_node(n, r->right(), l + 1);
+ else if (l % 2 == 1 && n->y() < r->node()->y())
+ store_node(n, r->left(), l + 1);
+ else
+ store_node(n, r->right(), l + 1);
}
void RRTExt7::nn(RRTNode *&n, RRTNode &t, KdNode *r, int l, double &d)
{
- if (r == nullptr)
- return;
- if (this->cost_search(*r->node(), t) < d) {
- n = r->node();
- d = this->cost_search(*r->node(), t);
- }
- if (l % 2 == 0 && t.x() < r->node()->x()) {
- nn(n, t, r->left(), l + 1, d);
- if (r->node()->x() - t.x() < d)
- nn(n, t, r->right(), l + 1, d);
- } else if (l % 2 == 0) {
- nn(n, t, r->right(), l + 1, d);
- if (t.x() - r->node()->x() < d)
- nn(n, t, r->left(), l + 1, d);
- } else if (l % 2 == 1 && t.y() < r->node()->y()) {
- nn(n, t, r->left(), l + 1, d);
- if (r->node()->y() - t.y() < d)
- nn(n, t, r->right(), l + 1, d);
- } else {
- nn(n, t, r->right(), l + 1, d);
- if (t.y() - r->node()->y() < d)
- nn(n, t, r->left(), l + 1, d);
- }
+ if (r == nullptr)
+ return;
+ if (this->cost_search(*r->node(), t) < d) {
+ n = r->node();
+ d = this->cost_search(*r->node(), t);
+ }
+ if (l % 2 == 0 && t.x() < r->node()->x()) {
+ nn(n, t, r->left(), l + 1, d);
+ if (r->node()->x() - t.x() < d)
+ nn(n, t, r->right(), l + 1, d);
+ } else if (l % 2 == 0) {
+ nn(n, t, r->right(), l + 1, d);
+ if (t.x() - r->node()->x() < d)
+ nn(n, t, r->left(), l + 1, d);
+ } else if (l % 2 == 1 && t.y() < r->node()->y()) {
+ nn(n, t, r->left(), l + 1, d);
+ if (r->node()->y() - t.y() < d)
+ nn(n, t, r->right(), l + 1, d);
+ } else {
+ nn(n, t, r->right(), l + 1, d);
+ if (t.y() - r->node()->y() < d)
+ nn(n, t, r->left(), l + 1, d);
+ }
}
// API
void RRTExt7::deinit()
{
- this->delete_kd_nodes(this->kdroot_);
+ this->delete_kd_nodes(this->kdroot_);
}
void RRTExt7::store_node(RRTNode n)
{
- RRTS::store_node(n);
- RRTNode *sn = &this->nodes().back();
- this->store_node(sn, this->kdroot_, 0);
+ RRTS::store_node(n);
+ RRTNode *sn = &this->nodes().back();
+ this->store_node(sn, this->kdroot_, 0);
}
RRTNode *RRTExt7::nn(RRTNode &t)
{
- RRTNode *n = &this->nodes().front();
- double d = 9999;
- this->nn(n, t, this->kdroot_, 0, d);
- return n;
+ RRTNode *n = &this->nodes().front();
+ double d = 9999;
+ this->nn(n, t, this->kdroot_, 0, d);
+ return n;
}
std::vector<RRTNode *> RRTExt7::nv(RRTNode &t)
{
- std::vector<RRTNode *> nv;
- return nv;
+ std::vector<RRTNode *> nv;
+ return nv;
}
#include "rrtext.h"
RRTExt8::KdNode::KdNode(RRTNode *n)
- : node_(n)
- , left_(nullptr)
- , right_(nullptr)
+ : node_(n)
+ , left_(nullptr)
+ , right_(nullptr)
{
}
void RRTExt8::delete_kd_nodes(KdNode *n)
{
- if (n == nullptr)
- return;
- this->delete_kd_nodes(n->left());
- this->delete_kd_nodes(n->right());
- delete n;
+ if (n == nullptr)
+ return;
+ this->delete_kd_nodes(n->left());
+ this->delete_kd_nodes(n->right());
+ delete n;
}
void RRTExt8::store_node(RRTNode *n, KdNode *&r, int l)
{
- if (r == nullptr)
- r = new KdNode(n);
- else if (l % 3 == 0 && n->x() < r->node()->x())
- store_node(n, r->left(), l + 1);
- else if (l % 3 == 0)
- store_node(n, r->right(), l + 1);
- else if (l % 3 == 1 && n->y() < r->node()->y())
- store_node(n, r->left(), l + 1);
- else if (l % 3 == 1)
- store_node(n, r->right(), l + 1);
- else if (l % 3 == 2 && n->h() < r->node()->h())
- store_node(n, r->left(), l + 1);
- else
- store_node(n, r->right(), l + 1);
+ if (r == nullptr)
+ r = new KdNode(n);
+ else if (l % 3 == 0 && n->x() < r->node()->x())
+ store_node(n, r->left(), l + 1);
+ else if (l % 3 == 0)
+ store_node(n, r->right(), l + 1);
+ else if (l % 3 == 1 && n->y() < r->node()->y())
+ store_node(n, r->left(), l + 1);
+ else if (l % 3 == 1)
+ store_node(n, r->right(), l + 1);
+ else if (l % 3 == 2 && n->h() < r->node()->h())
+ store_node(n, r->left(), l + 1);
+ else
+ store_node(n, r->right(), l + 1);
}
void RRTExt8::nn(RRTNode *&n, RRTNode &t, KdNode *r, int l, double &d)
{
- if (r == nullptr)
- return;
- if (this->cost_search(*r->node(), t) < d) {
- n = r->node();
- d = this->cost_search(*r->node(), t);
- }
