src/rrts.cc

   1 #include <algorithm>
   2 #include "rrts.h"
   3
   4 #include "reeds_shepp.h"
   5 #include <iostream>
   6 template <typename T> int sgn(T val) {
   7         return (T(0) < val) - (val < T(0));
   8 }
   9
  10 RRTNode::RRTNode()
  11 {
  12 }
  13
  14 RRTNode::RRTNode(const BicycleCar &bc) : BicycleCar(bc)
  15 {
  16 }
  17
  18 Obstacle::Obstacle()
  19 {
  20 }
  21
  22 double RRTS::elapsed()
  23 {
  24         std::chrono::duration<double> dt;
  25         dt = std::chrono::duration_cast<std::chrono::duration<double>>(
  26                 std::chrono::high_resolution_clock::now()
  27                 - this->tstart_
  28         );
  29         this->scnt_ = dt.count();
  30         return this->scnt_;
  31 }
  32
  33 bool RRTS::should_stop()
  34 {
  35         // the following counters must be updated, do not comment
  36         this->icnt_++;
  37         this->elapsed();
  38         // current iteration stop conditions
  39         if (this->should_finish()) return true;
  40         if (this->should_break()) return true;
  41         // but continue by default
  42         return false;
  43 }
  44
  45 bool RRTS::should_finish()
  46 {
  47         // decide finish conditions (maybe comment some lines)
  48         //if (this->icnt_ > 999) return true;
  49         if (this->scnt_ > 50) return true;
  50         if (this->gf()) return true;
  51         // but continue by default
  52         return false;
  53 }
  54
  55 bool RRTS::should_break()
  56 {
  57         // decide break conditions (maybe comment some lines)
  58         //if (this->scnt_ - this->pcnt_ > 2) return true;
  59         // but continue by default
  60         return false;
  61 }
  62
  63 bool RRTS::should_continue()
  64 {
  65         // decide the stop conditions (maybe comment some lines)
  66         // it is exact opposite of `should_stop`
  67         //if (this->icnt_ > 999) return false;
  68         if (this->scnt_ > 10) return false;
  69         if (this->gf()) return false;
  70         // and reset pause counter if should continue
  71         this->pcnt_ = this->scnt_;
  72         return true;
  73 }
  74
  75 void RRTS::store_node(RRTNode n)
  76 {
  77         this->nodes().push_back(n);
  78 }
  79
  80 // RRT procedures
  81 std::tuple<bool, unsigned int, unsigned int>
  82 RRTS::collide(std::vector<std::tuple<double, double>> &poly)
  83 {
  84         for (auto &o: this->obstacles())
  85                 if (std::get<0>(::collide(poly, o.poly())))
  86                         return ::collide(poly, o.poly());
  87         return std::make_tuple(false, 0, 0);
  88 }
  89
  90 std::tuple<bool, unsigned int, unsigned int>
  91 RRTS::collide_steered_from(RRTNode &f)
  92 {
  93         std::vector<std::tuple<double, double>> s;
  94         s.push_back(std::make_tuple(f.x(), f.y()));
  95         for (auto &n: this->steered()) {
  96                 s.push_back(std::make_tuple(n.lfx(), n.lfy()));
  97                 s.push_back(std::make_tuple(n.lrx(), n.lry()));
  98                 s.push_back(std::make_tuple(n.rrx(), n.rry()));
  99                 s.push_back(std::make_tuple(n.rfx(), n.rfy()));
 100         }
 101         auto col = this->collide(s);
 102         auto strip_from = this->steered().size() - std::get<1>(col) / 4;
 103         if (std::get<0>(col) && strip_from > 0) {
 104                 while (strip_from-- > 0) {
 105                         this->steered().pop_back();
 106                 }
 107                 return this->collide_steered_from(f);
 108         }
 109         return col;
 110 }
 111
 112 std::tuple<bool, unsigned int, unsigned int>
 113 RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
 114 {
 115         std::vector<std::tuple<double, double>> p;
 116         p.push_back(std::make_tuple(f.lfx(), f.lfy()));
 117         p.push_back(std::make_tuple(f.lrx(), f.lry()));
 118         p.push_back(std::make_tuple(f.rrx(), f.rry()));
 119         p.push_back(std::make_tuple(f.rfx(), f.rfy()));
 120         p.push_back(std::make_tuple(t.lfx(), t.lfy()));
 121         p.push_back(std::make_tuple(t.lrx(), t.lry()));
 122         p.push_back(std::make_tuple(t.rrx(), t.rry()));
 123         p.push_back(std::make_tuple(t.rfx(), t.rfy()));
 124         return this->collide(p);
 125 }
 126
 127 double RRTS::cost_build(RRTNode &f, RRTNode &t)
 128 {
 129         double cost = 0;
 130         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 131         return cost;
