{
}
-RRTNode::RRTNode(const BicycleCar &bc) : BicycleCar(bc)
+RRTNode::RRTNode(const BicycleCar &bc)
{
+ this->x(bc.x());
+ this->y(bc.y());
+ this->h(bc.h());
+ this->sp(bc.sp());
+ this->st(bc.st());
+}
+
+bool RRTNode::operator==(const RRTNode& n)
+{
+ if (this == &n)
+ return true;
+ return false;
}
Obstacle::Obstacle()
return this->scnt_;
}
+void RRTS::log_path_cost()
+{
+ if (this->log_path_cost_.size() == 0) {
+ this->log_path_cost_.push_back(this->goals().front().cc);
+ } else {
+ auto lc = this->log_path_cost_.back();
+ auto gc = this->goals().front().cc;
+ auto goal_is_better = this->goals().front().cc > 0 && lc < gc;
+ if (
+ this->log_path_cost_.back() > 0
+ && (
+ this->goals().front().cc == 0
+ || (
+ this->goals().front().cc > 0
+ && goal_is_better
+ )
+ )
+ ) {
+ this->log_path_cost_.push_back(
+ this->log_path_cost_.back()
+ );
+ } else {
+ this->log_path_cost_.push_back(
+ this->goals().front().cc
+ );
+ }
+ }
+ this->log_path_iter_ += 1;
+}
+
bool RRTS::should_stop()
{
// the following counters must be updated, do not comment
bool RRTS::should_finish()
{
// decide finish conditions (maybe comment some lines)
- //if (this->icnt_ > 999) return true;
- if (this->scnt_ > 5) return true;
+ if (this->icnt_ > 1000) return true;
+ //if (this->scnt_ > 2) return true;
+ if (this->finishit) return true;
if (this->gf()) return true;
// but continue by default
return false;
std::tuple<bool, unsigned int, unsigned int>
RRTS::collide_steered_from(RRTNode &f)
{
+ auto fbc = BicycleCar();
+ fbc.x(f.x());
+ fbc.y(f.y());
+ fbc.h(f.h());
std::vector<std::tuple<double, double>> s;
- s.push_back(std::make_tuple(f.x(), f.y()));
+ s.push_back(std::make_tuple(fbc.x(), fbc.y()));
for (auto &n: this->steered()) {
- s.push_back(std::make_tuple(n.lfx(), n.lfy()));
- s.push_back(std::make_tuple(n.lrx(), n.lry()));
- s.push_back(std::make_tuple(n.rrx(), n.rry()));
- s.push_back(std::make_tuple(n.rfx(), n.rfy()));
+ auto nbc = BicycleCar();
+ nbc.x(n.x());
+ nbc.y(n.y());
+ nbc.h(n.h());
+ s.push_back(std::make_tuple(nbc.lfx(), nbc.lfy()));
+ s.push_back(std::make_tuple(nbc.lrx(), nbc.lry()));
+ s.push_back(std::make_tuple(nbc.rrx(), nbc.rry()));
+ s.push_back(std::make_tuple(nbc.rfx(), nbc.rfy()));
}
auto col = this->collide(s);
auto strip_from = this->steered().size() - std::get<1>(col) / 4;
}
return col;
}
+std::tuple<bool, unsigned int, unsigned int>
+RRTS::collide_tmp_steered_from(RRTNode &f)
+{
+ return std::make_tuple(false, 0, 0);
+}
std::tuple<bool, unsigned int, unsigned int>
RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
{
+ auto fbc = BicycleCar();
+ fbc.x(f.x());
+ fbc.y(f.y());
+ fbc.h(f.h());
+ auto tbc = BicycleCar();
+ tbc.x(f.x());
+ tbc.y(f.y());
+ tbc.h(f.h());
std::vector<std::tuple<double, double>> p;
- p.push_back(std::make_tuple(f.lfx(), f.lfy()));
- p.push_back(std::make_tuple(f.lrx(), f.lry()));
- p.push_back(std::make_tuple(f.rrx(), f.rry()));
- p.push_back(std::make_tuple(f.rfx(), f.rfy()));
