base/rrtbase.cc

   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 #include <algorithm>
  19 #include <cmath>
  20 #include <omp.h>
  21 #include <queue>
  22 #include "bcar.h"
  23 #include "rrtbase.h"
  24 // OpenGL
  25 #include <GL/gl.h>
  26 #include <GL/glu.h>
  27 #include <SDL2/SDL.h>
  28 // RRT
  29 #include "cost.h"
  30 #include "steer.h"
  31
  32 extern SDL_Window* gw;
  33 extern SDL_GLContext gc;
  34
  35 RRTBase::~RRTBase()
  36 {
  37         for (auto n: this->nodes_)
  38                 if (n != this->root_)
  39                         delete n;
  40         for (auto n: this->dnodes_)
  41                 if (n != this->root_ && n != this->goal_)
  42                         delete n;
  43         for (auto s: this->samples_)
  44                 if (s != this->goal_)
  45                         delete s;
  46         for (auto edges: this->rlog_)
  47                 for (auto e: edges)
  48                         delete e;
  49         delete this->root_;
  50         delete this->goal_;
  51 }
  52
  53 RRTBase::RRTBase():
  54         root_(new RRTNode()),
  55         goal_(new RRTNode())
  56 {
  57         this->nodes_.push_back(this->root_);
  58         this->add_iy(this->root_);
  59 }
  60
  61 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  62         root_(init),
  63         goal_(goal)
  64 {
  65         this->nodes_.push_back(init);
  66         this->add_iy(init);
  67 }
  68
  69 // getter
  70 RRTNode *RRTBase::root()
  71 {
  72         return this->root_;
  73 }
  74
  75 RRTNode *RRTBase::goal()
  76 {
  77         return this->goal_;
  78 }
  79
  80 std::vector<RRTNode *> &RRTBase::nodes()
  81 {
  82         return this->nodes_;
  83 }
  84
  85 std::vector<RRTNode *> &RRTBase::dnodes()
  86 {
  87         return this->dnodes_;
  88 }
  89
  90 std::vector<RRTNode *> &RRTBase::samples()
  91 {
  92         return this->samples_;
  93 }
  94
  95 std::vector<CircleObstacle> *RRTBase::cos()
  96 {
  97         return this->cobstacles_;
  98 }
  99
 100 std::vector<SegmentObstacle> *RRTBase::sos()
 101 {
 102         return this->sobstacles_;
 103 }
 104
 105 std::vector<float> &RRTBase::clog()
 106 {
 107         return this->clog_;
 108 }
 109
 110 std::vector<float> &RRTBase::nlog()
 111 {
 112         return this->nlog_;
 113 }
 114
 115 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 116 {
 117         return this->rlog_;
 118 }
 119
 120 std::vector<float> &RRTBase::slog()
 121 {
 122         return this->slog_;
 123 }
 124
 125 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 126 {
 127         return this->tlog_;
 128 }
 129
 130 bool RRTBase::goal_found()
 131 {
 132         return this->goal_found_;
 133 }
 134
 135 float RRTBase::elapsed()
 136 {
 137         std::chrono::duration<float> dt;
 138         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 139                         this->tend_ - this->tstart_);
 140         return dt.count();
 141 }
 142
 143 // setter
 144 void RRTBase::root(RRTNode *node)
 145 {
 146         this->root_ = node;
 147 }
 148
 149 void RRTBase::goal(RRTNode *node)
 150 {
 151         this->goal_ = node;
 152 }
 153
 154 bool RRTBase::logr(RRTNode *root)
 155 {
 156         std::vector<RRTEdge *> e; // Edges to log
 157         std::vector<RRTNode *> s; // DFS stack
 158         std::vector<RRTNode *> r; // reset visited_
 159         RRTNode *tmp;
 160         s.push_back(root);
 161         while (s.size() > 0) {
 162                 tmp = s.back();
 163                 s.pop_back();
 164                 if (!tmp->visit()) {
 165                         r.push_back(tmp);
 166                         for (auto ch: tmp->children()) {
 167                                 s.push_back(ch);
 168                                 e.push_back(new RRTEdge(tmp, ch));
 169                         }
 170                 }
 171         }
 172         for (auto n: r)
 173                 n->visit(false);
 174         this->rlog_.push_back(e);
 175         return true;
 176 }
 177
 178 float RRTBase::ocost(RRTNode *n)
 179 {
 180         float dist = 9999;
 181         for (auto o: *this->cobstacles_)
 182                 if (o.dist_to(n) < dist)
 183                         dist = o.dist_to(n);
 184         for (auto o: *this->sobstacles_)
 185                 if (o.dist_to(n) < dist)
 186                         dist = o.dist_to(n);
 187         return n->ocost(dist);
 188 }
 189
 190 bool RRTBase::tlog(std::vector<RRTNode *> t)
 191 {
 192         if (t.size() > 0) {
 193                 this->slog_.push_back(this->elapsed());
 194                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 195                 this->nlog_.push_back(this->nodes_.size());
 196                 this->tlog_.push_back(t);
 197                 return true;
 198         } else {
