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