- if (l % 3 == 0 && t.x() < r->node()->x()) {
- nn(n, t, r->left(), l + 1, d);
- if (r->node()->x() - t.x() < d)
- nn(n, t, r->right(), l + 1, d);
- } else if (l % 3 == 0) {
- nn(n, t, r->right(), l + 1, d);
- if (t.x() - r->node()->x() < d)
- nn(n, t, r->left(), l + 1, d);
- } else if (l % 3 == 1 && t.y() < r->node()->y()) {
- nn(n, t, r->left(), l + 1, d);
- if (r->node()->y() - t.y() < d)
- nn(n, t, r->right(), l + 1, d);
- } else if (l % 3 == 1) {
- nn(n, t, r->right(), l + 1, d);
- if (t.y() - r->node()->y() < d)
- nn(n, t, r->left(), l + 1, d);
- } else if (l % 3 == 2 && t.h() < r->node()->h()) {
- nn(n, t, r->left(), l + 1, d);
- if (r->node()->h() - t.h() < d)
- nn(n, t, r->right(), l + 1, d);
- } else {
- nn(n, t, r->right(), l + 1, d);
- if (t.h() - r->node()->h() < d)
- nn(n, t, r->left(), l + 1, d);
- }
+ if (r == nullptr)
+ return;
+ if (this->cost_search(*r->node(), t) < d) {
+ n = r->node();
+ d = this->cost_search(*r->node(), t);
+ }
+ if (l % 3 == 0 && t.x() < r->node()->x()) {
+ nn(n, t, r->left(), l + 1, d);
+ if (r->node()->x() - t.x() < d)
+ nn(n, t, r->right(), l + 1, d);
+ } else if (l % 3 == 0) {
+ nn(n, t, r->right(), l + 1, d);
+ if (t.x() - r->node()->x() < d)
+ nn(n, t, r->left(), l + 1, d);
+ } else if (l % 3 == 1 && t.y() < r->node()->y()) {
+ nn(n, t, r->left(), l + 1, d);
+ if (r->node()->y() - t.y() < d)
+ nn(n, t, r->right(), l + 1, d);
+ } else if (l % 3 == 1) {
+ nn(n, t, r->right(), l + 1, d);
+ if (t.y() - r->node()->y() < d)
+ nn(n, t, r->left(), l + 1, d);
+ } else if (l % 3 == 2 && t.h() < r->node()->h()) {
+ nn(n, t, r->left(), l + 1, d);
+ if (r->node()->h() - t.h() < d)
+ nn(n, t, r->right(), l + 1, d);
+ } else {
+ nn(n, t, r->right(), l + 1, d);
+ if (t.h() - r->node()->h() < d)
+ nn(n, t, r->left(), l + 1, d);
+ }
}
void RRTExt8::nv(
- std::vector<RRTNode*>& n,
- RRTNode &t,
- KdNode *r,
- int l,
- double const& d
+ std::vector<RRTNode*>& n,
+ RRTNode &t,
+ KdNode *r,
+ int l,
+ double const& d
)
{
- if (r == nullptr)
- return;
- if (this->cost_search(*r->node(), t) < d) {
- n.push_back(r->node());
- }
- if (l % 3 == 0 && t.x() < r->node()->x()) {
- this->nv(n, t, r->left(), l + 1, d);
- if (r->node()->x() - t.x() < d)
- this->nv(n, t, r->right(), l + 1, d);
- } else if (l % 3 == 0) {
- this->nv(n, t, r->right(), l + 1, d);
- if (t.x() - r->node()->x() < d)
- this->nv(n, t, r->left(), l + 1, d);
- } else if (l % 3 == 1 && t.y() < r->node()->y()) {
- this->nv(n, t, r->left(), l + 1, d);
- if (r->node()->y() - t.y() < d)
- this->nv(n, t, r->right(), l + 1, d);
- } else if (l % 3 == 1) {
- this->nv(n, t, r->right(), l + 1, d);
- if (t.y() - r->node()->y() < d)
- this->nv(n, t, r->left(), l + 1, d);
- } else if (l % 3 == 2 && t.h() < r->node()->h()) {
- this->nv(n, t, r->left(), l + 1, d);
- if (r->node()->h() - t.h() < d)
- this->nv(n, t, r->right(), l + 1, d);
- } else {
- this->nv(n, t, r->right(), l + 1, d);
- if (t.h() - r->node()->h() < d)
- this->nv(n, t, r->left(), l + 1, d);
- }
+ if (r == nullptr)
+ return;
+ if (this->cost_search(*r->node(), t) < d) {
+ n.push_back(r->node());
+ }
+ if (l % 3 == 0 && t.x() < r->node()->x()) {
+ this->nv(n, t, r->left(), l + 1, d);
+ if (r->node()->x() - t.x() < d)
+ this->nv(n, t, r->right(), l + 1, d);
+ } else if (l % 3 == 0) {
+ this->nv(n, t, r->right(), l + 1, d);
+ if (t.x() - r->node()->x() < d)
+ this->nv(n, t, r->left(), l + 1, d);
+ } else if (l % 3 == 1 && t.y() < r->node()->y()) {
+ this->nv(n, t, r->left(), l + 1, d);
+ if (r->node()->y() - t.y() < d)
+ this->nv(n, t, r->right(), l + 1, d);
+ } else if (l % 3 == 1) {
+ this->nv(n, t, r->right(), l + 1, d);
+ if (t.y() - r->node()->y() < d)
+ this->nv(n, t, r->left(), l + 1, d);
+ } else if (l % 3 == 2 && t.h() < r->node()->h()) {
+ this->nv(n, t, r->left(), l + 1, d);
+ if (r->node()->h() - t.h() < d)
+ this->nv(n, t, r->right(), l + 1, d);
+ } else {
+ this->nv(n, t, r->right(), l + 1, d);
+ if (t.h() - r->node()->h() < d)
+ this->nv(n, t, r->left(), l + 1, d);
+ }
}
// API
