2 This file is part of I am car.
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.
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.
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/>.
20 #include <jsoncpp/json/json.h>
24 #include "rrtplanner.h"
33 #define USE_TMAX_1ST_CUSPS
35 bool run_planner = true;
37 SDL_Window* gw = NULL;
54 Json::Value jvi; // JSON input
55 Json::Value jvo; // JSON output
59 std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
63 jvi["init"][0].asFloat(),
64 jvi["init"][1].asFloat(),
65 jvi["init"][2].asFloat()),
67 jvi["goal"][0].asFloat(),
68 jvi["goal"][1].asFloat(),
69 jvi["goal"][2].asFloat()));
70 std::vector<CircleObstacle> co;
71 std::vector<SegmentObstacle> so;
72 for (auto o: jvi["obst"]) {
73 if (o["circle"] != Json::nullValue) {
74 co.push_back(CircleObstacle(
75 o["circle"][0].asFloat(),
76 o["circle"][1].asFloat(),
77 o["circle"][2].asFloat()));
79 if (o["segment"] != Json::nullValue) {
80 so.push_back(SegmentObstacle(
82 o["segment"][0][0].asFloat(),
83 o["segment"][0][1].asFloat(),
86 o["segment"][1][0].asFloat(),
87 o["segment"][1][1].asFloat(),
91 p.link_obstacles(&co, &so);
96 std::vector<RRTNode *> tr;
99 std::vector<RRTNode *> steered;
100 for (auto jn: jvi["traj"][0]) {
101 steered.push_back(new RRTNode(
108 std::reverse(steered.begin(), steered.end());
109 RRTNode *pn = p.root();
110 for (auto n: steered) {
111 pn->add_child(n, p.cost(pn, n));
114 pn->add_child(p.goal(), p.cost(pn, p.goal()));
120 signal(SIGINT, hint);
121 signal(SIGTERM, hint);
123 while (run_planner) {
132 if (!p.goal_found()) {
134 nn = p.nn(p.iy_, p.goal(), p.cost);
136 nn = p.nn(p.nodes(), p.goal(), p.cost);
146 #elif defined USE_TMAX // USE TMAX
149 while (!p.goal_found() && p.elapsed() < TMAX) {
158 #else // NOT USE_INTERRUPT
160 while (!p.goal_found() && i < 20) {
163 while (p.elapsed() < TMAX) {
167 if (!p.goal_found()) {
169 nn = p.nn(p.iy_, p.goal(), p.cost);
171 nn = p.nn(p.nodes(), p.goal(), p.cost);
184 if (!p.goal_found()) {
185 nn = p.tlog().back().back();
186 for (j = p.tlog().back().size() - 1; j > 0; j--) {
187 float s1 = p.tlog().back()[j]->s();
188 float s2 = p.tlog().back()[j - 1]->s();
189 if (sgn(s1) != sgn(s2)) {
190 nn = p.tlog().back()[j - 1];
199 std::cerr << "#iterations is " << i << std::endl;
200 #endif // USE_INTERRUPT
203 std::cerr << "Elapsed is " << p.elapsed() << std::endl;
204 std::cerr << "Goal found is " << p.goal_found() << std::endl;
205 std::cerr << "#nodes is " << p.nodes().size() << std::endl;
206 std::cerr << "#samples is " << p.samples().size() << std::endl;
207 std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
208 std::cerr << "trajectories costs:" << std::endl;
209 for (j = 0; j < p.clog().size(); j++)
210 std::cerr << "- " << p.clog()[j] << std::endl;
211 std::cerr << "RRT #nodes:" << std::endl;
212 for (j = 0; j < p.nlog().size(); j++)
213 std::cerr << "- " << p.nlog()[j] << std::endl;