 132 }
 133
 134 double RRTS::cost_search(RRTNode &f, RRTNode &t)
 135 {
 136         double cost = 0;
 137         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 138         return cost;
 139 }
 140
 141 void RRTS::sample()
 142 {
 143         double x = 0;
 144         double y = 0;
 145         double h = 0;
 146         switch (this->sample_dist_type()) {
 147         case 1:
 148                 x = this->udx_(this->gen_);
 149                 y = this->udy_(this->gen_);
 150                 h = this->udh_(this->gen_);
 151                 break;
 152         default:
 153                 x = this->ndx_(this->gen_);
 154                 y = this->ndy_(this->gen_);
 155                 h = this->ndh_(this->gen_);
 156         }
 157         this->samples().push_back(RRTNode());
 158         this->samples().back().x(x);
 159         this->samples().back().y(y);
 160         this->samples().back().h(h);
 161 }
 162
 163 RRTNode *RRTS::nn(RRTNode &t)
 164 {
 165         RRTNode *nn = &this->nodes().front();
 166         double cost = this->cost_search(*nn, t);
 167         for (auto &f: this->nodes()) {
 168                 if (this->cost_search(f, t) < cost) {
 169                         nn = &f;
 170                         cost = this->cost_search(f, t);
 171                 }
 172         }
 173         return nn;
 174 }
 175
 176 std::vector<RRTNode *> RRTS::nv(RRTNode &t)
 177 {
 178         std::vector<RRTNode *> nv;
 179         double cost = std::min(GAMMA(this->nodes().size()), ETA);
 180         for (auto &f: this->nodes())
 181                 if (this->cost_search(f, t) < cost)
 182                         nv.push_back(&f);
 183         return nv;
 184 }
 185
 186 int cb_rs_steer(double q[4], void *user_data)
 187 {
 188         std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
 189         RRTNode *ln = nullptr;
 190         if (nodes->size() > 0)
 191                 ln = &nodes->back();
 192         nodes->push_back(RRTNode());
 193         nodes->back().x(q[0]);
 194         nodes->back().y(q[1]);
 195         nodes->back().h(q[2]);
 196         nodes->back().sp(q[3]);
 197         if (nodes->back().sp() == 0)
 198                 nodes->back().set_t(RRTNodeType::cusp);
 199         else if (ln != nullptr && sgn(ln->sp()) != sgn(nodes->back().sp()))
 200                 ln->set_t(RRTNodeType::cusp);
 201         return 0;
 202 }
 203
 204 void RRTS::steer(RRTNode &f, RRTNode &t)
 205 {
 206         this->steered().clear();
 207         double q0[] = {f.x(), f.y(), f.h()};
 208         double q1[] = {t.x(), t.y(), t.h()};
 209         ReedsSheppStateSpace rsss(f.mtr());
 210         rsss.sample(q0, q1, 0.5, cb_rs_steer, &this->steered());
 211 }
 212
 213 void RRTS::join_steered(RRTNode *f)
 214 {
 215         while (this->steered().size() > 0) {
 216                 this->store_node(this->steered().front());
 217                 RRTNode *t = &this->nodes().back();
 218                 t->p(f);
 219                 t->c(this->cost_build(*f, *t));
 220                 this->steered().erase(this->steered().begin());
 221                 f = t;
 222         }
 223 }
 224
 225 bool RRTS::goal_found(RRTNode &f)
 226 {
 227         bool found = false;
 228         auto &g = this->goals().front();
 229         bool in_zone = false;
 230         double cost = this->cost_build(f, g);
 231         double h_d = f.h() - g.h();
 232         if (h_d < -M_PI/2 || h_d > M_PI/2)
 233                 return false;
 234         double max_dist = g.mtr() * 2 * sin(M_PI/2 / 2); // mtr circle chord
 235         if (sqrt(pow(f.x() - g.x(), 2) + pow(f.y() - g.y(), 2)) > max_dist)
 236                 return false;
 237         double a = atan2(f.y() - g.y(), f.x() - g.x()) - g.h();
 238         while (a < 0)
 239                 a += 2 * M_PI;
 240         if (0 <= a && a < M_PI/2) { // left front g
 241                 BicycleCar zone_border(g);
 242                 zone_border.rotate(g.ccl().x(), g.ccl().y(), h_d);
 243                 a = atan2(f.y() - zone_border.y(), f.x() - zone_border.x());
 244                 a -= g.h();
 245                 while (a < 0)
 246                         a += 2 * M_PI;
 247                 double ub = zone_border.h() - g.h();
 248                 while (ub < 0)
 249                         ub += 2 * M_PI;
 250                 if (0 <= a && a <= ub)
 251                         in_zone = true;
 252         } else if (M_PI/2 <= a && a < M_PI) { // left rear g
