Add and use #cusp

[hubacji1/rrts.git] / src / rrts.cc

diff --git a/src/rrts.cc b/src/rrts.cc
index 029997e1c73173a702f1bc9712fc698ddd923d03..68b4f6e32171f554e026f3bb171a820f970ff07f 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -1,3 +1,9 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
 #include <algorithm>
 #include <cassert>
 #include "rrts.hh"
@@ -53,12 +59,48 @@ RRTNode::p(RRTNode& p)
        }
 }
 
+unsigned int
+RRTNode::cusp() const
+{
+       return this->cusp_;
+}
+
+void
+RRTNode::cusp(RRTNode const& p)
+{
+       this->cusp_ = p.cusp();
+       if (this->sp() != p.sp() || this->sp() == 0.0) {
+               this->cusp_++;
+       }
+}
+
 bool
 RRTNode::operator==(RRTNode const& n)
 {
        return this == &n;
 }
 
+void
+RRTS::recompute_cc(RRTNode* g)
+{
+       this->path_.clear();
+       while (g != nullptr) {
+               this->path_.push_back(g);
+               g = g->p();
+       }
+       std::reverse(this->path_.begin(), this->path_.end());
+       for (unsigned int i = 1; i < this->path_.size(); i++) {
+               this->path_[i]->c(this->cost_build(*this->path_[i - 1],
+                       *this->path_[i]));
+       }
+}
+
+void
+RRTS::recompute_path_cc()
+{
+       this->recompute_cc(&this->goal_);
+}
+
 double
 RRTS::min_gamma_eta() const
 {
@@ -81,6 +123,7 @@ RRTS::join_steered(RRTNode* f)
                RRTNode* t = &this->nodes_.back();
                t->p(*f);
                t->c(this->cost_build(*f, *t));
+               t->cusp(*f);
                this->steered_.erase(this->steered_.begin());
                f = t;
        }
@@ -116,6 +159,7 @@ RRTS::connect()
        t = &this->nodes_.back();
        t->p(*f);
        t->c(this->cost_build(*f, *t));
+       t->cusp(*f);
        this->steered_.erase(this->steered_.begin());
        return true;
 }
@@ -285,8 +329,7 @@ RRTS::next()
        double d1 = this->cost_search(this->nodes_.front(), rs);
        double d2 = this->cost_search(rs, this->goal_);
        if (this->last_goal_cc_ != 0.0 && d1 + d2 > this->last_goal_cc_) {
-               this->icnt_ -= 1;
-               return this->should_continue();
+               rs = this->last_path_[rand() % this->last_path_.size()];
        }
 }
 #endif
@@ -340,6 +383,10 @@ RRTS::reset()
 {
        if (this->goal_.cc() != 0.0 && this->goal_.cc() < this->last_goal_cc_) {
                this->last_goal_cc_ = this->goal_.cc();
+               this->last_path_.clear();
+               for (auto n: this->path_) {
+                       this->last_path_.push_back(*n);
+               }
        }
        this->goal_ = RRTGoal(this->goal_.x(), this->goal_.y(), this->goal_.b(),
                this->goal_.e());