214 std::cerr << "trajectories seconds:" << std::endl;
215 for (j = 0; j < p.slog().size(); j++)
216 std::cerr << "- " << p.slog()[j] << std::endl;
217 std::cerr << "RRT edges (from root) log size: " << p.rlog().size();
218 std::cerr << std::endl;
219 for (auto edges: p.rlog())
220 std::cerr << "- " << edges.size() << std::endl;
223 jvo["elap"] = p.elapsed();
225 for (j = 0; j < p.clog().size(); j++)
226 jvo["cost"][j] = p.clog()[j];
228 for (j = 0; j < p.nlog().size(); j++)
229 jvo["node"][j] = p.nlog()[j];
231 for (j = 0; j < p.slog().size(); j++)
232 jvo["secs"][j] = p.slog()[j];
236 for (auto traj: p.tlog()) {
239 jvo["traj"][j][i][0] = n->x();
240 jvo["traj"][j][i][1] = n->y();
241 jvo["traj"][j][i][2] = n->h();
242 jvo["traj"][j][i][3] = n->t();
243 jvo["traj"][j][i][4] = n->s();
252 for (auto edges: p.rlog()) {
254 for (auto e: edges) {
255 jvo["edge"][i][j][0][0] = e->init()->x();
256 jvo["edge"][i][j][0][1] = e->init()->y();
257 jvo["edge"][i][j][0][2] = e->init()->h();
258 jvo["edge"][i][j][1][0] = e->goal()->x();
259 jvo["edge"][i][j][1][1] = e->goal()->y();
260 jvo["edge"][i][j][1][2] = e->goal()->h();
266 #if JSONLOGSAMPLES > 0
270 for (auto s: p.samples()) {
271 jvo["samp"][j][0] = s->x();
272 jvo["samp"][j][1] = s->y();
273 jvo["samp"][j][2] = s->h();
278 std::cout << jvo << std::endl;
281 SDL_DestroyWindow(gw);
295 if (SDL_Init(SDL_INIT_VIDEO) < 0) {
296 std::cerr << "SDL could not initialize! SDL_Error: ";
297 std::cerr << SDL_GetError();
298 std::cerr << std::endl;
301 SDL_GL_SetAttribute(SDL_GL_CONTEXT_MAJOR_VERSION, 2);
302 SDL_GL_SetAttribute(SDL_GL_CONTEXT_MINOR_VERSION, 1);
303 gw = SDL_CreateWindow(
305 SDL_WINDOWPOS_UNDEFINED,
306 SDL_WINDOWPOS_UNDEFINED,
309 SDL_WINDOW_OPENGL | SDL_WINDOW_SHOWN);
311 std::cerr << "Window could not be created! SDL_Error: ";
312 std::cerr << SDL_GetError();
313 std::cerr << std::endl;
316 gc = SDL_GL_CreateContext(gw);
318 std::cerr << "OpenGL context couldn't be created! SDL Error: ";
319 std::cerr << SDL_GetError();
320 std::cerr << std::endl;
323 if (SDL_GL_SetSwapInterval(1) < 0) {
324 std::cerr << "Warning: Unable to set VSync! SDL Error: ";
325 std::cerr << SDL_GetError();
326 std::cerr << std::endl;
330 std::cerr << "Unable to initialize OpenGL!";
331 std::cerr << std::endl;
339 GLenum error = GL_NO_ERROR;
340 glMatrixMode(GL_PROJECTION);
342 error = glGetError();
343 if (error != GL_NO_ERROR) {
344 std::cerr << "Error initializing OpenGL! ";
345 std::cerr << gluErrorString(error);
346 std::cerr << std::endl;
349 glMatrixMode(GL_MODELVIEW);
351 error = glGetError();
352 if (error != GL_NO_ERROR) {
353 std::cerr << "Error initializing OpenGL! ";
354 std::cerr << gluErrorString(error);
355 std::cerr << std::endl;
358 glClearColor(1, 1, 1, 1);
359 error = glGetError();
360 if (error != GL_NO_ERROR) {
361 std::cerr << "Error initializing OpenGL! ";
362 std::cerr << gluErrorString(error);
363 std::cerr << std::endl;