- p.push_back(std::make_tuple(t.lfx(), t.lfy()));
- p.push_back(std::make_tuple(t.lrx(), t.lry()));
- p.push_back(std::make_tuple(t.rrx(), t.rry()));
- p.push_back(std::make_tuple(t.rfx(), t.rfy()));
+ p.push_back(std::make_tuple(fbc.lfx(), fbc.lfy()));
+ p.push_back(std::make_tuple(fbc.lrx(), fbc.lry()));
+ p.push_back(std::make_tuple(fbc.rrx(), fbc.rry()));
+ p.push_back(std::make_tuple(fbc.rfx(), fbc.rfy()));
+ p.push_back(std::make_tuple(tbc.lfx(), tbc.lfy()));
+ p.push_back(std::make_tuple(tbc.lrx(), tbc.lry()));
+ p.push_back(std::make_tuple(tbc.rrx(), tbc.rry()));
+ p.push_back(std::make_tuple(tbc.rfx(), tbc.rfy()));
return this->collide(p);
}
double y = 0;
double h = 0;
switch (this->sample_dist_type()) {
- case 1:
+ case 1: // uniform
x = this->udx_(this->gen_);
y = this->udy_(this->gen_);
h = this->udh_(this->gen_);
break;
- default:
+ case 2: // uniform circle
+ {
+ // see https://stackoverflow.com/questions/5837572/generate-a-random-point-within-a-circle-uniformly/50746409#50746409
+ double R = sqrt(
+ pow(
+ this->nodes().front().x()
+ - this->goals().front().x(),
+ 2
+ )
+ + pow(
+ this->nodes().front().y()
+ - this->goals().front().y(),
+ 2
+ )
+ );
+ double a = atan2(
+ this->goals().front().y() - this->nodes().front().y(),
+ this->goals().front().x() - this->nodes().front().x()
+ );
+ double cx = this->goals().front().x() - R/2 * cos(a);
+ double cy = this->goals().front().y() - R/2 * sin(a);
+ double r = R * sqrt(this->udx_(this->gen_));
+ double theta = this->udy_(this->gen_) * 2 * M_PI;
+ x = cx + r * cos(theta);
+ y = cy + r * sin(theta);
+ h = this->udh_(this->gen_);
+ }
+ break;
+ case 3: {
+ if (
+ this->steered1_.size() == 0
+ && this->steered2_.size() == 0
+ ) {
+ x = this->nodes().front().x();
+ y = this->nodes().front().y();
+ h = this->nodes().front().h();
+ this->use_nn = &this->nodes().front();
+ } else {
+ this->udi1_ = std::uniform_int_distribution<unsigned int>(
+ 0,
+ this->steered1_.size() - 1
+ );
+ this->udi2_ = std::uniform_int_distribution<unsigned int>(
+ 0,
+ this->steered2_.size() - 1
+ );
+ auto ind1 = this->udi1_(this->gen_);
+ auto ind2 = this->udi2_(this->gen_);
+ if (
+ this->steered2_.size() == 0
+ ) {
+ auto n1 = this->steered1_[ind1];
+ x = n1->x();
+ y = n1->y();
+ h = n1->h();
+ this->use_nn = this->steered1_[ind1];
+ } else if (
+ this->steered1_.size() == 0
+ ) {
+ auto n2 = this->steered2_[ind2];
+ x = n2->x();
+ y = n2->y();
+ h = n2->h();
+ this->use_nn = this->steered2_[ind2];
+ } else {
+ auto n1 = this->steered1_[ind1];
+ auto n2 = this->steered2_[ind2];
+ auto which = this->udx_(this->gen_);
+ if (which > 0.5) {
+ x = n1->x();
+ y = n1->y();
+ h = n1->h();
+ this->use_nn = this->steered1_[ind1];
+ } else {
+ x = n2->x();
+ y = n2->y();
+ h = n2->h();
+ this->use_nn = this->steered2_[ind2];
+ }
+ }
+ }
+ break;
+ }
+ default: // normal
x = this->ndx_(this->gen_);
y = this->ndy_(this->gen_);
h = this->ndh_(this->gen_);
int cb_rs_steer(double q[4], void *user_data)
{
