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[1mdiff --git a/ewok_optimization/include/ewok/rrtstar3d.h b/ewok_optimization/include/ewok/rrtstar3d.h[m
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[1m--- a/ewok_optimization/include/ewok/rrtstar3d.h[m
[1m+++ b/ewok_optimization/include/ewok/rrtstar3d.h[m
[36m@@ -1,1632 +1,866 @@[m
#ifndef RRTSTAR3D_H[m
#define RRTSTAR3D_H[m
[m
[31m-#include <ewok/ed_ring_buffer.h>[m
[31m-#include <ewok/polynomial_trajectory_3d.h>[m
[31m-#include <ewok/uniform_bspline_3d.h>[m
[31m-#include <ros/console.h>[m
[31m-#include <ros/ros.h>[m
[31m-#include <std_msgs/ColorRGBA.h>[m
[32m+[m[32m#include <Eigen/Eigen>[m
#include <visualization_msgs/Marker.h>[m
#include <visualization_msgs/MarkerArray.h>[m
[31m-#include <Eigen/Eigen>[m
[32m+[m[32m#include <ewok/ed_ring_buffer.h>[m
[32m+[m[32m#include <ewok/uniform_bspline_3d.h>[m
[32m+[m[32m#include <ewok/polynomial_trajectory_3d.h>[m
#include <algorithm>[m
[31m-#include <boost/thread.hpp>[m
[31m-#include <boost/thread/mutex.hpp>[m
[31m-#include <chrono>[m
[31m-#include <functional>[m
[32m+[m[32m#include <vector>[m
#include <iostream>[m
#include <memory>[m
[31m-#include <queue>[m
[32m+[m[32m#include <chrono>[m
#include <random>[m
[31m-#include <vector>[m
[32m+[m[32m#include <ros/ros.h>[m
[32m+[m[32m#include <ros/console.h>[m
[32m+[m[32m#include <boost/thread.hpp>[m
[32m+[m[32m#include <boost/thread/mutex.hpp>[m
[32m+[m[32m#include <functional>[m
[m
[31m-namespace ewok[m
[31m-{[m
[31m-template <int _N, typename _Scalar = double, typename _Datatype = int16_t>[m
[32m+[m[32mnamespace ewok {[m
[32m+[m
[32m+[m[32mtemplate<int _N, typename _Scalar = float>[m
class RRTStar3D[m
{[m
public:[m
[31m- typedef Eigen::Matrix<_Scalar, 3, 1> Vector3;[m
[31m- typedef Eigen::Matrix<_Scalar, 3, 3> Matrix3;[m
[31m- typedef Eigen::Matrix<_Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixX;[m
[31m- typedef Eigen::Transform<_Scalar, 3, Eigen::Affine> Affine3;[m
[31m-[m
[31m- typedef Eigen::Matrix<int, 3, 1> Vector3i;[m
[31m- typedef std::tuple<Vector3, Vector3, bool> Edge;[m
[31m- typedef std::pair<Vector3, Vector3> PPoint;[m
[31m- typedef std::pair<Vector3, bool> PointBool;[m
[31m- typedef std::pair<Eigen::Vector3f, bool> PointBoolF;[m
[31m-[m
[31m- typedef std::shared_ptr<RRTStar3D<_N, _Scalar>> Ptr;[m
[31m-[m
[31m- struct Node[m
[31m- {[m
[31m- std::vector<Node*> children_;[m
[31m- Node* parent_ = NULL;[m
[31m- Vector3 pos_;[m
[31m- _Scalar cost_;[m
[31m- };[m
[31m-[m
[31m- RRTStar3D(typename ewok::PolynomialTrajectory3D<10, _Scalar>::Ptr& trajectory, _Scalar step_size = 0.5,[m
[31m- _Scalar rrt_factor = 1.5, _Scalar radius = 1, _Scalar solve_tmax = 1, _Scalar dt = 0.5)[m
[31m- : trajectory_(trajectory)[m
[31m- , spline_(dt)[m
[31m- , step_size_(step_size)[m
[31m- , rrt_factor_(rrt_factor)[m
[31m- , radius_(radius)[m
[31m- , debugging_(true)[m
[31m- , running_(false)[m
[31m- , request_(false)[m
[31m- , flat_height(false)[m
[31m- , allowed_search(false)[m
[31m- , sampling_alpha(0.2)[m
[31m- , sampling_beta(1.5)[m
[31m- , cp_opt_start_idx(_N)[m
[31m- , max_solve_t_(solve_tmax)[m
[31m- , dt_(dt)[m
[31m- , algorithm_(true)[m
[31m- {[m
[31m- solved_ = false;[m
[31m- immidiate_path_ = false;[m
[31m- get_immidiate_path = false;[m
[31m-[m
[31m- current_t = 0;[m
[31m- max_neighbours_ = 5;[m
[31m- max_radius_ = 1.5;[m
[31m-[m
