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 <array>
  22 #include <chrono>
  23 #include <cmath>
  24 #include <pthread.h>
  25 #include <queue>
  26 #include <random>
  27 #include <vector>
  28 #include "obstacle.h"
  29 #include "rrtnode.h"
  30 #include "sample.h"
  31 #include "slotplanner.h"
  32
  33 #define NOFNODES 20000
  34
  35 #define IXSIZE 100
  36 #define IXSTEP (1.0 * ((HMAX) - (HMIN)) / IXSIZE)
  37 #define IXI(x) ({ __typeof__ (x) _x = (x); \
  38                 std::abs((int) floor(_x / IXSTEP)); })
  39 #define IYSIZE 100
  40 #define IYSTEP (1.0 * ((VMAX) - (VMIN)) / IYSIZE)
  41 #define IYI(y) ({ \
  42         __typeof__ (y) _y = (y); \
  43         (int) floor((_y - VMIN) / IYSTEP); \
  44 })
  45
  46 #define GLVERTEX(n) ((n)->x() * glplwscale), ((n)->y() * glplhscale)
  47
  48 class Cell {
  49         private:
  50                 std::vector<RRTNode *> nodes_;
  51                 pthread_mutex_t m_;
  52                 bool changed_ = false;
  53         public:
  54                 Cell();
  55
  56                 // getter
  57                 bool changed();
  58                 std::vector<RRTNode *> nodes();
  59
  60                 // other
  61                 void add_node(RRTNode *n);
  62 };
  63
  64 class RRTBase {
  65         private:
  66                 RRTNode *root_ = nullptr;
  67                 RRTNode *goal_ = nullptr;
  68                 std::vector<RRTNode *> goals_;
  69
  70                 std::vector<RRTNode *> nodes_;
  71                 std::vector<RRTNode *> dnodes_;
  72                 std::queue<RRTNode *> firsts_;
  73                 PolygonObstacle frame_;
  74                 std::vector<RRTNode *> samples_;
  75                 std::vector<CircleObstacle> *cobstacles_;
  76                 std::vector<SegmentObstacle> *sobstacles_;
  77
  78                 bool goal_found_ = false;
  79                 std::chrono::high_resolution_clock::time_point tstart_;
  80                 std::chrono::high_resolution_clock::time_point tend_;
  81
  82                 std::vector<float> clog_; // costs of trajectories
  83                 std::vector<float> nlog_; // #nodes of RRT
  84                 std::vector<std::vector<RRTEdge *>> rlog_; // log tree
  85                 std::vector<float> slog_; // seconds of trajectories
  86                 std::vector<std::vector<RRTNode *>> tlog_; // trajectories
  87                 std::vector<RRTNode *> slot_cusp_; // cusp nodes in slot
  88         protected:
  89                 std::default_random_engine gen_;
  90                 std::normal_distribution<float> ndx_;
  91                 std::normal_distribution<float> ndy_;
  92                 std::normal_distribution<float> ndh_;
  93         public:
  94                 const float GOAL_FOUND_DISTANCE = 0.2;
  95                 const float GOAL_FOUND_ANGLE = M_PI / 32;
  96                 float HMIN = -20;
  97                 float HMAX = 20;
  98                 float VMIN = -5;
  99                 float VMAX = 30;
 100
 101                 ~RRTBase();
 102                 RRTBase();
 103                 RRTBase(RRTNode *init, RRTNode *goal);
 104
 105                 // getter
 106                 RRTNode *root();
 107                 RRTNode *goal();
 108                 std::vector<RRTNode *> &goals();
 109                 std::vector<RRTNode *> &nodes();
 110                 std::vector<RRTNode *> &dnodes();
 111                 std::queue<RRTNode *> &firsts();
 112                 PolygonObstacle &frame();
 113                 std::vector<RRTNode *> &samples();
 114                 std::array<std::vector<RRTNode *>, IYSIZE> iy_;
 115                 Cell ixy_[IXSIZE][IYSIZE];
 116                 std::vector<CircleObstacle> *co();
 117                 std::vector<SegmentObstacle> *so();
 118                 std::vector<float> &clog();
 119                 std::vector<float> &nlog();
 120                 std::vector<std::vector<RRTEdge *>> &rlog();
 121                 std::vector<float> &slog();
 122                 std::vector<std::vector<RRTNode *>> &tlog();
 123                 std::vector<RRTNode *> &slot_cusp();
 124                 bool goal_found();
 125                 float elapsed();
 126                 std::vector<RRTNode *> traj_cusp();
 127
 128                 // setter
 129                 void root(RRTNode *node);
 130                 void goal(RRTNode *node);
 131                 void goals(std::vector<RRTNode *> g);
 132                 bool logr(RRTNode *root);
 133                 float ocost(RRTNode *n);
 134                 bool tlog(std::vector<RRTNode *> t);
 135                 void tstart();
 136                 void tend();
 137                 bool link_obstacles(
 138                                 std::vector<CircleObstacle> *cobstacles,
 139                                 std::vector<SegmentObstacle> *sobstacles);
 140                 bool add_iy(RRTNode *n);
 141                 bool add_ixy(RRTNode *n);
 142                 bool goal_found(bool f);
 143                 void slot_cusp(std::vector<RRTNode *> sc);
 144
 145                 // other
 146                 bool glplot();
 147                 bool goal_found(
 148                                 RRTNode *node,
 149                                 float (*cost)(RRTNode *, RRTNode *));
 150                 bool goal_found(
 151                         RRTNode *node,
 152                         RRTNode *goal
 153                 );
 154                 bool collide(RRTNode *init, RRTNode *goal);
 155                 bool optp_dijkstra(
 156                                 std::vector<RRTNode *> &cusps,
 157                                 std::vector<int> &npi);
 158                 bool optp_rrp(
 159                                 std::vector<RRTNode *> &cusps,
 160                                 std::vector<int> &npi);
 161                 bool optp_smart(
 162                                 std::vector<RRTNode *> &cusps,
 163                                 std::vector<int> &npi);
 164                 bool opt_path();
 165                 bool rebase(RRTNode *nr);
 166                 std::vector<RRTNode *> findt();
 167                 std::vector<RRTNode *> findt(RRTNode *n);
 168                 int XI(RRTNode *n);
 169                 int YI(RRTNode *n);
 170
 171                 // RRT Framework
 172                 void setSamplingInfo(SamplingInfo si);
 173                 RRTNode *sample();
 174                 float cost(RRTNode *init, RRTNode *goal);
 175                 RRTNode *nn(RRTNode *rs);
 176                 std::vector<RRTNode *> nv(RRTNode *node, float dist);
 177                 std::vector<RRTNode *> steer(RRTNode *init, RRTNode *goal);
 178                 std::vector<RRTNode *> steer(
 179                                 RRTNode *init,
 180                                 RRTNode *goal,
 181                                 float step);
 182
 183                 // virtuals - implemented by child classes
 184                 virtual bool next() = 0;
 185 };
 186
 187 #endif