std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
- RRTNode *ln = nullptr;
- if (nodes->size() > 0)
- ln = &nodes->back();
nodes->push_back(RRTNode());
nodes->back().x(q[0]);
nodes->back().y(q[1]);
nodes->back().h(q[2]);
nodes->back().sp(q[3]);
- if (nodes->back().sp() == 0)
+ if (nodes->back().sp() == 0) {
nodes->back().set_t(RRTNodeType::cusp);
- else if (ln != nullptr && sgn(ln->sp()) != sgn(nodes->back().sp()))
- ln->set_t(RRTNodeType::cusp);
+ } else if (nodes->size() >= 2) {
+ RRTNode* lln = nodes->back().p();
+ RRTNode* ln = &nodes->back();
+ if (lln != nullptr && ln != nullptr && sgn(lln->sp()) != sgn(ln->sp()))
+ ln->set_t(RRTNodeType::cusp);
+ }
return 0;
}
this->steered().clear();
double q0[] = {f.x(), f.y(), f.h()};
double q1[] = {t.x(), t.y(), t.h()};
- ReedsSheppStateSpace rsss(f.mtr());
- rsss.sample(q0, q1, 0.5, cb_rs_steer, &this->steered());
+ ReedsSheppStateSpace rsss(this->bc.mtr());
+ rsss.sample(q0, q1, 0.2, cb_rs_steer, &this->steered());
+}
+void RRTS::tmp_steer(RRTNode &f, RRTNode &t)
+{
+ this->tmp_steered_.clear();
+ double q0[] = {f.x(), f.y(), f.h()};
+ double q1[] = {t.x(), t.y(), t.h()};
+ ReedsSheppStateSpace rsss(this->bc.mtr());
+ rsss.sample(q0, q1, 0.2, cb_rs_steer, &this->tmp_steered_);
+}
+
+void RRTS::steer1(RRTNode &f, RRTNode &t)
+{
+ return this->steer(f, t);
+}
+
+void RRTS::steer2(RRTNode &f, RRTNode &t)
+{
+ return this->steer(f, t);
}
void RRTS::join_steered(RRTNode *f)
f = t;
}
}
+void RRTS::join_tmp_steered(RRTNode *f)
+{
+ while (this->tmp_steered_.size() > 0) {
+ this->store_node(this->tmp_steered_.front());
+ RRTNode *t = &this->nodes().back();
+ t->p(f);
+ t->c(this->cost_build(*f, *t));
+ this->tmp_steered_.erase(this->tmp_steered_.begin());
+ f = t;
+ }
+}
bool RRTS::goal_found(RRTNode &f)
{
- bool found = false;
- for (auto &g: this->goals()) {
- double cost = this->cost_build(f, g);
- double edist = sqrt(
- pow(f.x() - g.x(), 2)
- + pow(f.y() - g.y(), 2)
- );
- double adist = std::abs(f.h() - g.h());
- if (edist < 0.05 && adist < M_PI / 32) {
- found = true;
- if (g.p() == nullptr || cc(f) + cost < cc(g)) {
- g.p(&f);
- g.c(cost);
- }
+ auto &g = this->goals().front();
+ double cost = this->cost_build(f, g);
+ double edist = sqrt(
+ pow(f.x() - g.x(), 2)
+ + pow(f.y() - g.y(), 2)
+ );
+ double adist = std::abs(f.h() - g.h());
+ if (edist < 0.05 && adist < M_PI / 32) {
+ if (g.p() == nullptr || f.cc + cost < g.cc) {
+ g.p(&f);
+ g.c(cost);
}
+ return true;
}
- return found;
+ return false;
}
// RRT* procedures
{
RRTNode *t = &this->steered().front();
RRTNode *f = this->nn(this->samples().back());
- double cost = this->cost_search(*f, *t);
+ double cost = f->cc + this->cost_build(*f, *t);
for (auto n: this->nv(*t)) {
if (
!std::get<0>(this->collide_two_nodes(*n, *t))
- && this->cost_search(*n, *t) < cost
+ && n->cc + this->cost_build(*n, *t) < cost
) {
f = n;
- cost = this->cost_search(*n, *t);
+ cost = n->cc + this->cost_build(*n, *t);
}
}
+ // steer from f->t and then continue with the steered.