void RRTExt8::reset()
{
- RRTS::reset();
- this->delete_kd_nodes();
+ RRTS::reset();
+ this->delete_kd_nodes();
}
void RRTExt8::deinit()
{
- this->delete_kd_nodes(this->kdroot_);
+ this->delete_kd_nodes(this->kdroot_);
}
void RRTExt8::store_node(RRTNode n)
{
- RRTS::store_node(n);
- RRTNode *sn = &this->nodes().back();
- this->store_node(sn, this->kdroot_, 0);
+ RRTS::store_node(n);
+ RRTNode *sn = &this->nodes().back();
+ this->store_node(sn, this->kdroot_, 0);
}
RRTNode *RRTExt8::nn(RRTNode &t)
{
- RRTNode *n = &this->nodes().front();
- double d = 9999;
- this->nn(n, t, this->kdroot_, 0, d);
- return n;
+ RRTNode *n = &this->nodes().front();
+ double d = 9999;
+ this->nn(n, t, this->kdroot_, 0, d);
+ return n;
}
std::vector<RRTNode *> RRTExt8::nv(RRTNode &t)
{
- double cost = std::min(GAMMA(this->nodes().size()), 0.5);
- std::vector<RRTNode *> n;
- this->nv(n, t, this->kdroot_, 0, cost);
- return n;
+ double cost = std::min(GAMMA(this->nodes().size()), 0.5);
+ std::vector<RRTNode *> n;
+ this->nv(n, t, this->kdroot_, 0, cost);
+ return n;
}
void RRTExt9::Cell::nn(RRTNode *t, RRTNode **nn, RRTS *p)
{
- double cost = p->cost_search(**nn, *t);
- for (auto f: this->nodes()) {
- if (p->cost_search(*f, *t) < cost) {
- *nn = f;
- cost = p->cost_search(*f, *t);
- }
- }
+ double cost = p->cost_search(**nn, *t);
+ for (auto f: this->nodes()) {
+ if (p->cost_search(*f, *t) < cost) {
+ *nn = f;
+ cost = p->cost_search(*f, *t);
+ }
+ }
}
void RRTExt9::Cell::store_node(RRTNode *n)
{
- this->nodes_.push_back(n);
- this->changed_ = true;
+ this->nodes_.push_back(n);
+ this->changed_ = true;
}
RRTExt9::Cell::Cell()
unsigned int RRTExt9::xi(RRTNode n)
{
- if (n.x() >= this->x_max_)
- return GRID_MAX_XI - 1;
- if (n.x() <= this->x_min_)
- return 0;
- return (unsigned int) (floor(n.x() - this->x_min_) / GRID);
+ if (n.x() >= this->x_max_)
+ return GRID_MAX_XI - 1;
+ if (n.x() <= this->x_min_)
+ return 0;
+ return (unsigned int) (floor(n.x() - this->x_min_) / GRID);
}
unsigned int RRTExt9::yi(RRTNode n)
{
- if (n.y() > this->y_max_)
- return GRID_MAX_YI - 1;
- if (n.y() <= this->y_min_)
- return 0;
- return (unsigned int) (floor(n.y() - this->y_min_) / GRID);
+ if (n.y() > this->y_max_)
+ return GRID_MAX_YI - 1;
+ if (n.y() <= this->y_min_)
+ return 0;
+ return (unsigned int) (floor(n.y() - this->y_min_) / GRID);
}
unsigned int RRTExt9::hi(RRTNode n)
{
- if (n.h() > this->h_max_)
- return GRID_MAX_HI - 1;
- if (n.h() <= this->h_min_)
- return 0;
- return (unsigned int) (n.h() * GRID_MAX_HI / (2 * M_PI));
+ if (n.h() > this->h_max_)
+ return GRID_MAX_HI - 1;
+ if (n.h() <= this->h_min_)
+ return 0;
+ return (unsigned int) (n.h() * GRID_MAX_HI / (2 * M_PI));
}
// API
void RRTExt9::init()
{
- this->x_min_ = this->nodes().back().x() - GRID_WIDTH / 2;
- this->x_max_ = this->nodes().back().x() + GRID_WIDTH / 2;
- this->y_min_ = this->nodes().back().y() - GRID_HEIGHT / 2;
- this->y_max_ = this->nodes().back().y() + GRID_HEIGHT / 2;
+ this->x_min_ = this->nodes().back().x() - GRID_WIDTH / 2;
+ this->x_max_ = this->nodes().back().x() + GRID_WIDTH / 2;
+ this->y_min_ = this->nodes().back().y() - GRID_HEIGHT / 2;
+ this->y_max_ = this->nodes().back().y() + GRID_HEIGHT / 2;
}
void RRTExt9::deinit()
{
- for (unsigned int i = 0; i < GRID_MAX_XI; i++)
- for (unsigned int j = 0; j < GRID_MAX_YI; j++)
- for (unsigned int k = 0; k < GRID_MAX_HI; k++)
- this->grid_[i][j][k].nodes().clear();
+ for (unsigned int i = 0; i < GRID_MAX_XI; i++)
+ for (unsigned int j = 0; j < GRID_MAX_YI; j++)
+ for (unsigned int k = 0; k < GRID_MAX_HI; k++)
+ this->grid_[i][j][k].nodes().clear();
}
void RRTExt9::store_node(RRTNode n)
{
- RRTS::store_node(n);
- RRTNode *sn = &this->nodes().back();
- this->grid_[this->xi(n)][this->yi(n)][this->hi(n)].store_node(sn);
+ RRTS::store_node(n);
+ RRTNode *sn = &this->nodes().back();
+ this->grid_[this->xi(n)][this->yi(n)][this->hi(n)].store_node(sn);
}
RRTNode *RRTExt9::nn(RRTNode &t)
{
- RRTNode *nn = &this->nodes().front();
