src/rrts.cc

   1 #include <algorithm>
   2 #include "rrts.h"
   3
   4 #include "reeds_shepp.h"
   5
   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)
  15 {
  16     this->x(bc.x());
  17     this->y(bc.y());
  18     this->h(bc.h());
  19     this->sp(bc.sp());
  20     this->st(bc.st());
  21 }
  22
  23 bool RRTNode::operator==(const RRTNode& n)
  24 {
  25         if (this == &n)
  26                 return true;
  27         return false;
  28 }
  29
  30 Obstacle::Obstacle()
  31 {
  32 }
  33
  34 double RRTS::elapsed()
  35 {
  36         std::chrono::duration<double> dt;
  37         dt = std::chrono::duration_cast<std::chrono::duration<double>>(
  38                 std::chrono::high_resolution_clock::now()
  39                 - this->tstart_
  40         );
  41         this->scnt_ = dt.count();
  42         return this->scnt_;
  43 }
  44
  45 bool RRTS::should_stop()
  46 {
  47         // the following counters must be updated, do not comment
  48         this->icnt_++;
  49         this->elapsed();
  50         // current iteration stop conditions
  51         if (this->should_finish()) return true;
  52         if (this->should_break()) return true;
  53         // but continue by default
  54         return false;
  55 }
  56
  57 bool RRTS::should_finish()
  58 {
  59         // decide finish conditions (maybe comment some lines)
  60         //if (this->icnt_ > 999) return true;
  61         if (this->scnt_ > 10) return true;
  62         if (this->gf()) return true;
  63         // but continue by default
  64         return false;
  65 }
  66
  67 bool RRTS::should_break()
  68 {
  69         // decide break conditions (maybe comment some lines)
  70         //if (this->scnt_ - this->pcnt_ > 2) return true;
  71         // but continue by default
  72         return false;
  73 }
  74
  75 bool RRTS::should_continue()
  76 {
  77         // decide the stop conditions (maybe comment some lines)
  78         // it is exact opposite of `should_stop`
  79         //if (this->icnt_ > 999) return false;
  80         if (this->scnt_ > 10) return false;
  81         if (this->gf()) return false;
  82         // and reset pause counter if should continue
  83         this->pcnt_ = this->scnt_;
  84         return true;
  85 }
  86
  87 void RRTS::store_node(RRTNode n)
  88 {
  89         this->nodes().push_back(n);
  90 }
  91
  92 // RRT procedures
  93 std::tuple<bool, unsigned int, unsigned int>
  94 RRTS::collide(std::vector<std::tuple<double, double>> &poly)
  95 {
  96         for (auto &o: this->obstacles())
  97                 if (std::get<0>(::collide(poly, o.poly())))
  98                         return ::collide(poly, o.poly());
  99         return std::make_tuple(false, 0, 0);
 100 }
 101
 102 std::tuple<bool, unsigned int, unsigned int>
 103 RRTS::collide_steered_from(RRTNode &f)
 104 {
 105         auto fbc = BicycleCar();
 106         fbc.x(f.x());
 107         fbc.y(f.y());
 108         fbc.h(f.h());
 109         std::vector<std::tuple<double, double>> s;
 110         s.push_back(std::make_tuple(fbc.x(), fbc.y()));
 111         for (auto &n: this->steered()) {
 112                 auto nbc = BicycleCar();
 113                 nbc.x(n.x());
 114                 nbc.y(n.y());
 115                 nbc.h(n.h());
 116                 s.push_back(std::make_tuple(nbc.lfx(), nbc.lfy()));
 117                 s.push_back(std::make_tuple(nbc.lrx(), nbc.lry()));
 118                 s.push_back(std::make_tuple(nbc.rrx(), nbc.rry()));
 119                 s.push_back(std::make_tuple(nbc.rfx(), nbc.rfy()));
 120         }
 121         auto col = this->collide(s);
 122         auto strip_from = this->steered().size() - std::get<1>(col) / 4;
 123         if (std::get<0>(col) && strip_from > 0) {
 124                 while (strip_from-- > 0) {
 125                         this->steered().pop_back();
 126                 }
 127                 return this->collide_steered_from(f);
 128         }
 129         return col;
 130 }
 131