 253                 BicycleCar zone_border(g);
 254                 zone_border.rotate(g.ccl().x(), g.ccl().y(), h_d);
 255                 a = atan2(f.y() - zone_border.y(), f.x() - zone_border.x());
 256                 a -= g.h();
 257                 a -= M_PI;
 258                 while (a < 0)
 259                         a += 2 * M_PI;
 260                 double ub = zone_border.h() - g.h();
 261                 while (ub < 0)
 262                         ub += 2 * M_PI;
 263                 if (0 <= a && a <= ub)
 264                         in_zone = true;
 265         } else if (M_PI <= a && a < 3 * M_PI/2) { // right rear g
 266                 BicycleCar zone_border(g);
 267                 zone_border.rotate(g.ccr().x(), g.ccr().y(), h_d);
 268                 a = atan2(f.y() - zone_border.y(), f.x() - zone_border.x());
 269                 if (sqrt(
 270                         pow(f.y() - zone_border.y(), 2)
 271                         + pow(f.x() - zone_border.x(), 2)
 272                 ) > 0)
 273                         a -= M_PI;
 274                 a -= g.h();
 275                 double ub = zone_border.h() - g.h();
 276                 double lb = g.h();
 277                 if (lb <= a && a <= ub)
 278                         in_zone = true;
 279         } else if (3 * M_PI/2 <= a && a < 2 * M_PI) { // right front g
 280                 BicycleCar zone_border(g);
 281                 zone_border.rotate(g.ccr().x(), g.ccr().y(), h_d);
 282                 a = atan2(f.y() - zone_border.y(), f.x() - zone_border.x());
 283                 a -= zone_border.h();
 284                 while (a < 0)
 285                         a += 2 * M_PI;
 286                 double ub = g.h() - zone_border.h();
 287                 while (ub < 0)
 288                         ub += 2 * M_PI;
 289                 if (0 <= a && a <= ub)
 290                         in_zone = true;
 291         } else {
 292                 // Not happenning, as ``a`` < 2 * M_PI.
 293         }
 294         if (in_zone) {
 295                 found = true;
 296                 if (g.p() == nullptr || cc(f) + cost < cc(g)) {
 297                         g.p(&f);
 298                         g.c(cost);
 299                 }
 300         }
 301         return found;
 302 }
 303
 304 // RRT* procedures
 305 bool RRTS::connect()
 306 {
 307         RRTNode *t = &this->steered().front();
 308         RRTNode *f = this->nn(this->samples().back());
 309         double cost = this->cost_search(*f, *t);
 310         for (auto n: this->nv(*t)) {
 311                 if (
 312                         !std::get<0>(this->collide_two_nodes(*n, *t))
 313                         && this->cost_search(*n, *t) < cost
 314                 ) {
 315                         f = n;
 316                         cost = this->cost_search(*n, *t);
 317                 }
 318         }
 319         this->store_node(this->steered().front());
 320         t = &this->nodes().back();
 321         t->p(f);
 322         t->c(this->cost_build(*f, *t));
 323         t->set_t(RRTNodeType::connected);
 324         return true;
 325 }
 326
 327 void RRTS::rewire()
 328 {
 329         RRTNode *f = &this->nodes().back();
 330         for (auto n: this->nv(*f)) {
 331                 if (
 332                         !std::get<0>(this->collide_two_nodes(*f, *n))
 333                         && cc(*f) + this->cost_search(*f, *n) < cc(*n)
 334                 ) {
 335                         n->p(f);
 336                         n->c(this->cost_build(*f, *n));
 337                 }
 338         }
 339 }
 340
 341 // API
 342 void RRTS::init()
 343 {
 344 }
 345
 346 void RRTS::deinit()
 347 {
 348         this->nodes().clear();
 349         this->samples().clear();
 350         this->steered().clear();
 351         this->store_node(RRTNode()); // root
 352         this->icnt_ = 0;
 353         this->scnt_ = 0;
 354         this->pcnt_ = 0;
 355         this->gf_ = false;
 356 }
 357
 358 std::vector<RRTNode *> RRTS::path()
 359 {
 360         std::vector<RRTNode *> path;
 361         if (this->goals().size() == 0)
 362                 return path;
 363         RRTNode *goal = &this->goals().front();
 364         if (goal->p() == nullptr)
 365                 return path;
 366         while (goal != nullptr) {
 367                 path.push_back(goal);
 368                 goal = goal->p();
 369         }
 370         std::reverse(path.begin(), path.end());
 371         return path;