- unsigned int txi = this->xi(t);
- unsigned int tyi = this->yi(t);
- unsigned int thi = this->hi(t);
- unsigned int l = 0;
- while (this->cost_search(*nn, t) > l * GRID) {
- int xi_min = txi - l;
- if (xi_min < 0)
- xi_min = 0;
- int xi_max = txi + l;
- if (xi_max > GRID_MAX_XI - 1)
- xi_max = GRID_MAX_XI - 1;
- int yi_min = tyi - l;
- if (yi_min < 0)
- yi_min = 0;
- int yi_max = tyi + l;
- if (yi_max > GRID_MAX_YI - 1)
- yi_max = GRID_MAX_YI - 1;
- int hi_min = thi - l; // TODO respect kinematic constraints
- if (hi_min < 0)
- hi_min = 0;
- int hi_max = thi + l;
- if (hi_max > GRID_MAX_HI - 1)
- hi_max = GRID_MAX_HI - 1;
- for (int hi = hi_min; hi <= hi_max; hi++) {
- for (int xi = xi_min; xi <= xi_max; xi++) {
- this->grid_[xi][yi_max][hi].nn(&t, &nn, this);
- }
- for (int xi = xi_min; xi <= xi_max; xi++) {
- this->grid_[xi][yi_min][hi].nn(&t, &nn, this);
- }
- for (int yi = yi_min + 1; yi <= yi_max - 1; yi++) {
- this->grid_[xi_min][yi][hi].nn(&t, &nn, this);
- }
- for (int yi = yi_min + 1; yi <= yi_max - 1; yi++) {
- this->grid_[xi_max][yi][hi].nn(&t, &nn, this);
- }
- }
- l++;
- }
- return nn;
+ RRTNode *nn = &this->nodes().front();
+ unsigned int txi = this->xi(t);
+ unsigned int tyi = this->yi(t);
+ unsigned int thi = this->hi(t);
+ unsigned int l = 0;
+ while (this->cost_search(*nn, t) > l * GRID) {
+ int xi_min = txi - l;
+ if (xi_min < 0)
+ xi_min = 0;
+ int xi_max = txi + l;
+ if (xi_max > GRID_MAX_XI - 1)
+ xi_max = GRID_MAX_XI - 1;
+ int yi_min = tyi - l;
+ if (yi_min < 0)
+ yi_min = 0;
+ int yi_max = tyi + l;
+ if (yi_max > GRID_MAX_YI - 1)
+ yi_max = GRID_MAX_YI - 1;
+ int hi_min = thi - l; // TODO respect kinematic constraints
+ if (hi_min < 0)
+ hi_min = 0;
+ int hi_max = thi + l;
+ if (hi_max > GRID_MAX_HI - 1)
+ hi_max = GRID_MAX_HI - 1;
+ for (int hi = hi_min; hi <= hi_max; hi++) {
+ for (int xi = xi_min; xi <= xi_max; xi++) {
+ this->grid_[xi][yi_max][hi].nn(&t, &nn, this);
+ }
+ for (int xi = xi_min; xi <= xi_max; xi++) {
+ this->grid_[xi][yi_min][hi].nn(&t, &nn, this);
+ }
+ for (int yi = yi_min + 1; yi <= yi_max - 1; yi++) {
+ this->grid_[xi_min][yi][hi].nn(&t, &nn, this);
+ }
+ for (int yi = yi_min + 1; yi <= yi_max - 1; yi++) {
+ this->grid_[xi_max][yi][hi].nn(&t, &nn, this);
+ }
+ }
+ l++;
+ }
+ return nn;
}
std::vector<RRTNode *> RRTExt9::nv(RRTNode &t)
{
- std::vector<RRTNode *> nv;
- unsigned int txi = this->xi(t);
- unsigned int tyi = this->yi(t);
- unsigned int thi = this->hi(t);
- unsigned int l = 0;
- double cost = std::min(GAMMA(this->nodes().size()), ETA);
- for (auto f: this->grid_[txi][tyi][thi].nodes())
- if (this->cost_search(*f, t) < cost)
- nv.push_back(f);
- return nv;
+ std::vector<RRTNode *> nv;
+ unsigned int txi = this->xi(t);
+ unsigned int tyi = this->yi(t);
+ unsigned int thi = this->hi(t);
+ unsigned int l = 0;
+ double cost = std::min(GAMMA(this->nodes().size()), ETA);
+ for (auto f: this->grid_[txi][tyi][thi].nodes())
+ if (this->cost_search(*f, t) < cost)
+ nv.push_back(f);
+ return nv;
}
#include "reeds_shepp.h"
template <typename T> int sgn(T val) {
- return (T(0) < val) - (val < T(0));
+ return (T(0) < val) - (val < T(0));
}
RRTNode::RRTNode()
bool RRTNode::operator==(const RRTNode& n)
{
- if (this == &n)
- return true;
- return false;
+ if (this == &n)
+ return true;
+ return false;
}
Obstacle::Obstacle()
double RRTS::elapsed()
{
- 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_;
+ 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_;
}
void RRTS::log_path_cost()
{
- if (this->log_path_cost_.size() == 0) {
- this->log_path_cost_.push_back(this->goals().front().cc);
- } else {
- auto lc = this->log_path_cost_.back();
- auto gc = this->goals().front().cc;
- auto goal_is_better = this->goals().front().cc > 0 && lc < gc;
- if (
- this->log_path_cost_.back() > 0
- && (
- this->goals().front().cc == 0
- || (
- this->goals().front().cc > 0
- && goal_is_better
- )
- )
- ) {
- this->log_path_cost_.push_back(
- this->log_path_cost_.back()
- );
- } else {
- this->log_path_cost_.push_back(