 132 std::tuple<bool, unsigned int, unsigned int>
 133 RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
 134 {
 135         auto fbc = BicycleCar();
 136         fbc.x(f.x());
 137         fbc.y(f.y());
 138         fbc.h(f.h());
 139         auto tbc = BicycleCar();
 140         tbc.x(f.x());
 141         tbc.y(f.y());
 142         tbc.h(f.h());
 143         std::vector<std::tuple<double, double>> p;
 144         p.push_back(std::make_tuple(fbc.lfx(), fbc.lfy()));
 145         p.push_back(std::make_tuple(fbc.lrx(), fbc.lry()));
 146         p.push_back(std::make_tuple(fbc.rrx(), fbc.rry()));
 147         p.push_back(std::make_tuple(fbc.rfx(), fbc.rfy()));
 148         p.push_back(std::make_tuple(tbc.lfx(), tbc.lfy()));
 149         p.push_back(std::make_tuple(tbc.lrx(), tbc.lry()));
 150         p.push_back(std::make_tuple(tbc.rrx(), tbc.rry()));
 151         p.push_back(std::make_tuple(tbc.rfx(), tbc.rfy()));
 152         return this->collide(p);
 153 }
 154
 155 double RRTS::cost_build(RRTNode &f, RRTNode &t)
 156 {
 157         double cost = 0;
 158         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 159         return cost;
 160 }
 161
 162 double RRTS::cost_search(RRTNode &f, RRTNode &t)
 163 {
 164         double cost = 0;
 165         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 166         return cost;
 167 }
 168
 169 void RRTS::sample()
 170 {
 171         double x = 0;
 172         double y = 0;
 173         double h = 0;
 174         switch (this->sample_dist_type()) {
 175         case 1:
 176                 x = this->udx_(this->gen_);
 177                 y = this->udy_(this->gen_);
 178                 h = this->udh_(this->gen_);
 179                 break;
 180         default:
 181                 x = this->ndx_(this->gen_);
 182                 y = this->ndy_(this->gen_);
 183                 h = this->ndh_(this->gen_);
 184         }
 185         this->samples().push_back(RRTNode());
 186         this->samples().back().x(x);
 187         this->samples().back().y(y);
 188         this->samples().back().h(h);
 189 }
 190
 191 RRTNode *RRTS::nn(RRTNode &t)
 192 {
 193         RRTNode *nn = &this->nodes().front();
 194         double cost = this->cost_search(*nn, t);
 195         for (auto &f: this->nodes()) {
 196                 if (this->cost_search(f, t) < cost) {
 197                         nn = &f;
 198                         cost = this->cost_search(f, t);
 199                 }
 200         }
 201         return nn;
 202 }
 203
 204 std::vector<RRTNode *> RRTS::nv(RRTNode &t)
 205 {
 206         std::vector<RRTNode *> nv;
 207         double cost = std::min(GAMMA(this->nodes().size()), ETA);
 208         for (auto &f: this->nodes())
 209                 if (this->cost_search(f, t) < cost)
 210                         nv.push_back(&f);
 211         return nv;
 212 }
 213
 214 int cb_rs_steer(double q[4], void *user_data)
 215 {
 216         std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
 217         RRTNode *ln = nullptr;
 218         if (nodes->size() > 0)
 219                 ln = &nodes->back();
 220         nodes->push_back(RRTNode());
 221         nodes->back().x(q[0]);
 222         nodes->back().y(q[1]);
 223         nodes->back().h(q[2]);
 224         nodes->back().sp(q[3]);
 225         if (nodes->back().sp() == 0)
 226                 nodes->back().set_t(RRTNodeType::cusp);
 227         else if (ln != nullptr && sgn(ln->sp()) != sgn(nodes->back().sp()))
 228                 ln->set_t(RRTNodeType::cusp);
 229         return 0;
 230 }
 231
 232 void RRTS::steer(RRTNode &f, RRTNode &t)
 233 {
 234         this->steered().clear();
 235         double q0[] = {f.x(), f.y(), f.h()};
 236         double q1[] = {t.x(), t.y(), t.h()};
 237         ReedsSheppStateSpace rsss(this->bc.mtr());
 238         rsss.sample(q0, q1, 0.5, cb_rs_steer, &this->steered());
 239 }
 240
 241 void RRTS::join_steered(RRTNode *f)
 242 {
 243         while (this->steered().size() > 0) {
 244                 this->store_node(this->steered().front());