 199                 return false;
 200         }
 201 }
 202
 203 void RRTBase::tstart()
 204 {
 205         this->tstart_ = std::chrono::high_resolution_clock::now();
 206 }
 207
 208 void RRTBase::tend()
 209 {
 210         this->tend_ = std::chrono::high_resolution_clock::now();
 211 }
 212
 213 bool RRTBase::link_obstacles(
 214                 std::vector<CircleObstacle> *cobstacles,
 215                 std::vector<SegmentObstacle> *sobstacles)
 216 {
 217         this->cobstacles_ = cobstacles;
 218         this->sobstacles_ = sobstacles;
 219         if (!this->cobstacles_ || !this->sobstacles_) {
 220                 return false;
 221         }
 222         return true;
 223 }
 224
 225 bool RRTBase::add_iy(RRTNode *n)
 226 {
 227         int i = IYI(n->y());
 228         if (i < 0)
 229                 i = 0;
 230         if (i >= IYSIZE)
 231                 i = IYSIZE - 1;
 232         this->iy_[i].push_back(n);
 233         return true;
 234 }
 235
 236 bool RRTBase::goal_found(bool f)
 237 {
 238         this->goal_found_ = f;
 239         return f;
 240 }
 241
 242 // other
 243 bool RRTBase::glplot()
 244 {
 245         glClear(GL_COLOR_BUFFER_BIT);
 246         glLineWidth(1);
 247         glPointSize(1);
 248         // Plot obstacles
 249         glBegin(GL_LINES);
 250         for (auto o: *this->sobstacles_) {
 251                 glColor3f(0, 0, 0);
 252                 glVertex2f(GLVERTEX(o.init()));
 253                 glVertex2f(GLVERTEX(o.goal()));
 254         }
 255         glEnd();
 256         // Plot root, goal
 257         glPointSize(8);
 258         glBegin(GL_POINTS);
 259         glColor3f(1, 0, 0);
 260         glVertex2f(GLVERTEX(this->root_));
 261         glVertex2f(GLVERTEX(this->goal_));
 262         glEnd();
 263         // Plot last sample
 264         if (this->samples_.size() > 0) {
 265                 glPointSize(8);
 266                 glBegin(GL_POINTS);
 267                 glColor3f(0, 1, 0);
 268                 glVertex2f(GLVERTEX(this->samples_.back()));
 269                 glEnd();
 270         }
 271         // Plot nodes
 272         std::vector<RRTNode *> s; // DFS stack
 273         std::vector<RRTNode *> r; // reset visited_
 274         RRTNode *tmp;
 275         glBegin(GL_LINES);
 276         s.push_back(this->root_);
 277         while (s.size() > 0) {
 278                 tmp = s.back();
 279                 s.pop_back();
 280                 if (!tmp->visit()) {
 281                         r.push_back(tmp);
 282                         for (auto ch: tmp->children()) {
 283                                 s.push_back(ch);
 284                                 glColor3f(0.5, 0.5, 0.5);
 285                                 glVertex2f(GLVERTEX(tmp));
 286                                 glVertex2f(GLVERTEX(ch));
 287                         }
 288                 }
 289         }
 290         glEnd();
 291         // Plot nodes (from goal)
 292         glBegin(GL_LINES);
 293         s.push_back(this->goal_);
 294         while (s.size() > 0) {
 295                 tmp = s.back();
 296                 s.pop_back();
 297                 if (!tmp->visit()) {
 298                         r.push_back(tmp);
 299                         for (auto ch: tmp->children()) {
 300                                 s.push_back(ch);
 301                                 glColor3f(0.5, 0.5, 0.5);
 302                                 glVertex2f(GLVERTEX(tmp));
 303                                 glVertex2f(GLVERTEX(ch));
 304                         }
 305                 }
 306         }
 307         glEnd();
 308         std::vector<RRTNode *> cusps;
 309         // Plot last trajectory
 310         if (this->tlog().size() > 0) {
 311                 glLineWidth(2);
 312                 glBegin(GL_LINES);
 313                 for (auto n: this->tlog().back()) {
 314                         if (n->parent()) {
 315                                 glColor3f(0, 0, 1);
 316                                 glVertex2f(GLVERTEX(n));
 317                                 glVertex2f(GLVERTEX(n->parent()));
 318                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 319                                         cusps.push_back(n);
 320                         }
 321                 }
 322                 glEnd();
 323         }
 324         // Plot cusps
 325         glPointSize(8);
 326         glBegin(GL_POINTS);
 327         for (auto n: cusps) {
 328                 glColor3f(0, 0, 1);
 329                 glVertex2f(GLVERTEX(n));
 330         }
 331         glEnd();
 332         SDL_GL_SwapWindow(gw);
 333         for (auto n: r)
 334                 n->visit(false);
 335         return true;
 336 }
 337
 338 bool RRTBase::goal_found(
 339                 RRTNode *node,
 340                 float (*cost)(RRTNode *, RRTNode* ))
