-
Notifications
You must be signed in to change notification settings - Fork 27
/
kinematic_a_star_todo.cpp
241 lines (200 loc) · 10.1 KB
/
kinematic_a_star_todo.cpp
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
#include "kinematic_a_star.h"
template<typename Graph, typename State>
kinematicAStar<Graph, State>::kinematicAStar(kino_planner::SearchInfo& params, const int max_iterations) {
segment_length_ = params.segment_length;
steering_penalty_ = params.steering_penalty;
steering_change_penalty_ = params.steering_change_penalty;
reversing_penalty_ = params.reverse_penalty;
shot_distance_ = params.shot_distance;
max_iterations_ = max_iterations;
rs_path_ptr_ = std::make_shared<RSPath>(params.wheel_base / std::tan(params.steering_angle * M_PI / 180.0));
tie_breaker_ = 1.0 + 1e-3;
}
template<typename Graph, typename State>
kinematicAStar<Graph, State>::~kinematicAStar() {
// ReleaseMemory();
}
template<typename Graph, typename State>
void kinematicAStar<Graph, State>::setGraph(std::shared_ptr<Graph> graph){
graph_ = graph;
}
template<typename Graph, typename State>
double kinematicAStar<Graph, State>::ComputeH(const typename State::Ptr ¤t_node_ptr,
const typename State::Ptr &terminal_node_ptr) {
double h;
h = ((current_node_ptr->robot_state_.template cast<double>()).head(2) - (terminal_node_ptr->robot_state_.template cast<double>()).head(2)).template lpNorm<1>();
if (h < 3.0 * shot_distance_) {
h = rs_path_ptr_->Distance(current_node_ptr->robot_state_.x(), current_node_ptr->robot_state_.y(), current_node_ptr->robot_state_.z(),
terminal_node_ptr->robot_state_.x(), terminal_node_ptr->robot_state_.y(), terminal_node_ptr->robot_state_.z());
}
return h;
}
template<typename Graph, typename State>
double kinematicAStar<Graph, State>::ComputeG(const typename State::Ptr ¤t_node_ptr,
const typename State::Ptr &neighbor_node_ptr) const {
double g;
if (neighbor_node_ptr->direction_ == State::FORWARD) {
if (neighbor_node_ptr->steering_grade_ != current_node_ptr->steering_grade_) {
if (neighbor_node_ptr->steering_grade_ == 0) {
g = segment_length_ * steering_change_penalty_;
} else {
g = segment_length_ * steering_change_penalty_ * steering_penalty_;
}
} else {
if (neighbor_node_ptr->steering_grade_ == 0) {
g = segment_length_;
} else {
g = segment_length_ * steering_penalty_;
}
}
} else {
if (neighbor_node_ptr->steering_grade_ != current_node_ptr->steering_grade_) {
if (neighbor_node_ptr->steering_grade_ == 0) {
g = segment_length_ * steering_change_penalty_ * reversing_penalty_;
} else {
g = segment_length_ * steering_change_penalty_ * steering_penalty_ * reversing_penalty_;
}
} else {
if (neighbor_node_ptr->steering_grade_ == 0) {
g = segment_length_ * reversing_penalty_;
} else {
g = segment_length_ * steering_penalty_ * reversing_penalty_;
}
}
}
return g;
}
template<typename Graph, typename State>
bool kinematicAStar<Graph, State>::Search(const Vec3d &start_state_world, const Vec3d &goal_state_world) {
double neighbor_time = 0.0, compute_h_time = 0.0, compute_g_time = 0.0;
const Vec3i start_grid_index = graph_->State2IndexInit(start_state_world);
const Vec3i goal_grid_index = graph_->State2IndexInit(goal_state_world);
Vec3d start_state(start_grid_index[0], start_grid_index[1], 0.0);
Vec3d goal_state(goal_grid_index[0], goal_grid_index[1], 0.0);
// std::cerr<< "start: "<< start_grid_index.transpose() << std::endl;
// std::cerr<< "target: "<< goal_grid_index.transpose() << std::endl;
auto goal_node_ptr = new State(goal_grid_index);
goal_node_ptr->robot_state_ = goal_state;
goal_node_ptr->direction_ = State::NO;
goal_node_ptr->steering_grade_ = 0;
auto start_node_ptr = new State(start_grid_index);
start_node_ptr->robot_state_ = start_state;
start_node_ptr->steering_grade_ = 0;
start_node_ptr->direction_ = State::NO;
start_node_ptr->id_ = State::WILL_BE;
start_node_ptr->intermediate_states_.emplace_back(start_state);
start_node_ptr->g_score_ = 0.0;
start_node_ptr->f_score_ = ComputeH(start_node_ptr, goal_node_ptr);
graph_->state_node_map_[start_grid_index.x()][start_grid_index.y()][start_grid_index.z()] = start_node_ptr;
graph_->state_node_map_[goal_grid_index.x()][goal_grid_index.y()][goal_grid_index.z()] = goal_node_ptr;
openset_.clear();
openset_.insert(std::make_pair(0, start_node_ptr));
std::vector<typename State::Ptr> neighbor_nodes_ptr;
typename State::Ptr current_node_ptr;
typename State::Ptr neighbor_node_ptr;
int count = 0;
