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 #define TMAX 10
  24
  25 int main()
  26 {
  27         Json::Value jvi; // JSON input
  28         std::cin >> jvi;
  29         std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
  30
  31         LaValle1998 p(
  32         //Karaman2011 p(
  33                         new RRTNode(
  34                                 jvi["init"][0].asFloat(),
  35                                 jvi["init"][1].asFloat(),
  36                                 jvi["init"][2].asFloat()),
  37                         new RRTNode(
  38                                 jvi["goal"][0].asFloat(),
  39                                 jvi["goal"][1].asFloat(),
  40                                 jvi["goal"][2].asFloat()));
  41         std::vector<CircleObstacle> co;
  42         std::vector<SegmentObstacle> so;
  43         for (auto o: jvi["obst"]) {
  44                 if (o["circle"] != Json::nullValue) {
  45                         co.push_back(CircleObstacle(
  46                                                 o["circle"][0].asFloat(),
  47                                                 o["circle"][1].asFloat(),
  48                                                 o["circle"][2].asFloat()));
  49                 }
  50                 if (o["segment"] != Json::nullValue) {
  51                         so.push_back(SegmentObstacle(
  52                                 new RRTNode(
  53                                         o["segment"][0][0].asFloat(),
  54                                         o["segment"][0][1].asFloat(),
  55                                         0),
  56                                 new RRTNode(
  57                                         o["segment"][1][0].asFloat(),
  58                                         o["segment"][1][1].asFloat(),
  59                                         0)));
  60                 }
  61         }
  62         p.link_obstacles(&co, &so);
  63
  64         p.tstart();
  65         while (!p.goal_found() && p.elapsed() < 10) {
  66                 p.next();
  67                 p.tend();
  68         }
  69
  70         std::cerr << "Elapsed is " << p.elapsed() << std::endl;
  71         std::cerr << "Goal found is " << p.goal_found() << std::endl;
  72         std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
  73
  74         Json::Value jvo; // JSON output
  75         int i = 0;
  76         int j = 0;
  77         // log traj
  78         i = 0;
  79         j = 0;
  80         for (auto traj: p.tlog()) {
  81                 i = 0;
  82                 for (auto n: traj) {
  83                         jvo["traj"][j][i][0] = n->x();
  84                         jvo["traj"][j][i][1] = n->y();
  85                         jvo["traj"][j][i][2] = n->h();
  86                         i++;
  87                 }
  88                 j++;
  89         }
  90         // log edges
  91         i = 0;
  92         j = 0;
  93         std::vector<RRTNode *> s; // DFS stack
  94         std::vector<RRTNode *> r; // reset visited_
  95         RRTNode *tmp;
  96         s.push_back(p.root());
  97         while(s.size() > 0) {
  98                 tmp = s.back();
  99                 s.pop_back();
 100                 if (!tmp->visit()) {
 101                         r.push_back(tmp);
 102                         for (auto ch: tmp->children()) {
 103                                 s.push_back(ch);
 104                                 jvo["edge"][j][0][0] = tmp->x();
 105                                 jvo["edge"][j][0][1] = tmp->y();
 106                                 jvo["edge"][j][1][0] = ch->x();
 107                                 jvo["edge"][j][1][1] = ch->y();
 108                                 j++;
 109                         }
 110                 }
 111         }
 112         for (auto n: r)
 113                 n->visit(false);
 114         // log samples
 115         i = 0;
 116         j = 0;
 117         for (auto s: p.samples()) {
 118                 jvo["samp"][j][0] = s->x();
 119                 jvo["samp"][j][1] = s->y();
 120                 jvo["samp"][j][2] = s->h();
 121                 j++;
 122         }
 123         // print output
 124         std::cout << jvo << std::endl;
 125
 126         // free mem
 127         for (auto o: so) {
 128                 delete o.init();
 129                 delete o.goal();
 130         }
 131         for (auto n: p.nodes())
 132                 delete n;
 133         for (auto s: p.samples())
 134                 delete s;
 135         delete p.root();
 136         delete p.goal();
 137         return 0;
 138 }