 372 }
 373
 374 bool RRTS::next()
 375 {
 376         if (this->icnt_ == 0)
 377                 this->tstart_ = std::chrono::high_resolution_clock::now();
 378         bool next = true;
 379         if (this->should_stop())
 380                 return false;
 381         this->sample();
 382         this->steer(
 383                 *this->nn(this->samples().back()),
 384                 this->samples().back()
 385         );
 386         if (std::get<0>(this->collide_steered_from(
 387                 *this->nn(this->samples().back())
 388         )))
 389                 return next;
 390         if (!this->connect())
 391                 return next;
 392         this->rewire();
 393         unsigned scnt = this->steered().size();
 394         this->steered().erase(this->steered().begin());
 395         this->join_steered(&this->nodes().back());
 396         RRTNode *just_added = &this->nodes().back();
 397         while (scnt > 0) {
 398                 scnt--;
 399                 auto &g = this->goals().front();
 400                 this->steer(*just_added, g);
 401                 if (std::get<0>(this->collide_steered_from(
 402                         *just_added
 403                 )))
 404                         continue;
 405                 this->join_steered(just_added);
 406                 this->gf(this->goal_found(this->nodes().back()));
 407                 just_added = just_added->p();
 408         }
 409         return next;
 410 }
 411
 412 void RRTS::set_sample_normal(
 413         double mx, double dx,
 414         double my, double dy,
 415         double mh, double dh
 416 )
 417 {
 418         this->ndx_ = std::normal_distribution<double>(mx, dx);
 419         this->ndy_ = std::normal_distribution<double>(my, dy);
 420         this->ndh_ = std::normal_distribution<double>(mh, dh);
 421 }
 422 void RRTS::set_sample_uniform(
 423         double xmin, double xmax,
 424         double ymin, double ymax,
 425         double hmin, double hmax
 426 )
 427 {
 428         this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
 429         this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
 430         this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
 431 }
 432 void RRTS::set_sample(
 433         double x1, double x2,
 434         double y1, double y2,
 435         double h1, double h2
 436 )
 437 {
 438         switch (this->sample_dist_type()) {
 439         case 1:
 440                 x1 += this->nodes().front().x();
 441                 x2 += this->nodes().front().x();
 442                 y1 += this->nodes().front().y();
 443                 y2 += this->nodes().front().y();
 444                 this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
 445                 break;
 446         default:
 447                 this->set_sample_normal(x1, x2, y1, y2, h1, h2);
 448         }
 449 }
 450
 451 Json::Value RRTS::json()
 452 {
 453         Json::Value jvo;
 454         {
 455                 jvo["time"] = this->scnt();
 456         }
 457         {
 458                 jvo["iterations"] = this->icnt();
 459         }
 460         {
 461                 jvo["init"][0] = this->nodes().front().x();
 462                 jvo["init"][1] = this->nodes().front().y();
 463                 jvo["init"][2] = this->nodes().front().h();
 464         }
 465         {
 466                 if (this->path().size() > 0) {
 467                         jvo["cost"] = cc(*this->path().back());
 468                         jvo["goal"][0] = this->path().back()->x();
 469                         jvo["goal"][1] = this->path().back()->y();
 470                         jvo["goal"][2] = this->path().back()->h();
 471                 }
 472         }
 473         {
 474                 unsigned int cu = 0;
 475                 unsigned int co = 0;
 476                 unsigned int pcnt = 0;
 477                 for (auto n: this->path()) {
 478                         jvo["path"][pcnt][0] = n->x();
 479                         jvo["path"][pcnt][1] = n->y();
 480                         jvo["path"][pcnt][2] = n->h();
 481                         if (n->t(RRTNodeType::cusp))
 482                                 cu++;
 483                         if (n->t(RRTNodeType::connected))
 484                                 co++;
 485                         pcnt++;
 486                 }
 487                 jvo["cusps-in-path"] = cu;
 488                 jvo["connecteds-in-path"] = co;
 489         }
 490         {