- this->goals().front().cc
- );
- }
- }
- this->log_path_iter_ += 1;
+ if (this->log_path_cost_.size() == 0) {
+ this->log_path_cost_.push_back(this->goals().front().cc);
+ } else {
+ auto lc = this->log_path_cost_.back();
+ auto gc = this->goals().front().cc;
+ auto goal_is_better = this->goals().front().cc > 0 && lc < gc;
+ if (
+ this->log_path_cost_.back() > 0
+ && (
+ this->goals().front().cc == 0
+ || (
+ this->goals().front().cc > 0
+ && goal_is_better
+ )
+ )
+ ) {
+ this->log_path_cost_.push_back(
+ this->log_path_cost_.back()
+ );
+ } else {
+ this->log_path_cost_.push_back(
+ this->goals().front().cc
+ );
+ }
+ }
+ this->log_path_iter_ += 1;
}
bool RRTS::should_stop()
{
- // 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;
+ // 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;
}
bool RRTS::should_finish()
{
- // decide finish conditions (maybe comment some lines)
- if (this->icnt_ > 1000) return true;
- //if (this->scnt_ > 2) return true;
- if (this->finishit) return true;
- if (this->gf()) return true;
- // but continue by default
- return false;
+ // decide finish conditions (maybe comment some lines)
+ if (this->icnt_ > 1000) return true;
+ //if (this->scnt_ > 2) return true;
+ if (this->finishit) return true;
+ if (this->gf()) return true;
+ // but continue by default
+ return false;
}
bool RRTS::should_break()
{
- // decide break conditions (maybe comment some lines)
- //if (this->scnt_ - this->pcnt_ > 2) return true;
- // but continue by default
- return false;
+ // decide break conditions (maybe comment some lines)
+ //if (this->scnt_ - this->pcnt_ > 2) return true;
+ // but continue by default
+ return false;
}
bool RRTS::should_continue()
{
- // 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;
+ // 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;
}
void RRTS::store_node(RRTNode n)
{
- this->nodes().push_back(n);
+ this->nodes().push_back(n);
}
// RRT procedures
std::tuple<bool, unsigned int, unsigned int>
RRTS::collide(std::vector<std::tuple<double, double>> &poly)
{
- 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);
+ 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);
}
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;
+ 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_tmp_steered_from(RRTNode &f)
{
- return std::make_tuple(false, 0, 0);
+ return std::make_tuple(false, 0, 0);
}
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);
+ 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 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;
+ 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: {
- if (
- this->steered1_.size() == 0
- && this->steered2_.size() == 0
- ) {
- x = this->nodes().front().x();
- y = this->nodes().front().y();
- h = this->nodes().front().h();
- this->use_nn = &this->nodes().front();
- } else {
- this->udi1_ = std::uniform_int_distribution<unsigned int>(
- 0,
- this->steered1_.size() - 1
- );
- this->udi2_ = std::uniform_int_distribution<unsigned int>(
- 0,
- this->steered2_.size() - 1
- );
- auto ind1 = this->udi1_(this->gen_);
- auto ind2 = this->udi2_(this->gen_);
- if (
- this->steered2_.size() == 0
- ) {
- auto n1 = this->steered1_[ind1];
- x = n1->x();
- y = n1->y();
- h = n1->h();
- this->use_nn = this->steered1_[ind1];
- } else if (
- this->steered1_.size() == 0
- ) {
- auto n2 = this->steered2_[ind2];
- x = n2->x();
- y = n2->y();
- h = n2->h();
- this->use_nn = this->steered2_[ind2];
- } else {
- auto n1 = this->steered1_[ind1];
- auto n2 = this->steered2_[ind2];
- auto which = this->udx_(this->gen_);
- if (which > 0.5) {
- x = n1->x();
- y = n1->y();
- h = n1->h();
- this->use_nn = this->steered1_[ind1];
- } else {
- x = n2->x();
- y = n2->y();
- h = n2->h();
- this->use_nn = this->steered2_[ind2];
- }
- }
- }
- 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);
+ 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: {
+ if (
+ this->steered1_.size() == 0
+ && this->steered2_.size() == 0
+ ) {