[31m- flag_rrt_started = flag_rrt_finished = false;[m
[31m- flag_req_immidiate = flag_gen_immidiate = flag_rrt_immidiate = false;[m
[31m- flag_not_enough = flag_force_stopped = false;[m
[31m- flag_start_found = flag_stop_found = false;[m
[31m- traj_point_counter = _N;[m
[31m- flag_hold_dt = false;[m
[31m- flag_force_endpoint = false;[m
[31m- flag_real_target = false;[m
[31m- }[m
[31m-[m
[31m- RRTStar3D(_Scalar step_size = 0.5, _Scalar rrt_factor = 1.5, _Scalar radius = 1, _Scalar solve_tmax = 1,[m
[31m- _Scalar dt = 0.5)[m
[31m- : spline_(dt)[m
[31m- , step_size_(step_size)[m
[31m- , rrt_factor_(rrt_factor)[m
[31m- , radius_(radius)[m
[31m- , debugging_(false)[m
[31m- , running_(false)[m
[31m- , request_(false)[m
[31m- , flat_height(false)[m
[31m- , allowed_search(false)[m
[31m- , sampling_alpha(0.2)[m
[31m- , sampling_beta(1.5)[m
[31m- , cp_opt_start_idx(_N)[m
[31m- , max_solve_t_(solve_tmax)[m
[31m- , dt_(dt)[m
[31m- , algorithm_(true)[m
[31m- {[m
[31m- solved_ = false;[m
[31m- immidiate_path_ = false;[m
[31m- get_immidiate_path = false;[m
[31m-[m
[31m- current_t = 0;[m
[31m- max_neighbours_ = 5;[m
[31m- max_radius_ = 1.5;[m
[31m-[m
[31m- flag_rrt_started = flag_rrt_finished = false;[m
[31m- flag_req_immidiate = flag_gen_immidiate = flag_rrt_immidiate = false;[m
[31m- flag_not_enough = flag_force_stopped = false;[m
[31m- flag_start_found = flag_stop_found = false;[m
[31m- traj_point_counter = _N;[m
[31m- flag_hold_dt = false;[m
[31m- flag_hold_pos = false;[m
[31m- flag_hold_pos_immidiate = false;[m
[31m- flag_hold_starting_rrt = false;[m
[31m- flag_vizualize_output = false;[m
[31m- time_stamped = false;[m
[31m- }[m
[31m-[m
[31m- void reset()[m
[31m- {[m
[31m- nodes_.clear();[m
[31m- path_point_.clear();[m
[31m- edges_.clear();[m
[31m- solved_ = false;[m
[31m- }[m
[31m-[m
[31m- void initialize()[m
[31m- {[m
[31m- nodes_.clear();[m
[31m- edges_.clear();[m
[31m-[m
[31m- root_ = new Node;[m
[31m- root_->parent_ = NULL;[m
[31m- root_->pos_ = start_;[m
[31m- root_->cost_ = 0;[m
[31m- lastNode_ = root_;[m
[31m- nodes_.push_back(root_);[m
[31m-[m
[31m- goal_node = new Node;[m
[31m- }[m
[31m-[m
[31m- void setRobotPos(const Vector3& pos)[m
[31m- {[m
[31m- robot_pos = pos;[m
[31m-[m
[31m- if (!allowed_search && running_)[m
[31m- if (distance(robot_pos, start_) < 1)[m
[31m- allowed_search = true;[m
[31m-[m
[31m- if (running_ && immidiate_path_)[m
[31m- if (distance(robot_pos, immidiate_point_) < 1.5)[m
[32m+[m[32m typedef Eigen::Matrix<_Scalar, 3, 1> Vector3;[m
[32m+[m[32m typedef Eigen::Matrix<_Scalar, 3, 3> Matrix3;[m
[32m+[m[32m typedef Eigen::Matrix<_Scalar, Eigen::Dynamic, Eigen::Dynamic> MatrixX;[m
[32m+[m
[32m+[m[32m typedef Eigen::Matrix<int, 3, 1> Vector3i;[m
[32m+[m[32m typedef std::tuple<Vector3, Vector3, bool> Edge;[m
[32m+[m
[32m+[m
[32m+[m[32m typedef std::shared_ptr<RRTStar3D<_N, _Scalar>> Ptr;[m
[32m+[m
[32m+[m[32m struct Node{[m
[32m+[m
[32m+[m[32m std::vector<Node *> children_;[m
[32m+[m[32m Node *parent_ = NULL;[m
[32m+[m[32m Vector3 pos_;[m
[32m+[m[32m _Scalar cost_;[m
[32m+[m[32m };[m
[32m+[m
[32m+[m[32m RRTStar3D(ewok::PolynomialTrajectory3D<10>::Ptr & trajectory, _Scalar step_size=0.5, _Scalar rrt_factor=1.5, _Scalar radius=1, _Scalar solve_tmax=1,_Scalar dt=0.5)[m
[32m+[m[32m : trajectory_(trajectory),[m
[32m+[m[32m spline_(dt),[m
[32m+[m[32m step_size_(step_size),[m
[32m+[m[32m rrt_factor_(rrt_factor),[m