 341 {
 342         float xx = pow(node->x() - this->goal_->x(), 2);
 343         float yy = pow(node->y() - this->goal_->y(), 2);
 344         float dh = std::abs(node->h() - this->goal_->h());
 345         if (IS_NEAR(node, this->goal_)) {
 346                 if (this->goal_found_) {
 347                         if (node->ccost() + (*cost)(node, this->goal_) <
 348                                         this->goal_->ccost()) {
 349                                 RRTNode *op; // old parent
 350                                 float oc; // old cumulative cost
 351                                 float od; // old direct cost
 352                                 op = this->goal_->parent();
 353                                 oc = this->goal_->ccost();
 354                                 od = this->goal_->dcost();
 355                                 node->add_child(this->goal_,
 356                                                 (*cost)(node, this->goal_));
 357                                 if (this->collide(node, this->goal_)) {
 358                                         node->children().pop_back();
 359                                         this->goal_->parent(op);
 360                                         this->goal_->ccost(oc);
 361                                         this->goal_->dcost(od);
 362                                 } else {
 363                                         op->rem_child(this->goal_);
 364                                         return true;
 365                                 }
 366                         } else {
 367                                 return false;
 368                         }
 369                 } else {
 370                         node->add_child(
 371                                         this->goal_,
 372                                         (*cost)(node, this->goal_));
 373                         if (this->collide(node, this->goal_)) {
 374                                 node->children().pop_back();
 375                                 this->goal_->remove_parent();
 376                                 return false;
 377                         }
 378                         this->goal_found_ = true;
 379                         return true;
 380                 }
 381         }
 382         return false;
 383 }
 384
 385 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 386 {
 387         std::vector<RRTEdge *> edges;
 388         RRTNode *tmp = goal;
 389         volatile bool col = false;
 390         unsigned int i;
 391         while (tmp != init) {
 392                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 393                 std::vector<RRTEdge *> bcframe = bc.frame();
 394                 #pragma omp parallel for reduction(|: col)
 395                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 396                         if ((*this->cobstacles_)[i].collide(tmp)) {
 397                                 col = true;
 398                         }
 399                         for (auto &e: bcframe) {
 400                                 if ((*this->cobstacles_)[i].collide(e)) {
 401                                         col = true;
 402                                 }
 403                         }
 404                 }
 405                 if (col) {
 406                         for (auto e: bcframe) {
 407                                 delete e->init();
 408                                 delete e->goal();
 409                                 delete e;
 410                         }
 411                         for (auto e: edges) {
 412                                 delete e;
 413                         }
 414                         return true;
 415                 }
 416                 #pragma omp parallel for reduction(|: col)
 417                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 418                         for (auto &e: bcframe) {
 419                                 if ((*this->sobstacles_)[i].collide(e)) {
 420                                         col = true;
 421                                 }
 422                         }
 423                 }
 424                 if (col) {
 425                         for (auto e: bcframe) {
 426                                 delete e->init();
 427                                 delete e->goal();
 428                                 delete e;
 429                         }
 430                         for (auto e: edges) {
 431                                 delete e;
 432                         }
 433                         return true;
 434                 }
 435                 if (!tmp->parent()) {
 436                         break;
 437                 }
 438                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 439                 tmp = tmp->parent();
