api/rrts.h

   1 #ifndef RRTS_H
   2 #define RRTS_H
   3
   4 #include <chrono>
   5 #include <functional>
   6 #include <jsoncpp/json/json.h>
   7 #include <random>
   8 #include <vector>
   9 #include "bcar.h"
  10
  11 #define ETA 1.0 // for steer, nv
  12 #define GAMMA(cV) ({ \
  13         __typeof__ (cV) _cV = (cV); \
  14         pow(log(_cV) / _cV, 1.0 / 3.0); \
  15 })
  16
  17 /*! \brief Possible type of RRT node.
  18
  19 \param cusp The node that is cusp (change in direction).
  20 \param connected The node that branches generated steered path.
  21 */
  22 class RRTNodeType {
  23         public:
  24                 static const unsigned int cusp = 1 << 0;
  25                 static const unsigned int connected = 1 << 1;
  26 };
  27
  28 /*! \brief RRT node basic class.
  29
  30 \param c Cumulative cost from RRT data structure root.
  31 \param p Pointer to parent RRT node.
  32 \param t Type of the RRT node (RRTNodeType).
  33 // -- from BicycleCar
  34 \param x Horizontal coordinate of rear axle center.
  35 \param y Vertical coordinate of rear axle center.
  36 \param h Heading of the car in the interval [-pi,+pi] radians.
  37 \param sp Speed of the car.
  38 \param st Steering of the car.
  39 */
  40 class RRTNode {
  41         private:
  42                 double c_ = 0;
  43                 RRTNode *p_ = nullptr;
  44                 unsigned int t_ = 0;
  45                 // -- from BicycleCar
  46                 // coordinates
  47                 double x_ = 0;
  48                 double y_ = 0;
  49                 double h_ = 0;
  50                 // moving
  51                 double sp_ = 0;
  52                 double st_ = 0;
  53         public:
  54                 // getters, setters
  55                 double c() const { return this->c_; }
  56                 void c(double c) { this->c_ = c; }
  57
  58                 RRTNode *p() const { return this->p_; }
  59                 void p(RRTNode *p) { this->p_ = p; }
  60
  61                 bool t(unsigned int flag) { return this->t_ & flag; }
  62                 void set_t(unsigned int flag) { this->t_ |= flag; }
  63                 void clear_t(unsigned int flag) { this->t_ &= ~flag; }
  64
  65                 // -- from BicycleCar
  66                 // getters, setters
  67                 double x() const { return this->x_; }
  68                 void x(double x) { this->x_ = x; }
  69
  70                 double y() const { return this->y_; }
  71                 void y(double y) { this->y_ = y; }
  72
  73                 double h() const { return this->h_; }
  74                 void h(double h)
  75                 {
  76                         while (h < -M_PI)
  77                                 h += 2 * M_PI;
  78                         while (h > +M_PI)
  79                                 h -= 2 * M_PI;
  80                         this->h_ = h;
  81                 }
  82
  83                 double sp() const { return this->sp_; }
  84                 void sp(double sp) { this->sp_ = sp; }
  85
  86                 double st() const { return this->st_; }
  87                 void st(double st) { this->st_ = st; }
  88
  89                 RRTNode();
  90                 RRTNode(const BicycleCar &bc);
  91                 bool operator==(const RRTNode& n);
  92                 friend std::ostream &operator<<(
  93                         std::ostream &out,
  94                         const RRTNode &bc
  95                 )
  96                 {
  97                         out << "[" << bc.x();
  98                         out << "," << bc.y();
  99                         out << "," << bc.h();
 100                         out << "]";
 101                         return out;
 102                 }
 103 };
 104
 105 /*! \brief Polygon obstacle basic class.
 106
 107 \param poly Border polygon of the obstacle.
 108 */
 109 class Obstacle {
 110         private:
 111                 std::vector<std::tuple<double, double>> poly_;
 112         public:
 113                 // getters, setters
 114                 std::vector<std::tuple<double, double>> &poly()
 115                 {
 116                         return this->poly_;
 117                 }
 118
 119                 Obstacle();
 120 };
 121
 122 /*! \brief RRT* algorithm basic class.
 123
 124 \param icnt RRT algorithm iterations counter.
 125 \param goals The vector of goal nodes.
 126 \param nodes The vector of all nodes in RRT data structure.
