+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
#include <algorithm>
#include <cassert>
#include "rrts.hh"
+#ifndef USE_RRTS
+#define USE_RRTS 0 // TODO improve, this solution isn't clear.
+#endif
+
namespace rrts {
void
}
}
+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)
{
}
void
-RRTS::recompute_path_cc()
+RRTS::recompute_cc(RRTNode* g)
{
this->path_.clear();
- RRTNode* g = &this->goal_;
while (g != nullptr) {
this->path_.push_back(g);
g = g->p();
}
}
+void
+RRTS::recompute_path_cc()
+{
+ this->recompute_cc(&this->goal_);
+}
+
double
RRTS::min_gamma_eta() const
{
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;
}
{
RRTNode* f = this->nn_;
RRTNode* t = &this->steered_.front();
+#if USE_RRTS
double cost = f->cc() + this->cost_build(*f, *t);
for (auto n: this->nv_) {
double nc = n->cc() + this->cost_build(*n, *t);
if (!this->bc_.drivable(*t)) {
f = this->nn_;
}
+#endif
this->store(this->steered_.front());
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;
}
std::reverse(this->path_.begin(), this->path_.end());
}
-RRTS::RRTS() : gen_(std::random_device{}()), goal_(0.0, 0.0, 0.0, 0.0)
+RRTS::RRTS() : goal_(0.0, 0.0, 0.0, 0.0), gen_(std::random_device{}())
{
this->nodes_.reserve(4000000);
this->steered_.reserve(1000);
this->store(RRTNode()); // root
}
+BicycleCar &
+RRTS::bc()
+{
+ return this->bc_;
+}
+
+void
+RRTS::set_imax_reset(unsigned int i)
+{
+ this->_imax = i;
+}
+
+void
+RRTS::set_goal(double x, double y, double b, double e)
+{
+ this->goal_ = RRTGoal(x, y, b, e);
+}
+
+void
+RRTS::set_start(double x, double y, double h)
+{
+ this->nodes_.front().x(x);
+ this->nodes_.front().y(y);
+ this->nodes_.front().h(h);
+}
+
+std::vector<Pose>
+RRTS::get_path() const
+{
+ std::vector<Pose> path;
+ for (auto n: this->path_) {
+ path.push_back(Pose(n->x(), n->y(), n->h()));
+ }
+ return path;
+}
+
+double
+RRTS::get_path_cost() const
+{
+ return this->goal_.cc();
+}
+
unsigned int
RRTS::icnt() const
{
return this->ter_.scnt();
}
+double
+RRTS::eta() const
+{
+ return this->eta_;
+}
+
+void
+RRTS::eta(double e)
+{
+ this->eta_ = e;
+}
+
Json::Value
RRTS::json() const
{
{
assert(jvi["init"] != Json::nullValue);
assert(jvi["goal"] != Json::nullValue);
- assert(jvi["obst"] != Json::nullValue);
this->nodes_.front().x(jvi["init"][0].asDouble());
this->nodes_.front().y(jvi["init"][1].asDouble());
this->nodes_.front().h(jvi["init"][2].asDouble());
if (this->collide_steered()) {
return this->should_continue();
}
+#if USE_RRTS
this->find_nv(this->steered_.front());
+#endif
if (!this->connect()) {
return this->should_continue();
}
+#if USE_RRTS
this->rewire();
+#endif
unsigned int ss = this->steered_.size();
this->join_steered(&this->nodes_.back());
RRTNode* just_added = &this->nodes_.back();