+ x = this->nodes().front().x();
+ y = this->nodes().front().y();
+ h = this->nodes().front().h();
+ this->use_nn = &this->nodes().front();
+ } else {
+ this->udi1_ = std::uniform_int_distribution<unsigned int>(
+ 0,
+ this->steered1_.size() - 1
+ );
+ this->udi2_ = std::uniform_int_distribution<unsigned int>(
+ 0,
+ this->steered2_.size() - 1
+ );
+ auto ind1 = this->udi1_(this->gen_);
+ auto ind2 = this->udi2_(this->gen_);
+ if (
+ this->steered2_.size() == 0
+ ) {
+ auto n1 = this->steered1_[ind1];
+ x = n1->x();
+ y = n1->y();
+ h = n1->h();
+ this->use_nn = this->steered1_[ind1];
+ } else if (
+ this->steered1_.size() == 0
+ ) {
+ auto n2 = this->steered2_[ind2];
+ x = n2->x();
+ y = n2->y();
+ h = n2->h();
+ this->use_nn = this->steered2_[ind2];
+ } else {
+ auto n1 = this->steered1_[ind1];
+ auto n2 = this->steered2_[ind2];
+ auto which = this->udx_(this->gen_);
+ if (which > 0.5) {
+ x = n1->x();
+ y = n1->y();
+ h = n1->h();
+ this->use_nn = this->steered1_[ind1];
+ } else {
+ x = n2->x();
+ y = n2->y();
+ h = n2->h();
+ this->use_nn = this->steered2_[ind2];
+ }
+ }
+ }
+ 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;
+ 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;
+ 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;
+ 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, 0.5, cb_rs_steer, &this->steered());
+ 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, 0.5, cb_rs_steer, &this->steered());
}
void RRTS::tmp_steer(RRTNode &f, RRTNode &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;
- }
+ 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;
+ }
}
void RRTS::join_tmp_steered(RRTNode *f)
{
- while (this->tmp_steered_.size() > 0) {
- this->store_node(this->tmp_steered_.front());
- RRTNode *t = &this->nodes().back();
- t->p(f);
- t->c(this->cost_build(*f, *t));
- this->tmp_steered_.erase(this->tmp_steered_.begin());
- f = t;
- }
+ while (this->tmp_steered_.size() > 0) {
+ this->store_node(this->tmp_steered_.front());
+ RRTNode *t = &this->nodes().back();
+ t->p(f);
+ t->c(this->cost_build(*f, *t));
+ this->tmp_steered_.erase(this->tmp_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 || f.cc + cost < g.cc) {
- g.p(&f);
- g.c(cost);
- }
- return true;
- }
- return false;
+ 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 || f.cc + cost < g.cc) {
+ 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 = f->cc + this->cost_build(*f, *t);
- for (auto n: this->nv(*t)) {
- if (
- !std::get<0>(this->collide_two_nodes(*n, *t))
- && n->cc + this->cost_build(*n, *t) < cost
- ) {
- f = n;
- cost = n->cc + this->cost_build(*n, *t);
- }
- }
- // steer from f->t and then continue with the steered.
- this->tmp_steer(*f, *t);
- if (this->tmp_steered_.size() > 0) {
- auto col = this->collide_tmp_steered_from(*f);
- if (std::get<0>(col))
- return false;
- this->join_tmp_steered(f);
- f = &this->nodes().back();
- }
- auto fbc = BicycleCar();
- fbc.x(f->x());
- fbc.y(f->y());
- fbc.h(f->h());
- auto tbc = BicycleCar();
- tbc.x(t->x());
- tbc.y(t->y());
- tbc.h(t->h());
- if (!tbc.drivable(fbc))
- return false;
- // cont.
- 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;
+ RRTNode *t = &this->steered().front();
+ RRTNode *f = this->nn(this->samples().back());
+ double cost = f->cc + this->cost_build(*f, *t);
+ for (auto n: this->nv(*t)) {
+ if (
+ !std::get<0>(this->collide_two_nodes(*n, *t))
+ && n->cc + this->cost_build(*n, *t) < cost
+ ) {
+ f = n;
+ cost = n->cc + this->cost_build(*n, *t);
+ }
+ }
+ // steer from f->t and then continue with the steered.
+ this->tmp_steer(*f, *t);
+ if (this->tmp_steered_.size() > 0) {
+ auto col = this->collide_tmp_steered_from(*f);
+ if (std::get<0>(col))
+ return false;
+ this->join_tmp_steered(f);
+ f = &this->nodes().back();
+ }
+ auto fbc = BicycleCar();
+ fbc.x(f->x());
+ fbc.y(f->y());
+ fbc.h(f->h());
+ auto tbc = BicycleCar();
+ tbc.x(t->x());
+ tbc.y(t->y());
+ tbc.h(t->h());
+ if (!tbc.drivable(fbc))
+ return false;
+ // cont.