[32m+[m[32m radius_(radius),[m
[32m+[m[32m debugging_(false),[m
[32m+[m[32m running_(false),[m
[32m+[m[32m request_(false),[m
[32m+[m[32m flat_height(false),[m
[32m+[m[32m allowed_search(false),[m
[32m+[m[32m sampling_alpha(0.2),[m
[32m+[m[32m sampling_beta(1.5),[m
[32m+[m[32m cp_opt_start_idx(_N),[m
[32m+[m[32m max_solve_t_(solve_tmax)[m
[32m+[m[32m {[m
[32m+[m[32m solved_ = false;[m
immidiate_path_ = false;[m
[31m- }[m
[31m-[m
[31m- void setRobotPose(const Affine3& m)[m
[31m- {[m
[31m- robot_pose_ = m;[m
[31m- }[m
[31m-[m
[31m- void setNumControlPointsOptimized(int n)[m
[31m- {[m
[31m- num_cp_opt = n;[m
[31m- }[m
[31m-[m
[31m- void setPolynomialTrajectory(typename ewok::PolynomialTrajectory3D<10, _Scalar>::Ptr& trajectory)[m
[31m- {[m
[31m- trajectory_ = trajectory;[m
[31m- }[m
[31m-[m
[31m- void setDistanceBuffer(typename ewok::EuclideanDistanceRingBuffer<_N, _Datatype, _Scalar>::Ptr& edrb)[m
[31m- {[m
[31m- edrb_ = edrb;[m
[31m- }[m
[31m-[m
[31m- // void setDistanceBuffer(ewok::EuclideanDistanceRingBuffer<6>::Ptr& edrb)[m
[31m- // {[m
[31m- // edrb_ = edrb;[m
[31m- // }[m
[31m-[m
[31m- void addControlPoint(const Vector3& point, int num = 1)[m
[31m- {[m
[31m- for (int i = 0; i < num; i++)[m
[32m+[m[32m get_immidiate_path = false;[m
[32m+[m
[32m+[m[32m max_neighbours_ = 5;[m
[32m+[m[32m max_radius_ = 1.5;[m
[32m+[m[32m }[m
[32m+[m
[32m+[m[32m void reset()[m
{[m
[31m- spline_.push_back(point);[m
[31m- path_list.push_back(point);[m
[31m- traj_points.push_back(point);[m
[32m+[m[32m nodes_.clear();[m
[32m+[m[32m path_point_.clear();[m
[32m+[m[32m edges_.clear();[m
[32m+[m[32m solved_ = false;[m
}[m
[31m- }[m
[31m-[m
[31m- void addLastControlPoint()[m
[31m- {[m
[31m- // if (cp_opt_start_idx < spline_.size() - 1)[m
[31m- // cp_opt_start_idx++;[m
[31m- if (cp_opt_start_idx < path_list.size() - 1)[m
[31m- cp_opt_start_idx++;[m
[31m- }[m
[31m-[m
[31m- Vector3 getFirstTrajPoint()[m
[31m- {[m
[31m- // return spline_.getControlPoint(cp_opt_start_idx);[m
[31m- return path_list[cp_opt_start_idx];[m
[31m- }[m
[31m-[m
[31m- UniformBSpline3D<_N, _Scalar> getSpline()[m
[31m- {[m
[31m- return spline_;[m
[31m- }[m
[31m-[m
[31m- bool isSolved()[m
[31m- {[m
[31m- return solved_;[m
[31m- }[m
[31m-[m
[31m- bool isRunnning()[m
[31m- {[m
[31m- return running_;[m
[31m- }[m
[31m-[m
[31m- bool immidiatePath()[m
[31m- {[m
[31m- return get_immidiate_path;[m
[31m- }[m
[31m-[m
[31m- std::list<Vector3> getPathPoints()[m
[31m- {[m
[31m- return path_point_;[m
[31m- }[m
[31m- std::list<Vector3> getImmidiatePath()[m
[31m- {[m
[31m- return path_point_;[m
[31m- }[m
[31m- void resetImmidiatePath()[m
[31m- {[m
[31m- get_immidiate_path = false;[m
[31m- }[m
[31m-[m
[31m- void setStartPoint(Vector3 start)[m
[31m- {[m
[31m- if (running_)[m
[32m+[m
[32m+[m[32m void initialize()[m
{[m
[31m- temp_start_ = start;[m
[31m- request_ = true;[m
[32m+[m[32m nodes_.clear();[m
[32m+[m[32m edges_.clear();[m
[32m+[m
[32m+[m[32m root_ = new Node;[m
[32m+[m[32m root_->parent_ = NULL;[m
[32m+[m[32m root_->pos_= start_;[m
[32m+[m[32m root_->cost_ = 0;[m
[32m+[m[32m lastNode_ = root_;[m
[32m+[m[32m nodes_.push_back(root_);[m
[32m+[m
[32m+[m[32m goal_node = new Node;[m
}[m
[31m- else[m
[32m+[m
[32m+[m[32m void setRobotPos(const Vector3 &pos)[m
{[m
[31m- start_ = start;[m
[31m- edges_.clear();[m
[32m+[m[32m robot_pos = pos;[m
[32m+[m