+ this->tmp_steer(*f, *t);
+ if (this->tmp_steered_.size() > 0) {
+ auto col = this->collide_tmp_steered_from(*f);
+ if (std::get<0>(col))
+ return false;
+ this->join_tmp_steered(f);
+ f = &this->nodes().back();
+ }
+ auto fbc = BicycleCar();
+ fbc.x(f->x());
+ fbc.y(f->y());
+ fbc.h(f->h());
+ auto tbc = BicycleCar();
+ tbc.x(t->x());
+ tbc.y(t->y());
+ tbc.h(t->h());
+ if (!tbc.drivable(fbc))
+ return false;
+ // cont.
this->store_node(this->steered().front());
t = &this->nodes().back();
t->p(f);
for (auto n: this->nv(*f)) {
if (
!std::get<0>(this->collide_two_nodes(*f, *n))
- && cc(*f) + this->cost_search(*f, *n) < cc(*n)
+ && f->cc + this->cost_build(*f, *n) < n->cc
) {
+ this->tmp_steer(*f, *n);
+ if (this->tmp_steered_.size() > 0) {
+ auto col = this->collide_tmp_steered_from(*f);
+ if (std::get<0>(col))
+ continue;
+ this->join_tmp_steered(f);
+ f = &this->nodes().back();
+ }
n->p(f);
n->c(this->cost_build(*f, *n));
}
{
}
+void RRTS::reset()
+{
+ RRTNode init = RRTNode();
+ init.x(this->nodes().front().x());
+ init.y(this->nodes().front().y());
+ init.h(this->nodes().front().h());
+ this->nodes().clear();
+ this->store_node(RRTNode());
+ this->nodes().front().x(init.x());
+ this->nodes().front().y(init.y());
+ this->nodes().front().h(init.h());
+ this->samples().clear();
+ this->steered().clear();
+ this->path().clear();
+ this->gf(false);
+ for (auto& g: this->goals()) {
+ g.p(nullptr);
+ g.c_ = 0.0;
+ g.cc = 0.0;
+ }
+}
+
void RRTS::deinit()
{
this->nodes().clear();
this->gf_ = false;
}
-std::vector<RRTNode *> RRTS::path()
+void RRTS::compute_path()
{
- std::vector<RRTNode *> path;
if (this->goals().size() == 0)
- return path;
+ return;
RRTNode *goal = &this->goals().front();
- for (auto &n: this->goals()) {
- if (
- n.p() != nullptr
- && (n.c() < goal->c() || goal->p() == nullptr)
- ) {
- goal = &n;
- }
- }
if (goal->p() == nullptr)
- return path;
+ return;
+ this->path_.clear();
while (goal != nullptr) {
- path.push_back(goal);
+ this->path_.push_back(goal);
goal = goal->p();
}
- std::reverse(path.begin(), path.end());
- return path;
+ std::reverse(this->path_.begin(), this->path_.end());
}
bool RRTS::next()
if (this->icnt_ == 0)
this->tstart_ = std::chrono::high_resolution_clock::now();
bool next = true;
- if (this->should_stop())
+ if (this->should_stop()) {
+ this->log_path_cost();
return false;
- this->sample();
- this->steer(
+ }
+ if (this->samples().size() == 0) {
+ this->samples().push_back(RRTNode());
+ this->samples().back().x(this->goals().front().x());
+ this->samples().back().y(this->goals().front().y());
+ this->samples().back().h(this->goals().front().h());
+ } else {
+ this->sample();
+ }
+ this->steer1(
*this->nn(this->samples().back()),
this->samples().back()
);
- if (std::get<0>(this->collide_steered_from(
- *this->nn(this->samples().back())
- )))
+ if (this->steered().size() == 0) {
+ this->log_path_cost();
return next;
- if (!this->connect())
+ }
+ auto col = this->collide_steered_from(
+ *this->nn(this->samples().back())