while (!openset_.empty()) {
current_node_ptr = openset_.begin()->second;
current_node_ptr->id_ = State::WAS_THERE;
openset_.erase(openset_.begin());
if ((current_node_ptr->robot_state_.head(2) - goal_node_ptr->robot_state_.head(2)).norm() <= shot_distance_) {
double rs_length = 0.0;
if (AnalyticExpansions(current_node_ptr, goal_node_ptr, rs_length)) {
terminal_node_ptr_ = goal_node_ptr;
typename State::Ptr grid_node_ptr = terminal_node_ptr_->parent_node_;
while (grid_node_ptr != nullptr) {
grid_node_ptr = grid_node_ptr->parent_node_;
path_length_ = path_length_ + segment_length_;
}
path_length_ = path_length_ - segment_length_ + rs_length;
check_collision_use_time = 0.0;
graph_->num_check_collision = 0.0;
return true;
}
}
graph_->GetNeighborNodes(current_node_ptr, neighbor_nodes_ptr);
for (unsigned int i = 0; i < neighbor_nodes_ptr.size(); ++i) {
neighbor_node_ptr = neighbor_nodes_ptr[i];
const double neighbor_edge_cost = ComputeG(current_node_ptr, neighbor_node_ptr);
const double current_h = ComputeH(current_node_ptr, goal_node_ptr) * tie_breaker_;
const Vec3i &index = neighbor_node_ptr->robot_grid_index_;
if (graph_->state_node_map_[index.x()][index.y()][index.z()] == nullptr) {
neighbor_node_ptr->g_score_ = current_node_ptr->g_score_ + neighbor_edge_cost;
neighbor_node_ptr->parent_node_ = current_node_ptr;
neighbor_node_ptr->id_ = State::WILL_BE;
neighbor_node_ptr->f_score_ = neighbor_node_ptr->g_score_ + current_h;
openset_.insert(std::make_pair(neighbor_node_ptr->f_score_, neighbor_node_ptr));
graph_->state_node_map_[index.x()][index.y()][index.z()] = neighbor_node_ptr;
continue;
} else if (graph_->state_node_map_[index.x()][index.y()][index.z()]->id_ == State::WILL_BE) {
double g_cost_temp = current_node_ptr->g_score_ + neighbor_edge_cost;
if (graph_->state_node_map_[index.x()][index.y()][index.z()]->g_score_ > g_cost_temp) {
neighbor_node_ptr->g_score_ = g_cost_temp;
neighbor_node_ptr->f_score_ = g_cost_temp + current_h;
neighbor_node_ptr->parent_node_ = current_node_ptr;
neighbor_node_ptr->id_ = State::WILL_BE;
graph_->state_node_map_[index.x()][index.y()][index.z()] = neighbor_node_ptr;
}
continue;
} else if (graph_->state_node_map_[index.x()][index.y()][index.z()]->id_ == State::WAS_THERE) {
continue;
}
}
count++;
if (count > max_iterations_) {
std::cerr<< ("Exceeded the number of iterations, the search failed")<< std::endl;
return false;
}
}
return false;
}
template<typename Graph, typename State>
void kinematicAStar<Graph, State>::ReleaseMemory() {
terminal_node_ptr_ = nullptr;
}
template<typename Graph, typename State>
__attribute__((unused)) double kinematicAStar<Graph, State>::GetPathLength() const {
return path_length_;
}
template<typename Graph, typename State>
std::vector<Eigen::Vector3d> kinematicAStar<Graph, State>::GetPath() const {
std::vector<Eigen::Vector3d> path;
std::vector<typename State::Ptr> temp_nodes;
typename State::Ptr state_grid_node_ptr = terminal_node_ptr_;
while (state_grid_node_ptr != nullptr) {
temp_nodes.emplace_back(state_grid_node_ptr);
state_grid_node_ptr = state_grid_node_ptr->parent_node_;
}
// std::reverse(temp_nodes.begin(), temp_nodes.end());
for (const auto &node: temp_nodes) {
path.insert(path.end(), node->intermediate_states_.begin(), node->intermediate_states_.end());
}
std::transform(path.cbegin(), path.cend(), path.begin(), [&](Eigen::Vector3d c ) {
Vec3i index(c[0], c[1], c[2]);
auto pos = graph_->gridIndex2coord(index);
return Eigen::Vector3d(pos[0], pos[1], c[2]);
});
return path;
}
template<typename Graph, typename State>
void kinematicAStar<Graph, State>::Reset() {
path_length_ = 0.0;
terminal_node_ptr_ = nullptr;
}
template<typename Graph, typename State>
bool kinematicAStar<Graph, State>::AnalyticExpansions(const typename State::Ptr ¤t_node_ptr,
const typename State::Ptr &goal_node_ptr, double &length) {
vec_Vec3f rs_path_poses = rs_path_ptr_->GetRSPath(current_node_ptr->robot_state_,
goal_node_ptr->robot_state_,
graph_->move_step_size_, length);
for (const auto &pose: rs_path_poses)
if (graph_->BeyondBoundary(pose.head(2)) || !graph_->CheckCollision(pose.x(), pose.y(), pose.z())) {
return false;
};
goal_node_ptr->intermediate_states_ = rs_path_poses;
goal_node_ptr->parent_node_ = current_node_ptr;
auto begin = goal_node_ptr->intermediate_states_.begin();
goal_node_ptr->intermediate_states_.erase(begin);
return true;
}
template class kinematicAStar<GridGraph3D, RobotNode>;