base/main.cc

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is nree software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #include <iostream>
  19 #include <jsoncpp/json/json.h>
  20 #include "obstacle.h"
  21 #include "rrtplanner.h"
  22
  23 int main()
  24 {
  25         Json::Value jvi; // JSON input
  26         std::cin >> jvi;
  27         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  28
  29         LaValle1998 p(
  30         //Karaman2011 p(
  31                         new RRTNode(
  32                                 jvi["init"][0].asFloat(),
  33                                 jvi["init"][1].asFloat(),
  34                                 jvi["init"][2].asFloat()),
  35                         new RRTNode(
  36                                 jvi["goal"][0].asFloat(),
  37                                 jvi["goal"][1].asFloat(),
  38                                 jvi["goal"][2].asFloat()));
  39         std::vector<CircleObstacle> co;
  40         std::vector<SegmentObstacle> so;
  41         for (auto o: jvi["obst"]) {
  42                 if (o["circle"] != Json::nullValue) {
  43                         co.push_back(CircleObstacle(
  44                                                 o["circle"][0].asFloat(),
  45                                                 o["circle"][1].asFloat(),
  46                                                 o["circle"][2].asFloat()));
  47                 }
  48                 if (o["segment"] != Json::nullValue) {
  49                         so.push_back(SegmentObstacle(
  50                                 new RRTNode(
  51                                         o["segment"][0][0].asFloat(),
  52                                         o["segment"][0][1].asFloat(),
  53                                         0),
  54                                 new RRTNode(
  55                                         o["segment"][1][0].asFloat(),
  56                                         o["segment"][1][1].asFloat(),
  57                                         0)));
  58                 }
  59         }
  60         p.link_obstacles(&co, &so);
  61
  62         p.tstart();
  63         while (!p.goal_found())
  64                 p.next();
  65         p.tend();
  66
  67         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
  68         std::cerr << "Goal found is " << p.goal_found() << std::endl;
  69         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
  70
  71         Json::Value jvo; // JSON output
  72         int i = 0;
  73         int j = 0;
  74         // log traj
  75         i = 0;
  76         j = 0;
  77         for (auto traj: p.tlog()) {
  78                 i = 0;
  79                 for (auto n: traj) {
  80                         jvo["traj"][j][i][0] = n->x();
  81                         jvo["traj"][j][i][1] = n->y();
  82                         jvo["traj"][j][i][2] = n->h();
  83                         i++;
  84                 }
  85                 j++;
  86         }
  87         // log edges
  88         i = 0;
  89         j = 0;
  90         std::vector<RRTNode *> s; // DFS stack
  91         std::vector<RRTNode *> r; // reset visited_
  92         RRTNode *tmp;
  93         s.push_back(p.root());
  94         while(s.size() > 0) {
  95                 tmp = s.back();
  96                 s.pop_back();
  97                 if (!tmp->visit()) {
  98                         r.push_back(tmp);
  99                         for (auto ch: tmp->children()) {
 100                                 s.push_back(ch);
 101                                 jvo["edge"][j][0][0] = tmp->x();
 102                                 jvo["edge"][j][0][1] = tmp->y();
 103                                 jvo["edge"][j][1][0] = ch->x();
 104                                 jvo["edge"][j][1][1] = ch->y();
 105                                 j++;
 106                         }
 107                 }
 108         }
 109         for (auto n: r)
 110                 n->visit(false);
 111         // print output
 112         std::cout << jvo << std::endl;
 113
 114         // free mem
 115         for (auto o: so) {
 116                 delete o.init();
 117                 delete o.goal();
 118         }
 119         for (auto n: p.nodes())
 120                 delete n;
 121         for (auto s: p.samples())
 122                 delete s;
 123         delete p.root();
 124         delete p.goal();
 125         return 0;
 126 }