+ 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))
- && f->cc + this->cost_build(*f, *n) < n->cc
- ) {
- this->tmp_steer(*f, *n);
- if (this->tmp_steered_.size() > 0) {
- auto col = this->collide_tmp_steered_from(*f);
- if (std::get<0>(col))
- continue;
- this->join_tmp_steered(f);
- f = &this->nodes().back();
- }
- n->p(f);
- n->c(this->cost_build(*f, *n));
- }
- }
+ RRTNode *f = &this->nodes().back();
+ for (auto n: this->nv(*f)) {
+ if (
+ !std::get<0>(this->collide_two_nodes(*f, *n))
+ && f->cc + this->cost_build(*f, *n) < n->cc
+ ) {
+ this->tmp_steer(*f, *n);
+ if (this->tmp_steered_.size() > 0) {
+ auto col = this->collide_tmp_steered_from(*f);
+ if (std::get<0>(col))
+ continue;
+ this->join_tmp_steered(f);
+ f = &this->nodes().back();
+ }
+ n->p(f);
+ n->c(this->cost_build(*f, *n));
+ }
+ }
}
// API
void RRTS::reset()
{
- RRTNode init = RRTNode();
- init.x(this->nodes().front().x());
- init.y(this->nodes().front().y());
- init.h(this->nodes().front().h());
- this->nodes().clear();
- this->store_node(RRTNode());
- this->nodes().front().x(init.x());
- this->nodes().front().y(init.y());
- this->nodes().front().h(init.h());
- this->samples().clear();
- this->steered().clear();
- this->path().clear();
- this->gf(false);
- for (auto& g: this->goals()) {
- g.p(nullptr);
- g.c_ = 0.0;
- g.cc = 0.0;
- }
+ RRTNode init = RRTNode();
+ init.x(this->nodes().front().x());
+ init.y(this->nodes().front().y());
+ init.h(this->nodes().front().h());
+ this->nodes().clear();
+ this->store_node(RRTNode());
+ this->nodes().front().x(init.x());
+ this->nodes().front().y(init.y());
+ this->nodes().front().h(init.h());
+ this->samples().clear();
+ this->steered().clear();
+ this->path().clear();
+ this->gf(false);
+ for (auto& g: this->goals()) {
+ g.p(nullptr);
+ g.c_ = 0.0;
+ g.cc = 0.0;
+ }
}
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;
+ 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;
}
void RRTS::compute_path()
{
- if (this->goals().size() == 0)
- return;
- RRTNode *goal = &this->goals().front();
- if (goal->p() == nullptr)
- return;
- this->path_.clear();
- while (goal != nullptr) {
- this->path_.push_back(goal);
- goal = goal->p();
- }
- std::reverse(this->path_.begin(), this->path_.end());
+ if (this->goals().size() == 0)
+ return;
+ RRTNode *goal = &this->goals().front();
+ if (goal->p() == nullptr)
+ return;
+ this->path_.clear();
+ while (goal != nullptr) {
+ this->path_.push_back(goal);
+ goal = goal->p();
+ }
+ std::reverse(this->path_.begin(), this->path_.end());
}
bool RRTS::next()
{
- if (this->icnt_ == 0)
- this->tstart_ = std::chrono::high_resolution_clock::now();
- bool next = true;
- if (this->should_stop()) {
- this->log_path_cost();
- 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) {
- this->log_path_cost();
- 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()) {
- this->log_path_cost();
- return next;
- }
- this->rewire();
- unsigned scnt = this->steered().size();
- this->join_steered(&this->nodes().back());
- RRTNode *just_added = &this->nodes().back();
- while (scnt > 0) {
- // store all the steered1 nodes
- this->steered1_.push_back(just_added);
- scnt--;
- auto &g = this->goals().front();
- this->steer2(*just_added, g);
- auto col = this->collide_steered_from(*just_added);
- if (std::get<0>(col)) {
- auto rcnt = this->steered().size() - std::get<1>(col);
- while (rcnt-- > 0) {
- this->steered().pop_back();
- }
- }
- this->join_steered(just_added);
- // store all the steered2 nodes
- RRTNode* jap = &this->nodes().back();
- while (jap != just_added) {
- this->steered2_.push_back(jap);
- jap = jap->p();
- }
- auto gf = this->goal_found(this->nodes().back());
- this->gf(gf);
- just_added = just_added->p();
- }
- if (
- this->gf()
- && (
- this->path().size() == 0
- || this->goals().front().cc < this->path().back()->cc
- )
- ) {
- this->compute_path();
- }
- this->log_path_cost();
- return next;
+ if (this->icnt_ == 0)
+ this->tstart_ = std::chrono::high_resolution_clock::now();
+ bool next = true;
+ if (this->should_stop()) {
+ this->log_path_cost();
+ 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) {
+ this->log_path_cost();
+ 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()) {
+ this->log_path_cost();
+ return next;
+ }
+ this->rewire();
+ unsigned scnt = this->steered().size();
+ this->join_steered(&this->nodes().back());
+ RRTNode *just_added = &this->nodes().back();
+ while (scnt > 0) {
+ // store all the steered1 nodes
+ this->steered1_.push_back(just_added);
+ scnt--;
+ auto &g = this->goals().front();
+ this->steer2(*just_added, g);
+ auto col = this->collide_steered_from(*just_added);
+ if (std::get<0>(col)) {