 440                 for (auto e: bcframe) {
 441                         delete e->init();
 442                         delete e->goal();
 443                         delete e;
 444                 }
 445         }
 446         for (auto &e: edges) {
 447                 #pragma omp parallel for reduction(|: col)
 448                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 449                         if ((*this->cobstacles_)[i].collide(e)) {
 450                                 col = true;
 451                         }
 452                 }
 453                 if (col) {
 454                         for (auto e: edges) {
 455                                 delete e;
 456                         }
 457                         return true;
 458                 }
 459                 #pragma omp parallel for reduction(|: col)
 460                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 461                         if ((*this->sobstacles_)[i].collide(e)) {
 462                                 col = true;
 463                         }
 464                 }
 465                 if (col) {
 466                         for (auto e: edges) {
 467                                 delete e;
 468                         }
 469                         return true;
 470                 }
 471         }
 472         for (auto e: edges) {
 473                 delete e;
 474         }
 475         return false;
 476 }
 477
 478 class RRTNodeDijkstra {
 479         public:
 480                 RRTNodeDijkstra(int i):
 481                         ni(i),
 482                         pi(0),
 483                         c(9999),
 484                         v(false)
 485                 {};
 486                 RRTNodeDijkstra(int i, float c):
 487                         ni(i),
 488                         pi(0),
 489                         c(c),
 490                         v(false)
 491                 {};
 492                 RRTNodeDijkstra(int i, int p, float c):
 493                         ni(i),
 494                         pi(p),
 495                         c(c),
 496                         v(false)
 497                 {};
 498                 unsigned int ni;
 499                 unsigned int pi;
 500                 float c;
 501                 bool v;
 502                 bool vi()
 503                 {
 504                         if (this->v)
 505                                 return true;
 506                         this->v = true;
 507                         return false;
 508                 };
 509 };
 510
 511 class RRTNodeDijkstraComparator {
 512         public:
 513                 int operator() (
 514                                 const RRTNodeDijkstra& n1,
 515                                 const RRTNodeDijkstra& n2)
 516                 {
 517                         return n1.c > n2.c;
 518                 }
 519 };
 520
 521 bool RRTBase::opt_path()
 522 {
 523         if (this->tlog().size() == 0)
 524                 return false;
 525         float oc = this->tlog().back().front()->ccost();
 526         std::vector<RRTNode *> tmp_cusps;
 527         for (auto n: this->tlog().back()) {
 528                 if (sgn(n->s()) == 0) {
 529                         tmp_cusps.push_back(n);
 530                 } else if (n->parent() &&
 531                                 sgn(n->s()) != sgn(n->parent()->s())) {
 532                         tmp_cusps.push_back(n);
 533                         tmp_cusps.push_back(n->parent());
 534                 }
 535         }
 536         if (tmp_cusps.size() < 2)
 537                 return false;
 538         std::vector<RRTNode *> cusps;
 539         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 540                 if (tmp_cusps[i] != tmp_cusps[i + 1])
 541                         cusps.push_back(tmp_cusps[i]);
 542         }
 543         std::reverse(cusps.begin(), cusps.end());
 544         // Begin of Dijkstra
 545         std::vector<RRTNodeDijkstra> dnodes;
 546         for (unsigned int i = 0; i < cusps.size(); i++)
 547                 if (i > 0)
 548                         dnodes.push_back(RRTNodeDijkstra(
 549                                                 i,
 550                                                 i - 1,
 551                                                 cusps[i]->ccost()));
 552                 else
 553                         dnodes.push_back(RRTNodeDijkstra(
 554                                                 i,
 555                                                 cusps[i]->ccost()));
 556         dnodes[0].vi();
 557         std::priority_queue<
 558                 RRTNodeDijkstra,
 559                 std::vector<RRTNodeDijkstra>,
 560                 RRTNodeDijkstraComparator> pq;
 561         RRTNodeDijkstra tmp = dnodes[0];