[32m+[m[32m if(!allowed_search && running_)[m
[32m+[m[32m if(distance(robot_pos, start_) < 1)[m
[32m+[m[32m allowed_search = true;[m
[32m+[m
[32m+[m[32m if(running_ && immidiate_path_)[m
[32m+[m[32m if(distance(robot_pos, immidiate_point_) < 1.5)[m
[32m+[m[32m immidiate_path_ = false;[m
[32m+[m
}[m
[m
[31m- initialize();[m
[31m- }[m
[32m+[m[32m void setNumControlPointsOptimized(int n) {[m
[32m+[m[32m num_cp_opt = n;[m
[32m+[m[32m }[m
[m
[31m- void setTargetPoint(Vector3 target, bool real_target = true)[m
[31m- {[m
[31m- real_target_ = real_target;[m
[31m- target_ = target;[m
[31m- goal_node->pos_ = target;[m
[31m- global_min_cost = distance(start_, target_);[m
[32m+[m[32m void setDistanceBuffer(EuclideanDistanceRingBuffer<6>::Ptr & edrb) {[m
[32m+[m[32m edrb_ = edrb;[m
[32m+[m[32m }[m
[m
[31m- // Vector3 x_center = (start_+target_)/2;[m
[31m- // Vector3 id1 = Vector3(1,0,0);[m
[32m+[m[32m void addControlPoint(const Vector3 &point, int num = 1) {[m
[32m+[m[32m for (int i = 0; i < num; i++) {[m
[32m+[m[32m spline_.push_back(point);[m
[32m+[m[32m }[m
[32m+[m[32m }[m
[m
[31m- // Vector3 a_1 = (target_-start_)/Vector3(target_-start_).norm();[m
[31m- // Matrix3 M = a_1*id1.transpose();[m
[32m+[m[32m void addLastControlPoint() {[m
[32m+[m[32m if(cp_opt_start_idx < spline_.size()-1)[m
[32m+[m[32m cp_opt_start_idx++;[m
[32m+[m[32m }[m
[m
[31m- // Eigen::JacobiSVD<MatrixX> svd(M, Eigen::ComputeThinU | Eigen::ComputeThinV);[m
[32m+[m[32m Vector3 getFirstTrajPoint() {[m
[32m+[m[32m return spline_.getControlPoint(cp_opt_start_idx);[m
[32m+[m[32m }[m
[m
[31m- // Eigen::DiagonalMatrix<_Scalar, 3> diag(1, 1, svd.matrixU().determinant()*svd.matrixV().determinant());[m
[32m+[m[32m UniformBSpline3D<_N, _Scalar> getSpline(){return spline_;}[m
[m
[31m- // C_rotation = svd.matrixU() * diag * svd.matrixV().transpose();[m
[31m- // }[m
[31m- }[m
[32m+[m[32m bool isSolved() {return solved_;}[m
[m
[31m- void setHeight(Vector3 point, bool status = true)[m
[31m- {[m
[31m- flat_height = status;[m
[31m- height_ = point;[m
[31m- }[m
[32m+[m[32m bool isRunnning() {return running_;}[m
[m
[31m- _Scalar getStepSize()[m
[31m- {[m
[31m- return step_size_;[m
[31m- }[m
[32m+[m[32m bool immidiatePath() {return get_immidiate_path;}[m
[m
[31m- _Scalar getCost(Node* n)[m
[31m- {[m
[31m- if (n->parent_ == NULL)[m
[31m- return n->cost_;[m
[31m- else[m
[32m+[m[32m std::list<Vector3> getPathPoints() {return path_point_;}[m
[32m+[m[32m std::list<Vector3> getImmidiatePath() {return path_point_;}[m
[32m+[m[32m void resetImmidiatePath() {get_immidiate_path = false;}[m
[32m+[m
[32m+[m[32m void setStartPoint(Vector3 start)[m
{[m
[31m- return n->cost_ + getCost(n->parent_);[m
[32m+[m[32m if(running_)[m
[32m+[m[32m {[m
[32m+[m[32m temp_start_ = start;[m
[32m+[m[32m request_ = true;[m
[32m+[m[32m }[m
[32m+[m[32m else {[m
[32m+[m[32m start_=start;[m
[32m+[m[32m edges_.clear();[m
[32m+[m[32m }[m
[32m+[m
[32m+[m
[32m+[m[32m initialize();[m
[32m+[m
}[m
[31m- }[m
[31m-[m
[31m- _Scalar getDistCost(Node* p, Node* q)[m
[31m- {[m
[31m- return distance(q->pos_, p->pos_);[m
[31m- }[m
[31m-[m
[31m- _Scalar distance(Vector3& p1, Vector3& p2)[m
[31m- {[m
[31m- return (p2 - p1).norm();[m
[31m- }[m
[31m-[m
[31m- bool isNear(Vector3& point, _Scalar tol = 2)[m
[31m- {[m
[31m- if (distance(point, target_) < tol)[m
[31m- return true;[m
[31m- return false;[m
[31m- }[m
[31m-[m