+ auto rcnt = this->steered().size() - std::get<1>(col);
+ while (rcnt-- > 0) {
+ this->steered().pop_back();
+ }
+ }
+ this->join_steered(just_added);
+ // store all the steered2 nodes
+ RRTNode* jap = &this->nodes().back();
+ while (jap != just_added) {
+ this->steered2_.push_back(jap);
+ jap = jap->p();
+ }
+ auto gf = this->goal_found(this->nodes().back());
+ this->gf(gf);
+ just_added = just_added->p();
+ }
+ if (
+ this->gf()
+ && (
+ this->path().size() == 0
+ || this->goals().front().cc < this->path().back()->cc
+ )
+ ) {
+ this->compute_path();
+ }
+ this->log_path_cost();
+ return next;
}
void RRTS::set_sample_normal(
- double mx, double dx,
- double my, double dy,
- double mh, double dh
+ 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);
+ 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
+ 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);
+ 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);
+ 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
+ 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);
- }
+ 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"] = this->path().back()->cc;
- jvo["entry"][0] = this->goals().front().x();
- jvo["entry"][1] = this->goals().front().y();
- jvo["entry"][2] = this->goals().front().h();
- if (this->entry_set) {
- jvo["entry"][2] = this->entry.b;
- jvo["entry"][3] = this->entry.e;
- }
- if (this->entries_set) {
- jvo["entries"][0][0] = this->entry1.x;
- jvo["entries"][0][1] = this->entry1.y;
- jvo["entries"][0][2] = this->entry1.h;
- jvo["entries"][1][0] = this->entry2.x;
- jvo["entries"][1][1] = this->entry2.y;
- jvo["entries"][1][2] = this->entry2.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 cnt = 0;
- for (auto i: this->log_opt_time_)
- jvo["log_opt_time"][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++;
- // }
- //}
- //{
- // unsigned int ncnt = 0;
- // for (auto n: this->steered1_) {
- // jvo["steered1_x"][ncnt] = n->x();
- // jvo["steered1_y"][ncnt] = n->y();
- // //jvo["nodes_h"][ncnt] = n.h();
- // ncnt++;
- // }
- // ncnt = 0;
- // for (auto n: this->steered2_) {
- // jvo["steered2_x"][ncnt] = n->x();
- // jvo["steered2_y"][ncnt] = n->y();
- // //jvo["nodes_h"][ncnt] = n.h();
- // ncnt++;
- // }
- //}
- return jvo;
+ 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"] = this->path().back()->cc;
+ jvo["entry"][0] = this->goals().front().x();
+ jvo["entry"][1] = this->goals().front().y();
+ jvo["entry"][2] = this->goals().front().h();
+ if (this->entry_set) {
+ jvo["entry"][2] = this->entry.b;
+ jvo["entry"][3] = this->entry.e;
+ }
+ if (this->entries_set) {
+ jvo["entries"][0][0] = this->entry1.x;
+ jvo["entries"][0][1] = this->entry1.y;
+ jvo["entries"][0][2] = this->entry1.h;
+ jvo["entries"][1][0] = this->entry2.x;
+ jvo["entries"][1][1] = this->entry2.y;
+ jvo["entries"][1][2] = this->entry2.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 cnt = 0;
+ for (auto i: this->log_opt_time_)
+ jvo["log_opt_time"][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++;
+ // }
+ //}
+ //{
+ // unsigned int ncnt = 0;
+ // for (auto n: this->steered1_) {
+ // jvo["steered1_x"][ncnt] = n->x();
+ // jvo["steered1_y"][ncnt] = n->y();
+ // //jvo["nodes_h"][ncnt] = n.h();
+ // ncnt++;
+ // }
+ // ncnt = 0;
+ // for (auto n: this->steered2_) {
+ // jvo["steered2_x"][ncnt] = n->x();
+ // jvo["steered2_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();
- }
- if (jvi["entries"] != Json::nullValue) {
- this->entries_set = true;
- this->entry1.x = jvi["entries"][0][0].asDouble();
- this->entry1.y = jvi["entries"][0][1].asDouble();
- this->entry1.h = jvi["entries"][0][2].asDouble();
- this->entry2.x = jvi["entries"][1][0].asDouble();
- this->entry2.y = jvi["entries"][1][1].asDouble();
- this->entry2.h = jvi["entries"][1][2].asDouble();
- }
- 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
- );
- }
+ 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();
+ }
+ if (jvi["entries"] != Json::nullValue) {
+ this->entries_set = true;
+ this->entry1.x = jvi["entries"][0][0].asDouble();
+ this->entry1.y = jvi["entries"][0][1].asDouble();
+ this->entry1.h = jvi["entries"][0][2].asDouble();
+ this->entry2.x = jvi["entries"][1][0].asDouble();
+ this->entry2.y = jvi["entries"][1][1].asDouble();
+ this->entry2.h = jvi["entries"][1][2].asDouble();
+ }
+ 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{}())
+ : 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
+ 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;
+ RRTNode *n = &t;
+ double cost = 0;
+ while (n != nullptr) {
+ cost += n->c();
+ n = n->p();
+ }
+ return cost;
}
projects / hubacji1 / rrts.git / commitdiff