 245                 RRTNode *t = &this->nodes().back();
 246                 t->p(f);
 247                 t->c(this->cost_build(*f, *t));
 248                 this->steered().erase(this->steered().begin());
 249                 f = t;
 250         }
 251 }
 252
 253 bool RRTS::goal_found(RRTNode &f)
 254 {
 255         auto &g = this->goals().front();
 256         double cost = this->cost_build(f, g);
 257         double edist = sqrt(
 258                 pow(f.x() - g.x(), 2)
 259                 + pow(f.y() - g.y(), 2)
 260         );
 261         double adist = std::abs(f.h() - g.h());
 262         if (edist < 0.05 && adist < M_PI / 32) {
 263                 if (g.p() == nullptr || cc(f) + cost < cc(g)) {
 264                         g.p(&f);
 265                         g.c(cost);
 266                 }
 267                 return true;
 268         }
 269         return false;
 270 }
 271
 272 // RRT* procedures
 273 bool RRTS::connect()
 274 {
 275         RRTNode *t = &this->steered().front();
 276         RRTNode *f = this->nn(this->samples().back());
 277         double cost = this->cost_search(*f, *t);
 278         for (auto n: this->nv(*t)) {
 279                 if (
 280                         !std::get<0>(this->collide_two_nodes(*n, *t))
 281                         && this->cost_search(*n, *t) < cost
 282                 ) {
 283                         f = n;
 284                         cost = this->cost_search(*n, *t);
 285                 }
 286         }
 287         this->store_node(this->steered().front());
 288         t = &this->nodes().back();
 289         t->p(f);
 290         t->c(this->cost_build(*f, *t));
 291         t->set_t(RRTNodeType::connected);
 292         return true;
 293 }
 294
 295 void RRTS::rewire()
 296 {
 297         RRTNode *f = &this->nodes().back();
 298         for (auto n: this->nv(*f)) {
 299                 if (
 300                         !std::get<0>(this->collide_two_nodes(*f, *n))
 301                         && cc(*f) + this->cost_search(*f, *n) < cc(*n)
 302                 ) {
 303                         n->p(f);
 304                         n->c(this->cost_build(*f, *n));
 305                 }
 306         }
 307 }
 308
 309 // API
 310 void RRTS::init()
 311 {
 312 }
 313
 314 void RRTS::deinit()
 315 {
 316         this->nodes().clear();
 317         this->samples().clear();
 318         this->steered().clear();
 319         this->store_node(RRTNode()); // root
 320         this->icnt_ = 0;
 321         this->scnt_ = 0;
 322         this->pcnt_ = 0;
 323         this->gf_ = false;
 324 }
 325
 326 std::vector<RRTNode *> RRTS::path()
 327 {
 328         std::vector<RRTNode *> path;
 329         if (this->goals().size() == 0)
 330                 return path;
 331         RRTNode *goal = &this->goals().front();
 332         if (goal->p() == nullptr)
 333                 return path;
 334         while (goal != nullptr) {
 335                 path.push_back(goal);
 336                 goal = goal->p();
 337         }
 338         std::reverse(path.begin(), path.end());
 339         return path;
 340 }
 341
 342 bool RRTS::next()
 343 {
 344         if (this->icnt_ == 0)
 345                 this->tstart_ = std::chrono::high_resolution_clock::now();
 346         bool next = true;
 347         if (this->should_stop())
 348                 return false;
 349         this->sample();
 350         this->steer(
 351                 *this->nn(this->samples().back()),
 352                 this->samples().back()
 353         );
 354         if (std::get<0>(this->collide_steered_from(
 355                 *this->nn(this->samples().back())
 356         )))
 357                 return next;
 358         if (!this->connect())
 359                 return next;
 360         this->rewire();
 361         unsigned scnt = this->steered().size();
 362         this->join_steered(&this->nodes().back());
 363         RRTNode *just_added = &this->nodes().back();
 364         while (scnt > 0) {