[31m- bool isCollision(Node* p, Node* q)[m
[31m- {[m
[31m- mutex.lock();[m
[31m- if (!edrb_.get())[m
[32m+[m
[32m+[m[32m void setTargetPoint(Vector3 target, bool real_target=true)[m
{[m
[31m- ROS_INFO_COND_NAMED(debugging_, "RRT PLANNER", "EDRB ERROR");[m
[31m- return true;[m
[31m- }[m
[31m- bool collision = false;[m
[m
[31m- std::vector<Vector3> point_check;[m
[32m+[m[32m real_target_ = real_target;[m
[32m+[m[32m target_=target;[m
[32m+[m[32m goal_node->pos_ = target;[m
[32m+[m[32m global_min_cost = distance(start_, target_);[m
[32m+[m
[32m+[m[32m// Vector3 x_center = (start_+target_)/2;[m
[32m+[m[32m// Vector3 id1 = Vector3(1,0,0);[m
[32m+[m
[32m+[m[32m// Vector3 a_1 = (target_-start_)/Vector3(target_-start_).norm();[m
[32m+[m[32m// Matrix3 M = a_1*id1.transpose();[m
[32m+[m
[32m+[m[32m// Eigen::JacobiSVD<MatrixX> svd(M, Eigen::ComputeThinU | Eigen::ComputeThinV);[m
[32m+[m
[32m+[m[32m// Eigen::DiagonalMatrix<_Scalar, 3> diag(1, 1, svd.matrixU().determinant()*svd.matrixV().determinant());[m
[32m+[m
[32m+[m[32m// C_rotation = svd.matrixU() * diag * svd.matrixV().transpose();[m
[32m+[m[32m// }[m
[m
[31m- Vector3 len = (q->pos_ - p->pos_);[m
[31m- point_check.push_back(p->pos_ + 0 * len);[m
[31m- point_check.push_back(p->pos_ + 0.5 * len);[m
[31m- point_check.push_back(p->pos_ + 1 * len);[m
[m
[31m- for (Vector3 pt : point_check)[m
[31m- {[m
[31m- collision = edrb_->isNearObstacle(pt, radius_);[m
[31m- if (collision)[m
[31m- break;[m
}[m
[m
[31m- mutex.unlock();[m
[31m-[m
[31m- return collision;[m
[31m- }[m
[31m-[m
[31m- _Scalar getRandomNumber(_Scalar a, _Scalar b)[m
[31m- {[m
[31m- std::random_device rseed;[m
[31m- std::mt19937 rng(rseed());[m
[31m- std::uniform_real_distribution<_Scalar> dist(a, b);[m
[31m- _Scalar num = dist(rng);[m
[31m-[m
[31m- return num;[m
[31m- }[m
[31m-[m
[31m- Vector3 EllipsoidSampling()[m
[31m- {[m
[31m- double phi = getRandomNumber(0, 2 * M_PI);[m
[31m- double costheta = getRandomNumber(-1, 1);[m
[31m- double r = std::cbrt(getRandomNumber(0, 1));[m
[31m-[m
[31m- double theta = acos(costheta);[m
[31m-[m
[31m- double x = r * sin(theta) * cos(phi);[m
[31m- double y = r * sin(theta) * sin(phi);[m
[31m- double z = r * cos(theta);[m
[31m-[m
[31m- Node* rand = new Node;[m
[31m- rand->position_ = Vector3(x, y, z);[m
[31m- return rand;[m
[31m- }[m
[31m-[m
[31m- Vector3 LineSampling()[m
[31m- {[m
[31m- Node* near_n = getNearestNode(goal_node);[m
[31m- Vector3 len = goal_node->pos_ - near_n->pos_;[m
[31m- len = len / len.norm();[m
[31m-[m
[31m- Vector3 point = near_n->pos_ + len * getStepSize();[m
[31m- Vector3i point_idx;[m
[31m- edrb_->getIdxBuffer(point, point_idx);[m
[31m- if (edrb_->insideVolume(point) && !edrb_->isOccupied(point_idx))[m
[31m- return point;[m
[31m- else[m
[32m+[m[32m void setHeight(Vector3 point, bool status=true)[m
{[m
[31m- return UniformSampling();[m
[32m+[m[32m flat_height=status;[m
[32m+[m[32m height_ = point;[m
}[m
[31m- }[m
[m
[31m- Vector3 UniformSampling()[m
[31m- {[m
[31m- Vector3 point_min, point_max, rand_point, center_point;[m
[31m- Vector3i point_idx, center_idx;[m
[31m- edrb_->getVolumeMinMax(point_min, point_max);[m
[31m- center_idx = edrb_->getVolumeCenter();[m
[31m- edrb_->getPointBuffer(center_idx, center_point);[m
[32m+[m[32m _Scalar getStepSize()[m
[32m+[m[32m {[m
[32m+[m[32m return step_size_;[m
[32m+[m[32m }[m
[m
[31m- do[m