 127 \param samples The vector of all samples of RRT algorithm.
 128 \param sample_dist_type Random distribution type for sampling function (0 -
 129 normal, 1 - uniform, 2 - uniform circle)
 130 */
 131 class RRTS {
 132         protected:
 133                 unsigned int icnt_ = 0;
 134                 std::chrono::high_resolution_clock::time_point tstart_;
 135                 double scnt_ = 0;
 136                 double pcnt_ = 0;
 137                 bool gf_ = false;
 138                 int sample_dist_type_ = 0;
 139
 140                 std::vector<RRTNode> goals_;
 141                 std::vector<RRTNode> nodes_;
 142                 std::vector<Obstacle> obstacles_;
 143                 std::vector<RRTNode> samples_;
 144                 std::vector<RRTNode> steered_;
 145                 double log_path_time_ = 0.1;
 146                 unsigned int log_path_iter_ = 20;
 147                 std::vector<double> log_path_cost_;
 148
 149                 /*! \brief Update and return elapsed time.
 150                 */
 151                 double elapsed();
 152                 /*! \brief Log current path cost.
 153                 */
 154                 void log_path_cost();
 155                 /*! \brief Set normal distribution for sampling.
 156                 */
 157                 void set_sample_normal(
 158                         double x1, double x2,
 159                         double y1, double y2,
 160                         double h1, double h2
 161                 );
 162                 /*! \brief Set uniform distribution for sampling.
 163                 */
 164                 void set_sample_uniform(
 165                         double x1, double x2,
 166                         double y1, double y2,
 167                         double h1, double h2
 168                 );
 169                 /*! \brief Set uniform circle distribution for sampling.
 170                 */
 171                 void set_sample_uniform_circle();
 172                 RRTNode* use_nn; // Used for RRTExt12.
 173                 std::vector<RRTNode> tmp_steered_;
 174                 bool finishit = false;
 175                 double path_cost_before_opt_ = 9999;
 176
 177                 BicycleCar bc;
 178                 /*! \brief Store RRT node to tree data structure.
 179                 */
 180                 virtual void store_node(RRTNode n);
 181
 182                 // RRT procedures
 183                 std::tuple<bool, unsigned int, unsigned int>
 184                 collide(std::vector<std::tuple<double, double>> &poly);
 185                 virtual std::tuple<bool, unsigned int, unsigned int>
 186                 collide_steered_from(RRTNode &f);
 187                 virtual std::tuple<bool, unsigned int, unsigned int>
 188                 collide_tmp_steered_from(RRTNode &f);
 189                 virtual std::tuple<bool, unsigned int, unsigned int>
 190                 collide_two_nodes(RRTNode &f, RRTNode &t);
 191                 void sample();
 192                         std::default_random_engine gen_;
 193                         std::normal_distribution<double> ndx_;
 194                         std::normal_distribution<double> ndy_;
 195                         std::normal_distribution<double> ndh_;
 196                         std::uniform_real_distribution<double> udx_;
 197                         std::uniform_real_distribution<double> udy_;
 198                         std::uniform_real_distribution<double> udh_;
 199                         std::uniform_int_distribution<unsigned int> udi1_;
 200                         std::uniform_int_distribution<unsigned int> udi2_;
 201                 virtual RRTNode *nn(RRTNode &t);
 202                 virtual std::vector<RRTNode *> nv(RRTNode &t);
 203                 void steer(RRTNode &f, RRTNode &t);
 204                 void tmp_steer(RRTNode &f, RRTNode &t);
 205                 virtual void steer1(RRTNode &f, RRTNode &t);
 206                 virtual void steer2(RRTNode &f, RRTNode &t);
 207                 /*! \brief Join steered nodes to RRT data structure
 208
 209                 \param f RRT node to join steered nodes to.
 210                 */
 211                 void join_steered(RRTNode *f);
 212                 void join_tmp_steered(RRTNode *f);
 213                 virtual bool goal_found(RRTNode &f);
 214                 // RRT* procedures
 215                 virtual bool connect();
 216                 void rewire();
 217         public:
 218                 /// ---
 219                 struct { double x=0; double y=0; double b=0; double e=0; } entry;
 220                 bool entry_set = false;
 221                 struct { double x=0; double y=0; double h=0; } entry1;
 222                 struct { double x=0; double y=0; double h=0; } entry2;
 223                 bool entries_set = false;
 224                 std::vector<RRTNode *> steered1_;
 225                 std::vector<RRTNode *> steered2_;
 226                 /// ---
 227                 /*! \brief Initialize RRT algorithm if needed.