+ );
+ if (std::get<0>(col)) {
+ auto rcnt = this->steered().size() - std::get<1>(col);
+ while (rcnt-- > 0) {
+ this->steered().pop_back();
+ }
+ }
+ if (!this->connect()) {
+ this->log_path_cost();
return next;
+ }
this->rewire();
unsigned scnt = this->steered().size();
- this->steered().erase(this->steered().begin());
this->join_steered(&this->nodes().back());
RRTNode *just_added = &this->nodes().back();
while (scnt > 0) {
+ // store all the steered1 nodes
+ this->steered1_.push_back(just_added);
scnt--;
- for (auto &g: this->goals()) {
- this->steer(*just_added, g);
- if (std::get<0>(this->collide_steered_from(
- *just_added
- )))
- continue;
- this->join_steered(just_added);
+ auto &g = this->goals().front();
+ this->steer2(*just_added, g);
+ auto col = this->collide_steered_from(*just_added);
+ if (std::get<0>(col)) {
+ auto rcnt = this->steered().size() - std::get<1>(col);
+ while (rcnt-- > 0) {
+ this->steered().pop_back();
+ }
+ }
+ this->join_steered(just_added);
+ // store all the steered2 nodes
+ RRTNode* jap = &this->nodes().back();
+ while (jap != just_added) {
+ this->steered2_.push_back(jap);
+ jap = jap->p();
}
- this->gf(this->goal_found(this->nodes().back()));
+ auto gf = this->goal_found(this->nodes().back());
+ this->gf(gf);
just_added = just_added->p();
}
+ if (
+ this->gf()
+ && (
+ this->path().size() == 0
+ || this->goals().front().cc < this->path().back()->cc
+ )
+ ) {
+ this->compute_path();
+ }
+ this->log_path_cost();
return next;
}
this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
}
+void RRTS::set_sample_uniform_circle()
+{
+ this->udx_ = std::uniform_real_distribution<double>(0, 1);
+ this->udy_ = std::uniform_real_distribution<double>(0, 1);
+ this->udh_ = std::uniform_real_distribution<double>(0, 2 * M_PI);
+}
void RRTS::set_sample(
double x1, double x2,
double y1, double y2,
)
{
switch (this->sample_dist_type()) {
- case 1:
+ case 1: // uniform
x1 += this->nodes().front().x();
x2 += this->nodes().front().x();
y1 += this->nodes().front().y();
y2 += this->nodes().front().y();
this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
break;
- default:
+ case 2: // uniform circle
+ this->set_sample_uniform_circle();
+ break;
+ case 3: // uniform index of node in nodes
+ this->set_sample_uniform_circle();
+ break;
+ default: // normal
this->set_sample_normal(x1, x2, y1, y2, h1, h2);
}
}
jvo["init"][1] = this->nodes().front().y();
jvo["init"][2] = this->nodes().front().h();
}
+ {
+ jvo["path_cost_before_opt"] = this->path_cost_before_opt_;
+ }
{
if (this->path().size() > 0) {
- jvo["cost"] = cc(*this->path().back());
- jvo["goal"][0] = this->path().back()->x();
- jvo["goal"][1] = this->path().back()->y();
- jvo["goal"][2] = this->path().back()->h();
+ jvo["cost"] = this->path().back()->cc;
+ jvo["entry"][0] = this->goals().front().x();
+ jvo["entry"][1] = this->goals().front().y();
+ jvo["entry"][2] = this->goals().front().h();
+ if (this->entry_set) {
+ jvo["entry"][2] = this->entry.b;