[32m+[m[32m _Scalar getCost(Node* n)[m
{[m
[31m- if (flat_height)[m
[31m- rand_point = Vector3(getRandomNumber(point_min.x(), point_max.x()),[m
[31m- getRandomNumber(point_min.y(), point_max.y()), height_.z());[m
[31m- else[m
[31m- {[m
[31m- rand_point = Vector3(getRandomNumber(point_min.x(), point_max.x()),[m
[31m- getRandomNumber(point_min.y(), point_max.y()), getRandomNumber(0, point_max.z()));[m
[31m- }[m
[31m- edrb_->getIdxBuffer(rand_point, point_idx);[m
[31m-[m
[31m- } while (edrb_->isOccupied(point_idx));[m
[31m-[m
[31m- return rand_point;[m
[31m- }[m
[31m-[m
[31m- Node* getRandomSampling()[m
[31m- {[m
[31m- Vector3 pos;[m
[31m- _Scalar P_r = getRandomNumber(0, 1);[m
[31m-[m
[31m- if (P_r > 1 - sampling_alpha)[m
[32m+[m[32m if(n->parent_ == NULL)[m
[32m+[m[32m return n->cost_;[m
[32m+[m[32m else {[m
[32m+[m[32m return n->cost_+getCost(n->parent_);[m
[32m+[m[32m }[m
[32m+[m[32m }[m
[32m+[m
[32m+[m[32m _Scalar getDistCost(Node* p, Node* q)[m
{[m
[31m- ROS_INFO_COND_NAMED(debugging_, "RRT PLANNER", "Line Sampling");[m
[31m- pos = LineSampling();[m
[32m+[m[32m return distance(q->pos_, p->pos_);[m
}[m
[m
[31m- else if (P_r <= (1 - sampling_alpha) / sampling_beta)[m
[32m+[m[32m _Scalar distance(Vector3 &p1, Vector3 &p2)[m
{[m
[31m- ROS_INFO_COND_NAMED(debugging_, "RRT PLANNER", "Uniform Sampling");[m
[31m- pos = UniformSampling();[m
[32m+[m[32m return (p2-p1).norm();[m
}[m
[m
[31m- else[m
[32m+[m[32m bool isNear(Vector3 &point, _Scalar tol=2)[m
{[m
[31m- ROS_INFO_COND_NAMED(debugging_, "RRT PLANNER", "Ellipsoid");[m
[31m- pos = UniformSampling();[m
[32m+[m[32m if(distance(point, target_) < tol)[m
[32m+[m[32m return true;[m
[32m+[m[32m return false;[m
}[m
[m
[31m- Node* rand_node = new Node;[m
[31m- rand_node->pos_ = pos;[m
[31m- return rand_node;[m
[31m- }[m
[32m+[m[32m bool isCollision(Node* p, Node* q)[m
[32m+[m[32m {[m
[32m+[m[32m mutex.lock();[m
[32m+[m[32m if(!edrb_.get())[m
[32m+[m[32m {[m
[32m+[m[32m ROS_DEBUG_COND_NAMED(debugging_, "RRT PLANNER", "EDRB ERROR");[m
[32m+[m[32m return true;[m
[32m+[m[32m }[m
[32m+[m[32m bool collision=false;[m
[m
[31m- Node* getNearestNodeDistance(Node* node_, _Scalar max_distance = 1)[m
[31m- {[m
[31m- _Scalar minCost = 0;[m
[31m- _Scalar minDist = distance(node_->pos_, target_);[m
[31m- Node* closest = new Node;[m
[32m+[m[32m std::vector<Vector3> point_check;[m
[m
[31m- for (int i = 0; i < (int)nodes_.size(); i++)[m
[31m- {[m
[31m- _Scalar dist2origin = distance(node_->pos_, nodes_[i]->pos_);[m
[31m- _Scalar dist2target = distance(nodes_[i]->pos_, target_);[m
[31m- _Scalar cost = getCost(nodes_[i]);[m
[31m- if (dist2origin < max_distance && dist2target < minDist && cost > minCost)[m
[31m- {[m
[31m- minDist = dist2target;[m
[31m- minCost = cost;[m
[31m- closest = nodes_[i];[m
[31m- }[m
[31m- }[m
[31m- return closest;[m
[31m- }[m
[32m+[m[32m Vector3 len = (q->pos_-p->pos_);[m
[32m+[m[32m point_check.push_back(p->pos_+0*len);[m
[32m+[m[32m point_check.push_back(p->pos_+0.5*len);[m
[32m+[m[32m point_check.push_back(p->pos_+1*len);[m
[m
[31m- Node* getNearestNode(Node* node_)[m
[31m- {[m
[31m- _Scalar minDist = std::numeric_limits<_Scalar>::max();[m
[31m- Node* closest = NULL;[m
[32m+[m[32m for(Vector3 pt: point_check)[m
[32m+[m[32m {[m
[32m+[m[32m collision = edrb_->isNearObstacle(pt, radius_);[m
[32m+[m[32m if(collision) break;[m
[32m+[m[32m }[m
[m
