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RRTStar.cpp
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RRTStar.cpp
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#include "RRTStar.h"
//#include "support.h"
#include <math.h>
#include <random>
#include <cstdlib>
#include <time.h>
#include <stdio.h>
#include <iostream>
#include <bits/stdc++.h>
#include <limits>
using namespace std;
void RRTStar_Planner::run(){
//unsigned seed = std::chrono::system_clock::now().time_since_epoch().count();
//gen.seed(seed);
while(RRT_Graph.size() < maxSamples){
cout<<"count "<<RRT_Graph.size()<<endl;
vector<double> rand = generateRandom();
Node* qrand = new Node(rand, numdof);
// extend(qrand);
// if(goal_index !=0){
// cout<<"Nodes in Graph "<<RRT_Graph.size()<<endl;
// break;
// }
Node* qnear = nearestNeighbour(qrand);
Node* qend = addVertex(qnear, qrand);
rewire(qend);
if(goal_index !=0){
cout<<"Nodes in Graph "<<RRT_Graph.size()<<endl;
break;
}
///////////////
// if(newConfig(qnear, qrand)){
// qend = addVertex(qnear, qrand);
// if(goal_index !=0){
// cout<<"Nodes in Graph "<<RRT_Graph.size()<<endl;
// break;
// }
// }
// rewire(qend);
//vector<double*> path = getPath();
//return path;
}
//auto min = min_element(d.begin(), d.end());
//double min_value = *min;
//cout<<"Min Dist "<<min_value<< endl;
}
vector<Node*> RRTStar_Planner::neighbours(Node* qadd){
double radius = epsilon;
vector<Node*> neighbours;
for(int i=0; i<RRT_Graph.size(); i++){
if(distance(qadd, RRT_Graph[i]) <= epsilon){
neighbours.push_back(RRT_Graph[i]);
}
}
return neighbours;
}
void RRTStar_Planner::rewire(Node* qend){
vector<Node*> neighbours = RRTStar_Planner::neighbours(qend);
for(int i=0; i<neighbours.size(); i++){
double dist = distance(qend, neighbours[i]);
if(isObstacleFree(qend, neighbours[i])){
if(neighbours[i]->cost + dist < qend->cost){ //optimal path to qend passes through q
qend->cost = neighbours[i]->cost + dist;
qend->parent = neighbours[i];
}
}
}
for(int i=0; i<neighbours.size(); i++){
double dist = distance(qend, neighbours[i]);
if(isObstacleFree(qend, neighbours[i])){
if(qend->cost + dist < neighbours[i]->cost){ //optimal path to q passes through qend
neighbours[i]->cost = qend->cost + dist;
neighbours[i]->parent = qend;
}
}
}
}
bool RRTStar_Planner::isObstacleFree(Node* q1, Node* q2){
vector<double> angles1 = q1->angles;
vector<double> angles2 = q2->angles;
for(int i=1; i<= f_interpolate; i++){
Node* temp = new Node();
for(int j=0; j<numdof; j++){
temp->angles.push_back(angles1[j] + (double)(i)/(f_interpolate) * (angles1[j] - angles2[j]));
}
double* angles = &temp->angles[0];
if(!IsValidArmConfiguration(angles, numdof, map, x_size, y_size)){
return false;
}
}
return true;
}
vector<double> RRTStar_Planner::generateRandom(){
vector<double> rand;
double bias = goalSampleGenerator(gen);
if(bias < 0.2){
for(int i=0; i<numdof; i++){
rand.push_back(armgoal_anglesV_rad[i]);
}
return rand;
}
for(int i=0; i<numdof; i++){
double angle = randomAngleGenerator(gen);
rand.push_back(angle);
}
return rand;
}
Node* RRTStar_Planner::nearestNeighbour(Node* qrand){
Node* qnear = new Node();
double dist = FLT_MAX;
for(int i=0; i<RRT_Graph.size(); i++){
Node* temp = RRT_Graph[i];
double dist_ = RRTStar_Planner::distance(temp, qrand);
if(dist_ <= dist){
dist = dist_;
qnear = temp;
}
}
//d.push_back((double)dist);
//Print angles
cout<<"Angles ";
for(int i=0; i<numdof; i++){
cout<<qnear->angles[i]<<" ";
}
cout<<"end"<<endl;
return qnear;
}
Node* RRTStar_Planner::addVertex(Node* qnear, Node* qrand){
vector<double> start = qnear->angles;
vector<double> end = qrand->angles;
vector<double> unit_vect;
double dist = RRTStar_Planner::distance(qnear, qrand);
if(dist > epsilon){
for(int i=0; i<numdof; i++){
unit_vect.push_back((epsilon/dist) * (end[i] - start[i]));
}
}
else{
for(int i=0; i<numdof; i++){
unit_vect.push_back((end[i] - start[i]));
}
}
int i,j;
int count = 0;
Node* qadd = new Node();
for(int i=1; i<=f_interpolate; i++){ // Progressing the angle in small increments and not all at once, f_interpolate is basically the number of intermediate steps
Node* qtemp = new Node();
