incl/rrtbase.h

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is free 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 #ifndef RRTBASE_H
  19 #define RRTBASE_H
  20
  21 #include <chrono>
  22 #include <cmath>
  23 #include <pthread.h>
  24 #include <vector>
  25 #include "obstacle.h"
  26 #include "rrtnode.h"
  27 #include "sample.h"
  28 #include "slotplanner.h"
  29
  30 #define NOFNODES 20000
  31
  32 #define IXSIZE 100
  33 #define IXSTEP (1.0 * ((VMAX) - (VMIN)) / IXSIZE)
  34 #define IXI(x) ({ __typeof__ (x) _x = (x); \
  35                 (int) floor(_x / IXSTEP); })
  36 #define IYSIZE 100
  37 #define IYSTEP (1.0 * ((HMAX) - (HMIN)) / IYSIZE)
  38 #define IYI(y) ({ __typeof__ (y) _y = (y); \
  39                 (int) floor(_y / IYSTEP); })
  40
  41 class Cell {
  42         private:
  43                 std::vector<RRTNode *> nodes_;
  44                 pthread_mutex_t m_;
  45                 bool changed_ = false;
  46         public:
  47                 Cell();
  48
  49                 // getter
  50                 bool changed();
  51                 std::vector<RRTNode *> nodes();
  52
  53                 // other
  54                 void add_node(RRTNode *n);
  55 };
  56
  57 class RRTBase {
  58         private:
  59                 RRTNode *root_ = nullptr;
  60                 RRTNode *goal_ = nullptr;
  61
  62                 std::vector<RRTNode *> nodes_;
  63                 std::vector<RRTNode *> dnodes_;
  64                 PolygonObstacle frame_;
  65                 std::vector<RRTNode *> samples_;
  66                 std::vector<CircleObstacle> *cobstacles_;
  67                 std::vector<SegmentObstacle> *sobstacles_;
  68
  69                 bool goal_found_ = false;
  70                 std::chrono::high_resolution_clock::time_point tstart_;
  71                 std::chrono::high_resolution_clock::time_point tend_;
  72
  73                 std::vector<float> clog_; // costs of trajectories
  74                 std::vector<float> nlog_; // #nodes of RRT
  75                 std::vector<std::vector<RRTEdge *>> rlog_; // log tree
  76                 std::vector<float> slog_; // seconds of trajectories
  77                 std::vector<std::vector<RRTNode *>> tlog_; // trajectories
  78                 std::vector<RRTNode *> slot_cusp_; // cusp nodes in slot
  79         public:
  80                 const float GOAL_FOUND_DISTANCE = 0.2;
  81                 const float GOAL_FOUND_ANGLE = M_PI / 32;
  82
  83                 ~RRTBase();
  84                 RRTBase();
  85                 RRTBase(RRTNode *init, RRTNode *goal);
  86
  87                 // getter
  88                 RRTNode *root();
  89                 RRTNode *goal();
  90                 std::vector<RRTNode *> &nodes();
  91                 std::vector<RRTNode *> &dnodes();
  92                 PolygonObstacle &frame();
  93                 std::vector<RRTNode *> &samples();
  94                 std::vector<RRTNode *> iy_[IYSIZE];
  95                 Cell ixy_[IXSIZE][IYSIZE];
  96                 std::vector<CircleObstacle> *co();
  97                 std::vector<SegmentObstacle> *so();
  98                 std::vector<float> &clog();
  99                 std::vector<float> &nlog();
 100                 std::vector<std::vector<RRTEdge *>> &rlog();
 101                 std::vector<float> &slog();
 102                 std::vector<std::vector<RRTNode *>> &tlog();
 103                 std::vector<RRTNode *> &slot_cusp();
 104                 bool goal_found();
 105                 float elapsed();
 106
 107                 // setter
 108                 void root(RRTNode *node);
 109                 void goal(RRTNode *node);
 110                 bool logr(RRTNode *root);
 111                 float ocost(RRTNode *n);
 112                 bool tlog(std::vector<RRTNode *> t);
 113                 void tstart();
 114                 void tend();
 115                 bool link_obstacles(
 116                                 std::vector<CircleObstacle> *cobstacles,
 117                                 std::vector<SegmentObstacle> *sobstacles);
 118                 bool add_iy(RRTNode *n);
 119                 bool add_ixy(RRTNode *n);
 120                 bool goal_found(bool f);
 121                 void slot_cusp(std::vector<RRTNode *> sc);
 122
 123                 // other
 124                 bool glplot();
 125                 bool goal_found(
 126                                 RRTNode *node,
 127                                 float (*cost)(RRTNode *, RRTNode *));
 128                 bool collide(RRTNode *init, RRTNode *goal);
 129                 bool optp_dijkstra(
 130                                 std::vector<RRTNode *> &cusps,
 131                                 std::vector<int> &npi);
 132                 bool optp_rrp(
 133                                 std::vector<RRTNode *> &cusps,
 134                                 std::vector<int> &npi);
 135                 bool optp_smart(
 136                                 std::vector<RRTNode *> &cusps,
 137                                 std::vector<int> &npi);
 138                 bool opt_path();
 139                 bool rebase(RRTNode *nr);
 140                 std::vector<RRTNode *> findt();
 141                 std::vector<RRTNode *> findt(RRTNode *n);
 142
 143                 // RRT Framework
 144                 SamplingInfo samplingInfo_;
 145                 RRTNode *sample();
 146                 float cost(RRTNode *init, RRTNode *goal);
 147                 RRTNode *nn(RRTNode *rs);
 148                 std::vector<RRTNode *> nv(RRTNode *node, float dist);
 149                 std::vector<RRTNode *> steer(RRTNode *init, RRTNode *goal);
 150                 std::vector<RRTNode *> steer(
 151                                 RRTNode *init,
 152                                 RRTNode *goal,
 153                                 float step);
 154
 155                 // virtuals - implemented by child classes
 156                 virtual bool next() = 0;
 157 };
 158
 159 #endif