[31m- for (int i = 0; i < (int)nodes_.size(); i++)[m
[31m- {[m
[31m- _Scalar dist = distance(node_->pos_, nodes_[i]->pos_);[m
[31m- if (dist < minDist)[m
[31m- {[m
[31m- minDist = dist;[m
[31m- closest = nodes_[i];[m
[31m- }[m
[32m+[m[32m mutex.unlock();[m
[32m+[m[32m \[m
[32m+[m[32m return collision;[m
}[m
[31m- return closest;[m
[31m- }[m
[m
[31m- void getNearestNodes(Node* node, _Scalar radius, std::vector<Node*>& near)[m
[31m- {[m
[31m- for (auto n : nodes_)[m
[32m+[m[32m _Scalar getRandomNumber(_Scalar a, _Scalar b)[m
{[m
[31m- _Scalar dist = distance(node->pos_, n->pos_);[m
[31m- if (dist < radius * rrt_factor_)[m
[31m- near.push_back(n);[m
[32m+[m[32m std::random_device rseed;[m
[32m+[m[32m std::mt19937 rng(rseed());[m
[32m+[m[32m std::uniform_real_distribution<_Scalar> dist(a,b);[m
[32m+[m[32m _Scalar num = dist(rng);[m
[32m+[m
[32m+[m[32m return num;[m
}[m
[31m- }[m
[31m-[m
[31m- Node* getConfigurationNode(Node* q, Node* nearest_)[m
[31m- {[m
[31m- Vector3 q_pos = q->pos_;[m
[31m- Vector3 near_pos = nearest_->pos_;[m
[31m- Vector3 midPos = q_pos - near_pos;[m
[31m- midPos = midPos / midPos.norm();[m
[31m-[m
[31m- Node* node_ = new Node;[m
[31m- node_->pos_ = near_pos + getStepSize() * midPos;[m
[31m- return node_;[m
[31m- }[m
[31m-[m
[31m- void findPath(int iter = 2000)[m
[31m- {[m
[31m- if (request_)[m
[32m+[m
[32m+[m[32m Vector3 EllipsoidSampling()[m
{[m
[31m- start_ = temp_start_;[m
[31m- edges_.clear();[m
[31m- initialize();[m
[32m+[m[32m double phi = getRandomNumber(0,2*M_PI);[m
[32m+[m[32m double costheta = getRandomNumber(-1,1);[m
[32m+[m[32m double r = std::cbrt(getRandomNumber(0,1));[m
[m
[31m- request_ = false;[m
[32m+[m[32m double theta = acos( costheta );[m
[m
[31m- global_min_cost = distance(start_, target_);[m
[32m+[m[32m double x = r * sin( theta) * cos( phi );[m
[32m+[m[32m double y = r * sin( theta) * sin( phi );[m
[32m+[m[32m double z = r * cos( theta );[m
[m
[31m- // generate path[m
[31m- tra_gene_thread_ = new boost::thread(boost::bind(&RRTStar3D::solve, this, iter));[m
[31m- delete tra_gene_thread_;[m
[32m+[m[32m Node* rand = new Node;[m
[32m+[m[32m rand->position_ = Vector3(x,y,z);[m
[32m+[m[32m return rand;[m
}[m
[m
[31m- else[m
[32m+[m[32m Vector3 LineSampling()[m
{[m
[31m- // generate path[m
[31m- tra_gene_thread_ = new boost::thread(boost::bind(&RRTStar3D::solve, this, iter));[m
[31m- delete tra_gene_thread_;[m
[32m+[m[32m Node* near_n = getNearestNode(goal_node);[m
[32m+[m[32m Vector3 len = goal_node->pos_-near_n->pos_;[m
[32m+[m[32m len=len/len.norm();[m
[32m+[m
[32m+[m[32m Vector3 point = near_n->pos_+len*getStepSize();[m
[32m+[m[32m Vector3i point_idx;[m
[32m+[m[32m edrb_->getIdxBuffer(point, point_idx);[m
[32m+[m[32m if(edrb_->insideVolume(point) && !edrb_->isOccupied(point_idx))[m
[32m+[m[32m return point;[m
[32m+[m[32m else {[m
[32m+[m[32m return UniformSampling();[m
[32m+[m[32m }[m
}[m
[31m- }[m
[m
[31m- Node* chooseParent(Node* nearest_node, Node* new_node, std::vector<Node*> near_nodes)[m
[31m- {[m
[31m- Node* min_node = nearest_node;[m
[31m- _Scalar min_cost = getCost(nearest_node) + getDistCost(nearest_node, new_node);[m
[31m- for (auto p : near_nodes)[m
[32m+[m[32m Vector3 UniformSampling()[m
{[m
[31m- _Scalar new_cost = getCost(p) + getDistCost(p, new_node);[m
[31m- if (!isCollision(p, new_node) && new_cost < min_cost)[m
[31m- {[m
[31m- min_node = p;[m
[31m- min_cost = new_cost;[m