for(int j=0; j<numdof; j++){
qtemp->angles.push_back(start[j] + ((double)(i)/(f_interpolate))*unit_vect[j]);
}
double* config = &qtemp->angles[0];
if(IsValidArmConfiguration(config, numdof, map, x_size, y_size)){
count++;
qadd = qtemp;
}
else{
break;
}
}
if(count > 0 && goal_index==0){
RRT_Graph.push_back(qadd);
qadd->parent = qnear;
// double cost = 0;
// Node* temp = qadd;
// while(temp->parent != NULL){
// double dist = distance(temp, temp->parent);
// temp = temp->parent;
// cost += dist;
// }
qadd->cost = qnear->cost + distance(qadd, qnear);
if(isGoal(qadd)){
goal_index = RRT_Graph.size();
}
return qadd;
}
return qnear;
}
double RRTStar_Planner::distance(Node* q1, Node* q2){
vector<double> angle1 = q1->angles;
vector<double> angle2 = q2->angles;
double dist = 0;
for(int i=0; i<numdof; i++){
double dist_ = pow((angle1[i] - angle2[i]), 2);
dist += dist_;
}
dist = sqrt(dist);
return dist;
}
bool RRTStar_Planner::newConfig(Node* q1, Node* q2){
for(int i=0; i<numdof; i++){
if(q1->angles[i] != q2->angles[i]){
return true;
}
}
return false;
}
bool RRTStar_Planner::isGoal(Node* q){
vector<double> goal_angles;
for(int i=0; i<numdof; i++){
goal_angles.push_back(armgoal_anglesV_rad[i]);
}
for(int i=0; i<numdof; i++){
if(q->angles[i] != goal_angles[i]){
return false;
}
}
return true;
// //Node* goal = new Node(goal_angles, numdof);
// double dist = 0;
// for(int i=0; i<numdof; i++){
// double dist_ = pow((goal_angles[i] - q->angles[i]), 2);
// dist += dist_;
// }
// dist = sqrt(dist);
// if(dist < 0.05){
// return true;
// }
// return false;
}
vector<double*> RRTStar_Planner::getPath(){
vector<double*> path_temp;
if(goal_index == 0){
cout<< "No Path Found"<<endl;
return path_temp;
}
Node* temp = RRT_Graph[goal_index-1];
double* angles = NULL;
int dist = 0;
while(temp->parent != NULL){
angles = &temp->angles[0];
vector<double> ang = temp->angles;
path_temp.push_back(angles);
temp = temp->parent;
double dist_ = 0;
for(int i=0; i<numdof; i++){
dist_ += pow((ang[i] - temp->angles[i]), 2);
//dist += dist_;
}
//dist_ = sqrt(dist_);
dist += dist_;
}
//cost = dist;
angles = &temp->angles[0];
path_temp.push_back(angles);
reverse(path_temp.begin(), path_temp.end());
**planlength = path_temp.size();
return path_temp;
}
double RRTStar_Planner::getCost(){
return 0;
}
// void RRTStar_Planner::extend(Node* qrand)
// {
// Node* qnear = nearestNeighbour(qrand);
// add_vertex(qnear,qrand);
// }
// void RRTStar_Planner::add_vertex(Node* qnear,Node* qnew)
// {
// vector <double> start_angles = qnear->angles;
// vector <double> end_angles = qnew->angles;
// double config_dist = distance(qnear, qnew);
// vector <double> eps_vec;
// if (config_dist > epsilon)
// {
// for (int m=0;m<numdof;m++)
// {
// eps_vec.push_back((epsilon/config_dist)*(end_angles[m]-start_angles[m]));
// }
// }
// else
// {
// for (int m=0;m<numdof;m++)
// {
// eps_vec.push_back((end_angles[m]-start_angles[m]));
// }
// }
// int i,j;
// int countNumvalid = 0;
// Node* qadd = new Node();
// for (i = 1; i <= f_interpolate; i++)
// {
// Node* qtemp = new Node();
// for(j = 0; j < numdof; j++)
// {
// qtemp->angles.push_back(start_angles[j] + ((double)(i)/(f_interpolate))*eps_vec[j]);
// }
// double* config = &qtemp->angles[0];
// if(IsValidArmConfiguration(config, numdof, map, x_size, y_size))
// {
// ++countNumvalid;
// qadd = qtemp;
// }
// else{
// break;
// }
// }
// if (countNumvalid > 0 && goal_index==0)
// {
// RRT_Graph.push_back(qadd);
// qadd->parent = qnear;
// qadd->cost = qnear->cost + distance(qnear,qadd);
// if (isGoal(qadd))
// {
// goal_index = RRT_Graph.size();
// }
// }
// if (countNumvalid>0)
// {
// vector<Node*> Near = neighbours(qadd);
// for (int i =0;i<Near.size();i++)
// {
// if (isObstacleFree(Near[i],qadd))
// {
// double new_cost = Near[i]->cost + distance(Near[i],qadd);
// if (new_cost < qadd->cost)
// {
// qadd->parent = Near[i];
// }
// }
// }
// for (int i =0;i<Near.size();i++)
// {
// if (isObstacleFree(Near[i],qadd))
// {
// double new_cost = qadd->cost + distance(Near[i],qadd);
// if (new_cost < Near[i]->cost)
// {
// Near[i]->parent = qadd;
// }
// }
// }
// }
// }