 228                 */
 229                 virtual void init();
 230                 /*! \brief Deinitialize RRT algorithm if needed.
 231                 */
 232                 virtual void deinit();
 233                 /*! \brief Return path found by RRT*.
 234                 */
 235                 virtual std::vector<RRTNode *> path();
 236                 /*! \brief Return ``true`` if algorithm should stop.
 237
 238                 Update counters (iteration, seconds, ...) and return if
 239                 the current iteration should be the last one.
 240                 */
 241                 bool should_stop();
 242                 /*! \brief Return ``true`` if the algorithm should finish.
 243
 244                 Finish means that the algorithm will not be resumed.
 245                 */
 246                 bool should_finish();
 247                 /*! \brief Return ``true`` if the algorithm shoud break.
 248
 249                 Break means that the algorithm can be resumed.
 250                 */
 251                 bool should_break();
 252                 /*! \brief Return ``true`` if algorithm should continue.
 253
 254                 `pcnt_` is set to `scnt_`, so the difference is 0 and it can
 255                 start from scratch. After the `should_continue` is called,
 256                 there must be `while (rrts.next()) {}` loop.
 257                 */
 258                 bool should_continue();
 259                 /*! \brief Run next RRT* iteration.
 260                 */
 261                 virtual bool next();
 262                 /*! \brief Set sampling info.
 263
 264                 Based on `sample_dist_type`, set proper distribution
 265                 parameters. The distribution parameters are relative to `front`
 266                 node in `nodes` (init).
 267
 268                 For normal sampling:
 269                 \param x1 Mean x value.
 270                 \param x2 Standard deviation of x.
 271                 \param y1 Mean y value.
 272                 \param y2 Standard deviation of y.
 273                 \param h1 Mean h value.
 274                 \param h2 Standard deviation of h.
 275
 276                 For uniform sampling:
 277                 \param x1 Minimum x value.
 278                 \param x2 Maximum x value.
 279                 \param y1 Minimum y value.
 280                 \param y2 Maximum y value.
 281                 \param h1 Minimum h value.
 282                 \param h2 Maximum h value.
 283
 284                 For uniform circle sampling:
 285                 \param x1 Ignored.
 286                 \param x2 Ignored.
 287                 \param y1 Ignored.
 288                 \param y2 Ignored.
 289                 \param h1 Ignored.
 290                 \param h2 Ignored.
 291                 */
 292                 void set_sample(
 293                         double x1, double x2,
 294                         double y1, double y2,
 295                         double h1, double h2
 296                 );
 297                 /*! \brief Generate JSON output.
 298                 */
 299                 Json::Value json();
 300                 /*! \brief Load JSON input.
 301                 */
 302                 void json(Json::Value jvi);
 303
 304                 // RRT procedures
 305                 virtual double cost_build(RRTNode &f, RRTNode &t);
 306                 virtual double cost_search(RRTNode &f, RRTNode &t);
 307
 308                 // getters, setters
 309                 unsigned int icnt() const { return this->icnt_; }
 310                 double scnt() const { return this->scnt_; }
 311                 bool gf() const { return this->gf_; }
 312                 void gf(bool f) { this->gf_ = f; }
 313                 int sample_dist_type() const { return this->sample_dist_type_;}
 314                 void sample_dist_type(int t) { this->sample_dist_type_ = t; }
 315                 std::vector<RRTNode> &goals() { return this->goals_; }
 316                 std::vector<RRTNode> &nodes() { return this->nodes_; }
 317                 std::vector<Obstacle> &obstacles() { return this->obstacles_; }
 318                 std::vector<RRTNode> &samples() { return this->samples_; }
 319                 std::vector<RRTNode> &steered() { return this->steered_; }
 320
 321                 RRTS();
 322 };
 323
 324 /*! \brief Compute cumulative cost of RRT node.
 325
 326 \param t RRT node to compute cumulative cost to.
 327 */
 328 double cc(RRTNode &t);
 329
 330 #endif /* RRTS_H */