 562         pq.push(tmp);
 563         float ch_cost = 9999;
 564         std::vector<RRTNode *> steered;
 565         while (!pq.empty() && tmp.ni != cusps.size() - 1) {
 566                 tmp = pq.top();
 567                 pq.pop();
 568                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 569                         ch_cost = dnodes[tmp.ni].c +
 570                                 CO(cusps[tmp.ni], cusps[i]);
 571                         steered = ST(cusps[tmp.ni], cusps[i]);
 572                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 573                                 steered[j]->add_child(
 574                                                 steered[j + 1],
 575                                                 CO(
 576                                                         steered[j],
 577                                                         steered[j + 1]));
 578                         if (i != tmp.ni + 1 && this->collide( // TODO
 579                                                 steered[0],
 580                                                 steered[steered.size() - 1]))
 581                                 continue;
 582                         if (ch_cost < dnodes[i].c) {
 583                                 dnodes[i].c = ch_cost;
 584                                 dnodes[i].pi = tmp.ni;
 585                                 if (!dnodes[i].vi())
 586                                         pq.push(dnodes[i]);
 587                         }
 588                 }
 589         }
 590         if (tmp.ni != cusps.size() - 1)
 591                 return false;
 592         std::vector<int> npi; // new path indexes
 593         int tmpi = tmp.ni;
 594         while (tmpi > 0) {
 595                 npi.push_back(tmpi);
 596                 tmpi = dnodes[tmpi].pi;
 597         }
 598         npi.push_back(tmpi);
 599         std::reverse(npi.begin(), npi.end());
 600         RRTNode *pn = cusps[npi[0]];
 601         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 602                 for (auto ns: ST(cusps[npi[i]], cusps[npi[i + 1]])) {
 603                         pn->add_child(ns, CO(pn, ns));
 604                         pn = ns;
 605                 }
 606         }
 607         pn->add_child(
 608                         this->tlog().back().front(),
 609                         CO(pn, this->tlog().back().front()));
 610         // End of Dijkstra
 611         if (this->tlog().back().front()->ccost() < oc)
 612                 return true;
 613         return false;
 614 }
 615
 616 bool RRTBase::rebase(RRTNode *nr)
 617 {
 618         if (!nr || this->goal_ == nr || this->root_ == nr)
 619                 return false;
 620         std::vector<RRTNode *> s; // DFS stack
 621         RRTNode *tmp;
 622         unsigned int i = 0;
 623         unsigned int to_del = 0;
 624         int iy = 0;
 625         s.push_back(this->root_);
 626         while (s.size() > 0) {
 627                 tmp = s.back();
 628                 s.pop_back();
 629                 for (auto ch: tmp->children()) {
 630                         if (ch != nr)
 631                                 s.push_back(ch);
 632                 }
 633                 to_del = this->nodes_.size();
 634                 #pragma omp parallel for reduction(min: to_del)
 635                 for (i = 0; i < this->nodes_.size(); i++) {
 636                         if (this->nodes_[i] == tmp)
 637                                 to_del = i;
 638                 }
 639                 if (to_del < this->nodes_.size())
 640                         this->nodes_.erase(this->nodes_.begin() + to_del);
 641 #if NNVERSION > 1
 642                 iy = IYI(tmp->y());
 643                 to_del = this->iy_[iy].size();
 644                 #pragma omp parallel  for reduction(min: to_del)
 645                 for (i = 0; i < this->iy_[iy].size(); i++) {
 646                         if (this->iy_[iy][i] == tmp)
 647                                 to_del = i;
 648                 }
 649                 if (to_del < this->iy_[iy].size())
 650                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 651 #endif
 652                 this->dnodes().push_back(tmp);
 653         }
 654         this->root_ = nr;
 655         this->root_->remove_parent();
 656         return true;
 657 }
 658
 659 std::vector<RRTNode *> RRTBase::findt()
 660 {
 661         return this->findt(this->goal_);
 662 }
 663
 664 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 665 {
 666         std::vector<RRTNode *> nodes;
 667         if (!n || !n->parent())
 668                 return nodes;
 669         RRTNode *tmp = n;
 670         while (tmp != this->root()) {
 671                 nodes.push_back(tmp);
 672                 tmp = tmp->parent();
 673         }
 674         return nodes;
 675 }