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InitializeParams.m
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function InitializeParams()
global params_
LoadCase();
params_.utility.colorpool = [237,28,36; 0,162,232; 255,127,39; 218,112,214; 255,192,203; 123,104,238;0,0,255;0,0,139;119,136,153;30,144,255;70,130,180;0,191,255;0,139,139;255,102,0;0,250,154;127,255,0;154,205,50;255,215,0;205,133,63;128,0,0;0,255,255;240,128,128;255,0,0;105,105,105;169,169,169;192,192,192;0,0,0] ./ 255;
params_.utility.ego_vehicle_rgb = [0.00, 0.45, 0.74];
params_.utility.traj_dt_for_resample = 0.1;
params_.scenario.xmin = -20;
params_.scenario.xmax = 20;
params_.scenario.ymin = -20;
params_.scenario.ymax = 20;
params_.vehicle.lw = 2.8; % wheelbase
params_.vehicle.lf = 0.96; % front hang length
params_.vehicle.lr = 0.929; % rear hang length
params_.vehicle.lb = 1.942; % width
params_.vehicle.length = params_.vehicle.lw + params_.vehicle.lf + params_.vehicle.lr;
params_.vehicle.hypotenuse_length = hypot(params_.vehicle.length, params_.vehicle.lb);
params_.vehicle.dual_disk_radius = hypot(0.25 * params_.vehicle.length, 0.5 * params_.vehicle.lb); % Dual disk radius
params_.vehicle.r2p = 0.25 * params_.vehicle.length - params_.vehicle.lr;
params_.vehicle.f2p = 0.75 * params_.vehicle.length - params_.vehicle.lr;
params_.vehicle.vmax = 2.5;
params_.vehicle.amax = 1.0;
params_.vehicle.phymax = 0.75;
params_.vehicle.wmax = 0.5;
params_.vehicle.kappa_max = tan(params_.vehicle.phymax) / params_.vehicle.lw;
params_.vehicle.turning_radius_min = abs(1.0 / params_.vehicle.kappa_max);
params_.vehicle.threshold_s = (params_.vehicle.vmax^2) / params_.vehicle.amax; % Is it correct?
params_.hybrid_astar.num_nodes_x = 125;
params_.hybrid_astar.num_nodes_y = 125;
params_.hybrid_astar.resolution_dx = (params_.scenario.xmax - params_.scenario.xmin) / params_.hybrid_astar.num_nodes_x;
params_.hybrid_astar.resolution_dy = (params_.scenario.ymax - params_.scenario.ymin) / params_.hybrid_astar.num_nodes_y;
params_.hybrid_astar.num_nodes_theta = 30;
params_.hybrid_astar.resolution_dtheta = 2 * pi / params_.hybrid_astar.num_nodes_theta;
params_.hybrid_astar.num_sampled_phy_in_expansion = 5; % Should be set as an odd number
params_.hybrid_astar.penalty_for_backward = 0.5;
params_.hybrid_astar.penalty_for_direction_change = 0.5;
params_.hybrid_astar.penalty_for_steering_change = 0.1;
params_.hybrid_astar.multiplier_H = 1.5;
params_.hybrid_astar.multiplier_H_for_2dim_A_star = 3.0;
params_.hybrid_astar.simulation_step = 1.5;
params_.hybrid_astar.max_search_iter = 500;
params_.hybrid_astar.threshold_to_trigger_rs = 20;
params_.opti.nfe = 200;
params_.opti.stc.ds_for_init_adjustment = 0.01;
params_.opti.stc.ds = 0.1;
params_.opti.stc.smax = 2.0;
params_.opti.acceptance_tolerance = 0.0001;
params_.opti.cost_function_external_penalty_weight = 100000;
params_.opti.cost_a = 0.025;
params_.opti.cost_w = 0.0051;
params_.opti.cost_phy = 0.00083983;
params_.opti.max_iter = 5;
CreateCostmaps();
WriteBasicParameterFile();
end
function CreateCostmaps()
global params_
xmin = params_.scenario.xmin;
ymin = params_.scenario.ymin;
resolution_x = params_.hybrid_astar.resolution_dx;
resolution_y = params_.hybrid_astar.resolution_dy;
costmap = zeros(params_.hybrid_astar.num_nodes_x, params_.hybrid_astar.num_nodes_y);
for ii = 1 : size(params_.obstacle.obs, 2)
obs_vx = params_.obstacle.obs{ii}.x;
obs_vy = params_.obstacle.obs{ii}.y;
x_lb = min(obs_vx);
x_ub = max(obs_vx);
y_lb = min(obs_vy);
y_ub = max(obs_vy);
[Nmin_x, Nmin_y] = ConvertXyToId(x_lb, y_lb);
[Nmax_x, Nmax_y] = ConvertXyToId(x_ub, y_ub);
Nmin_x = max(Nmin_x - 1, 1);
Nmin_y = max(Nmin_y - 1, 1);
Nmax_x = min(Nmax_x + 1, params_.hybrid_astar.num_nodes_x);
Nmax_y = min(Nmax_y + 1, params_.hybrid_astar.num_nodes_y);
for jj = Nmin_x : Nmax_x
for kk = Nmin_y : Nmax_y
if (costmap(jj, kk) == 1)
continue;
end
x0 = xmin + (jj - 1) * resolution_x;
y0 = ymin + (kk - 1) * resolution_y;
x1 = xmin + jj * resolution_x;
y1 = ymin + kk * resolution_y;
vx = [linspace(x0, x1, 5), linspace(x1, x1, 5), linspace(x1, x0, 5), linspace(x0, x0, 5)];
vy = [linspace(y1, y1, 5), linspace(y1, y0, 5), linspace(y0, y0, 5), linspace(y0, y1, 5)];
if (any(inpolygon(vx, vy, params_.obstacle.obs{ii}.x, params_.obstacle.obs{ii}.y)))
costmap(jj, kk) = 1;
end
end
end
end
params_.scenario.original_map = costmap;
length_unit = 0.5 * (resolution_x + resolution_y);
basic_elem = strel('disk', 0 + ceil(params_.vehicle.dual_disk_radius / length_unit));
params_.scenario.dilated_map = imdilate(costmap, basic_elem);
end
function [ind1, ind2] = ConvertXyToId(x, y)
global params_
ind1 = ceil((x - params_.scenario.xmin) / params_.hybrid_astar.resolution_dx) + 1;
ind2 = ceil((y - params_.scenario.ymin) / params_.hybrid_astar.resolution_dy) + 1;
if ((ind1 <= params_.hybrid_astar.num_nodes_x)&&(ind1 >= 1)&&(ind2 <= params_.hybrid_astar.num_nodes_y)&&(ind2 >= 1))
return;
end
if (ind1 > params_.hybrid_astar.num_nodes_x)
ind1 = params_.hybrid_astar.num_nodes_x;
elseif (ind1 < 1)
ind1 = 1;
end
if (ind2 > params_.hybrid_astar.num_nodes_y)
ind2 = params_.hybrid_astar.num_nodes_y;
elseif (ind2 < 1)
ind2 = 1;
end
end