[31m- }[m
[31m- }[m
[32m+[m[32m Vector3 point_min, point_max, rand_point, center_point;[m
[32m+[m[32m Vector3i point_idx, center_idx;[m
[32m+[m[32m edrb_->getVolumeMinMax(point_min, point_max);[m
[32m+[m[32m center_idx = edrb_->getVolumeCenter();[m
[32m+[m[32m edrb_->getPointBuffer(center_idx, center_point);[m
[m
[31m- return min_node;[m
[31m- }[m
[32m+[m[32m do{[m
[32m+[m[32m if(flat_height)[m
[32m+[m[32m rand_point = Vector3(getRandomNumber(point_min.x(), point_max.x()),[m
[32m+[m[32m getRandomNumber(point_min.y(), point_max.y()),[m
[32m+[m[32m height_.z());[m
[32m+[m[32m else {[m
[32m+[m[32m rand_point = Vector3(getRandomNumber(point_min.x(), point_max.x()),[m
[32m+[m[32m getRandomNumber(point_min.y(), point_max.y()),[m
[32m+[m[32m getRandomNumber(point_min.z(), point_max.z()));[m
[32m+[m[32m }[m
[32m+[m[32m edrb_->getIdxBuffer(rand_point, point_idx);[m
[m
[31m- void reWireTree(Node* min_node, Node* new_node, std::vector<Node*> near_nodes)[m
[31m- {[m
[31m- for (Node* x_near : near_nodes)[m
[31m- {[m
[31m- _Scalar cost_old = x_near->cost_;[m
[31m- _Scalar cost_new = getCost(new_node) + getDistCost(new_node, x_near);[m
[31m- if (!isCollision(new_node, x_near) && cost_new < cost_old)[m
[31m- {[m
[31m- Node* n_parent = x_near->parent_;[m
[31m- n_parent->children_.erase(std::remove(n_parent->children_.begin(), n_parent->children_.end(), x_near),[m
[31m- n_parent->children_.end());[m
[31m- edges_.erase(std::remove(edges_.begin(), edges_.end(), std::make_tuple(n_parent->pos_, new_node->pos_, false)),[m
[31m- edges_.end());[m
[31m-[m
[31m- x_near->cost_ = cost_new;[m
[31m- x_near->parent_ = new_node;[m
[31m- new_node->children_.push_back(x_near);[m
[31m- edges_.push_back(std::make_tuple(x_near->pos_, new_node->pos_, false));[m
[31m- }[m
[32m+[m[32m }while(edrb_->isOccupied(point_idx));[m
[32m+[m
[32m+[m[32m return rand_point;[m
}[m
[31m- }[m
[m
[31m- void reWireRoot()[m
[31m- {[m
[31m- if (sol_queue_.empty())[m
[31m- sol_queue_.push_back(root_);[m
[32m+[m[32m Node* getRandomSampling()[m
[32m+[m[32m {[m
[32m+[m[32m Vector3 pos;[m
[32m+[m[32m _Scalar P_r = getRandomNumber(0,1);[m
[32m+[m
[32m+[m[32m if(P_r > 1-sampling_alpha)[m
[32m+[m[32m {[m
[32m+[m[32m ROS_DEBUG_COND_NAMED(debugging_, "RRT PLANNER", "Line Sampling");[m
[32m+[m[32m pos = LineSampling();[m
[32m+[m[32m }[m
[32m+[m
[32m+[m[32m else if(P_r <= (1-sampling_alpha)/sampling_beta)[m
[32m+[m[32m {[m
[32m+[m[32m ROS_DEBUG_COND_NAMED(debugging_, "RRT PLANNER", "Uniform Sampling");[m
[32m+[m[32m pos = UniformSampling();[m
[32m+[m[32m }[m
[32m+[m
[32m+[m[32m else {[m
[32m+[m[32m ROS_DEBUG_COND_NAMED(debugging_, "RRT PLANNER", "Ellipsoid");[m
[32m+[m[32m pos = UniformSampling();[m
[32m+[m[32m }[m
[32m+[m
[m
[31m- do[m
[32m+[m[32m Node *rand_node = new Node;[m
[32m+[m[32m rand_node->pos_ = pos;[m
[32m+[m[32m return rand_node;[m
[32m+[m[32m }[m
[32m+[m
[32m+[m[32m Node* getNearestNodeDistance(Node* node_, _Scalar max_distance=1)[m
{[m
[31m- ROS_INFO_COND_NAMED(debugging_, "RRT PLANNER", "ReWire Root");[m
[32m+[m[32m _Scalar minCost = 0;[m
[32m+[m[32m _Scalar minDist = distance(node_->pos_, target_);[m
[32m+[m[32m Node* closest = new Node;[m
[m
[31m- _Scalar radius = sqrt((max_radius_ * max_neighbours_) / M_PI * nodes_.size());[m
[31m- if (radius < step_size_)[m
[31m- radius = step_size_;[m
[32m+[m[32m for(int i=0; i<(int)nodes_.size(); i++)[m