 491                 unsigned int gcnt = 0;
 492                 for (auto g: this->goals()) {
 493                         jvo["goals"][gcnt][0] = g.x();
 494                         jvo["goals"][gcnt][1] = g.y();
 495                         jvo["goals"][gcnt][2] = g.h();
 496                         gcnt++;
 497                 }
 498         }
 499         {
 500                 unsigned int ocnt = 0;
 501                 for (auto o: this->obstacles()) {
 502                         unsigned int ccnt = 0;
 503                         for (auto c: o.poly()) {
 504                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 505                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 506                                 ccnt++;
 507                         }
 508                         ocnt++;
 509                 }
 510         }
 511         {
 512                 jvo["nodes"] = (unsigned int) this->nodes().size();
 513         }
 514         //{
 515         //        unsigned int ncnt = 0;
 516         //        for (auto n: this->nodes()) {
 517         //                jvo["nodes_x"][ncnt] = n.x();
 518         //                jvo["nodes_y"][ncnt] = n.y();
 519         //                //jvo["nodes_h"][ncnt] = n.h();
 520         //                ncnt++;
 521         //        }
 522         //}
 523         return jvo;
 524 }
 525
 526 void RRTS::json(Json::Value jvi)
 527 {
 528         assert(jvi["init"] != Json::nullValue);
 529         assert(jvi["goal"] != Json::nullValue);
 530         assert(jvi["goals"] != Json::nullValue);
 531         assert(jvi["obst"] != Json::nullValue);
 532
 533         this->nodes().front().x(jvi["init"][0].asDouble());
 534         this->nodes().front().y(jvi["init"][1].asDouble());
 535         this->nodes().front().h(jvi["init"][2].asDouble());
 536         {
 537                 RRTNode tmp_node;
 538                 tmp_node.x(jvi["goal"][0].asDouble());
 539                 tmp_node.y(jvi["goal"][1].asDouble());
 540                 tmp_node.h(jvi["goal"][2].asDouble());
 541                 this->goals().push_back(tmp_node);
 542                 for (auto g: jvi["goals"]) {
 543                         tmp_node.x(g[0].asDouble());
 544                         tmp_node.y(g[1].asDouble());
 545                         tmp_node.h(g[2].asDouble());
 546                         this->goals().push_back(tmp_node);
 547                 }
 548         }
 549         {
 550                 Obstacle tmp_obstacle;
 551                 for (auto o: jvi["obst"]) {
 552                         tmp_obstacle.poly().clear();
 553                         for (auto c: o) {
 554                                 double tmp_x = c[0].asDouble();
 555                                 double tmp_y = c[1].asDouble();
 556                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
 557                                 tmp_obstacle.poly().push_back(tmp_tuple);
 558                         }
 559                         this->obstacles().push_back(tmp_obstacle);
 560                 }
 561         }
 562         {
 563                 double edist_init_goal = sqrt(
 564                         pow(
 565                                 this->nodes().front().x()
 566                                 - this->goals().front().x(),
 567                                 2
 568                         )
 569                         + pow(
 570                                 this->nodes().front().y()
 571                                 - this->goals().front().y(),
 572                                 2
 573                         )
 574                 );
 575                 this->set_sample(
 576                         this->nodes().front().x(), edist_init_goal,
 577                         this->nodes().front().y(), edist_init_goal,
 578                         0, 2 * M_PI
 579                 );
 580         }
 581 }
 582
 583 RRTS::RRTS()
 584         : gen_(std::random_device{}())
 585 {
 586         this->goals().reserve(100);
 587         this->nodes().reserve(4000000);
 588         this->samples().reserve(1000);
 589         this->steered().reserve(20000);
 590         this->store_node(RRTNode()); // root
 591 }
 592
 593 double cc(RRTNode &t)
 594 {
 595         RRTNode *n = &t;
 596         double cost = 0;
 597         while (n != nullptr) {
 598                 cost += n->c();
 599                 n = n->p();
 600         }
 601         return cost;
 602 }