+ jvo["entry"][3] = this->entry.e;
+ }
+ if (this->entries_set) {
+ jvo["entries"][0][0] = this->entry1.x;
+ jvo["entries"][0][1] = this->entry1.y;
+ jvo["entries"][0][2] = this->entry1.h;
+ jvo["entries"][1][0] = this->entry2.x;
+ jvo["entries"][1][1] = this->entry2.y;
+ jvo["entries"][1][2] = this->entry2.h;
+ }
+ jvo["goal"][0] = this->goals().back().x();
+ jvo["goal"][1] = this->goals().back().y();
+ jvo["goal"][2] = this->goals().back().h();
}
}
{
{
jvo["nodes"] = (unsigned int) this->nodes().size();
}
+ {
+ unsigned int cnt = 0;
+ for (auto i: this->log_path_cost_)
+ jvo["log_path_cost"][cnt++] = i;
+ }
+ {
+ unsigned int cnt = 0;
+ for (auto i: this->log_opt_time_)
+ jvo["log_opt_time"][cnt++] = i;
+ }
//{
// unsigned int ncnt = 0;
// for (auto n: this->nodes()) {
// ncnt++;
// }
//}
+ //{
+ // unsigned int ncnt = 0;
+ // for (auto n: this->steered1_) {
+ // jvo["steered1_x"][ncnt] = n->x();
+ // jvo["steered1_y"][ncnt] = n->y();
+ // //jvo["nodes_h"][ncnt] = n.h();
+ // ncnt++;
+ // }
+ // ncnt = 0;
+ // for (auto n: this->steered2_) {
+ // jvo["steered2_x"][ncnt] = n->x();
+ // jvo["steered2_y"][ncnt] = n->y();
+ // //jvo["nodes_h"][ncnt] = n.h();
+ // ncnt++;
+ // }
+ //}
return jvo;
}
void RRTS::json(Json::Value jvi)
{
assert(jvi["init"] != Json::nullValue);
- assert(jvi["goal"] != Json::nullValue);
assert(jvi["goals"] != Json::nullValue);
assert(jvi["obst"] != Json::nullValue);
this->nodes().front().y(jvi["init"][1].asDouble());
this->nodes().front().h(jvi["init"][2].asDouble());
{
- RRTNode tmp_node;
- tmp_node.x(jvi["goal"][0].asDouble());
- tmp_node.y(jvi["goal"][1].asDouble());
- tmp_node.h(jvi["goal"][2].asDouble());
- this->goals().push_back(tmp_node);
+ RRTNode* gp = nullptr;
+ if (jvi["entry"] != Json::nullValue) {
+ this->entry_set = true;
+ this->entry.x = jvi["entry"][0].asDouble();
+ this->entry.y = jvi["entry"][1].asDouble();
+ this->entry.b = jvi["entry"][2].asDouble();
+ this->entry.e = jvi["entry"][3].asDouble();
+ RRTNode tmp_node;
+ tmp_node.x(this->entry.x);
+ tmp_node.y(this->entry.y);
+ tmp_node.h((this->entry.b + this->entry.e) / 2.0);
+ this->goals().push_back(tmp_node);
+ this->goals().back().p(gp);
+ gp = &this->goals().back();
+ }
+ if (jvi["entries"] != Json::nullValue) {
+ this->entries_set = true;
+ this->entry1.x = jvi["entries"][0][0].asDouble();
+ this->entry1.y = jvi["entries"][0][1].asDouble();
+ this->entry1.h = jvi["entries"][0][2].asDouble();
+ this->entry2.x = jvi["entries"][1][0].asDouble();
+ this->entry2.y = jvi["entries"][1][1].asDouble();
+ this->entry2.h = jvi["entries"][1][2].asDouble();
+ }
for (auto g: jvi["goals"]) {
+ RRTNode tmp_node;
tmp_node.x(g[0].asDouble());
tmp_node.y(g[1].asDouble());
tmp_node.h(g[2].asDouble());
this->goals().push_back(tmp_node);
+ this->goals().back().p(gp);
+ gp = &this->goals().back();
}
+ this->goals().front().set_t(RRTNodeType::cusp);
+ this->goals().back().set_t(RRTNodeType::cusp);
}
{
Obstacle tmp_obstacle;
projects / hubacji1 / rrts.git / blobdiff