 365                 scnt--;
 366                 auto &g = this->goals().front();
 367                 this->steer(*just_added, g);
 368                 if (std::get<0>(this->collide_steered_from(
 369                         *just_added
 370                 )))
 371                         continue;
 372                 this->join_steered(just_added);
 373                 this->gf(this->goal_found(this->nodes().back()));
 374                 just_added = just_added->p();
 375         }
 376         return next;
 377 }
 378
 379 void RRTS::set_sample_normal(
 380         double mx, double dx,
 381         double my, double dy,
 382         double mh, double dh
 383 )
 384 {
 385         this->ndx_ = std::normal_distribution<double>(mx, dx);
 386         this->ndy_ = std::normal_distribution<double>(my, dy);
 387         this->ndh_ = std::normal_distribution<double>(mh, dh);
 388 }
 389 void RRTS::set_sample_uniform(
 390         double xmin, double xmax,
 391         double ymin, double ymax,
 392         double hmin, double hmax
 393 )
 394 {
 395         this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
 396         this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
 397         this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
 398 }
 399 void RRTS::set_sample(
 400         double x1, double x2,
 401         double y1, double y2,
 402         double h1, double h2
 403 )
 404 {
 405         switch (this->sample_dist_type()) {
 406         case 1:
 407                 x1 += this->nodes().front().x();
 408                 x2 += this->nodes().front().x();
 409                 y1 += this->nodes().front().y();
 410                 y2 += this->nodes().front().y();
 411                 this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
 412                 break;
 413         default:
 414                 this->set_sample_normal(x1, x2, y1, y2, h1, h2);
 415         }
 416 }
 417
 418 Json::Value RRTS::json()
 419 {
 420         Json::Value jvo;
 421         {
 422                 jvo["time"] = this->scnt();
 423         }
 424         {
 425                 jvo["iterations"] = this->icnt();
 426         }
 427         {
 428                 jvo["init"][0] = this->nodes().front().x();
 429                 jvo["init"][1] = this->nodes().front().y();
 430                 jvo["init"][2] = this->nodes().front().h();
 431         }
 432         {
 433                 if (this->path().size() > 0) {
 434                         jvo["cost"] = cc(*this->path().back());
 435                         jvo["goal"][0] = this->path().back()->x();
 436                         jvo["goal"][1] = this->path().back()->y();
 437                         jvo["goal"][2] = this->path().back()->h();
 438                 }
 439         }
 440         {
 441                 unsigned int cu = 0;
 442                 unsigned int co = 0;
 443                 unsigned int pcnt = 0;
 444                 for (auto n: this->path()) {
 445                         jvo["path"][pcnt][0] = n->x();
 446                         jvo["path"][pcnt][1] = n->y();
 447                         jvo["path"][pcnt][2] = n->h();
 448                         if (n->t(RRTNodeType::cusp))
 449                                 cu++;
 450                         if (n->t(RRTNodeType::connected))
 451                                 co++;
 452                         pcnt++;
 453                 }
 454                 jvo["cusps-in-path"] = cu;
 455                 jvo["connecteds-in-path"] = co;
 456         }
 457         {
 458                 unsigned int gcnt = 0;
 459                 for (auto g: this->goals()) {
 460                         jvo["goals"][gcnt][0] = g.x();
 461                         jvo["goals"][gcnt][1] = g.y();
 462                         jvo["goals"][gcnt][2] = g.h();
 463                         gcnt++;
 464                 }
 465         }
 466         {
 467                 unsigned int ocnt = 0;
 468                 for (auto o: this->obstacles()) {
