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                         new RRTNode(
  31                                 jvi["init"][0].asFloat(),
  32                                 jvi["init"][1].asFloat(),
  33                                 jvi["init"][2].asFloat()),
  34                         new RRTNode(
  35                                 jvi["goal"][0].asFloat(),
  36                                 jvi["goal"][1].asFloat(),
  37                                 jvi["goal"][2].asFloat()));
  38         std::vector<CircleObstacle> co;
  39         std::vector<SegmentObstacle> so;
  40         for (auto o: jvi["obst"]) {
  41                 if (o["circle"] != Json::nullValue) {
  42                         co.push_back(CircleObstacle(
  43                                                 o["circle"][0].asFloat(),
  44                                                 o["circle"][1].asFloat(),
  45                                                 o["circle"][2].asFloat()));
  46                 }
  47                 if (o["segment"] != Json::nullValue) {
  48                         so.push_back(SegmentObstacle(
  49                                 new RRTNode(
  50                                         o["segment"][0][0].asFloat(),
  51                                         o["segment"][0][1].asFloat(),
  52                                         0),
  53                                 new RRTNode(
  54                                         o["segment"][1][0].asFloat(),
  55                                         o["segment"][1][1].asFloat(),
  56                                         0)));
  57                 }
  58         }
  59         p.link_obstacles(&co, &so);
  60
  61         p.tstart();
  62         while (!p.goal_found())
  63                 p.next();
  64         p.tend();
  65
  66         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
  67         std::cerr << "Goal found is " << p.goal_found() << std::endl;
  68         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
  69
  70         Json::Value jvo; // JSON output
  71         int i = 0;
  72         int j = 0;
  73         for (auto traj: p.tlog()) {
  74                 i = 0;
  75                 for (auto n: traj) {
  76                         jvo["traj"][j][i][0] = n->x();
  77                         jvo["traj"][j][i][1] = n->y();
  78                         jvo["traj"][j][i][2] = n->h();
  79                         i++;
  80                 }
  81                 j++;
  82         }
  83         std::cout << jvo << std::endl;
  84         return 0;
  85 }