 469                         unsigned int ccnt = 0;
 470                         for (auto c: o.poly()) {
 471                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 472                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 473                                 ccnt++;
 474                         }
 475                         ocnt++;
 476                 }
 477         }
 478         {
 479                 jvo["nodes"] = (unsigned int) this->nodes().size();
 480         }
 481         //{
 482         //        unsigned int ncnt = 0;
 483         //        for (auto n: this->nodes()) {
 484         //                jvo["nodes_x"][ncnt] = n.x();
 485         //                jvo["nodes_y"][ncnt] = n.y();
 486         //                //jvo["nodes_h"][ncnt] = n.h();
 487         //                ncnt++;
 488         //        }
 489         //}
 490         return jvo;
 491 }
 492
 493 void RRTS::json(Json::Value jvi)
 494 {
 495         assert(jvi["init"] != Json::nullValue);
 496         assert(jvi["goal"] != Json::nullValue);
 497         assert(jvi["goals"] != Json::nullValue);
 498         assert(jvi["obst"] != Json::nullValue);
 499
 500         this->nodes().front().x(jvi["init"][0].asDouble());
 501         this->nodes().front().y(jvi["init"][1].asDouble());
 502         this->nodes().front().h(jvi["init"][2].asDouble());
 503         {
 504                 RRTNode tmp_node;
 505                 tmp_node.x(jvi["goal"][0].asDouble());
 506                 tmp_node.y(jvi["goal"][1].asDouble());
 507                 tmp_node.h(jvi["goal"][2].asDouble());
 508                 this->goals().push_back(tmp_node);
 509                 for (auto g: jvi["goals"]) {
 510                         tmp_node.x(g[0].asDouble());
 511                         tmp_node.y(g[1].asDouble());
 512                         tmp_node.h(g[2].asDouble());
 513                         this->goals().push_back(tmp_node);
 514                 }
 515         }
 516         {
 517                 Obstacle tmp_obstacle;
 518                 for (auto o: jvi["obst"]) {
 519                         tmp_obstacle.poly().clear();
 520                         for (auto c: o) {
 521                                 double tmp_x = c[0].asDouble();
 522                                 double tmp_y = c[1].asDouble();
 523                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
 524                                 tmp_obstacle.poly().push_back(tmp_tuple);
 525                         }
 526                         this->obstacles().push_back(tmp_obstacle);
 527                 }
 528         }
 529         {
 530                 double edist_init_goal = sqrt(
 531                         pow(
 532                                 this->nodes().front().x()
 533                                 - this->goals().front().x(),
 534                                 2
 535                         )
 536                         + pow(
 537                                 this->nodes().front().y()
 538                                 - this->goals().front().y(),
 539                                 2
 540                         )
 541                 );
 542                 this->set_sample(
 543                         this->nodes().front().x(), edist_init_goal,
 544                         this->nodes().front().y(), edist_init_goal,
 545                         0, 2 * M_PI
 546                 );
 547         }
 548 }
 549
 550 RRTS::RRTS()
 551         : gen_(std::random_device{}())
 552 {
 553         this->goals().reserve(100);
 554         this->nodes().reserve(4000000);
 555         this->samples().reserve(1000);
 556         this->steered().reserve(20000);
 557         this->store_node(RRTNode()); // root
 558 }
 559
 560 double cc(RRTNode &t)
 561 {
 562         RRTNode *n = &t;
 563         double cost = 0;
 564         while (n != nullptr) {
 565                 cost += n->c();
 566                 n = n->p();
 567         }
 568         return cost;
 569 }