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grid_astar_model.h
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grid_astar_model.h
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/*
* Copyright (c) 2019-2020, the neonavigation authors
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* * Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
* LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
* CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
* SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
* INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
* CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef PLANNER_CSPACE_PLANNER_3D_GRID_ASTAR_MODEL_H
#define PLANNER_CSPACE_PLANNER_3D_GRID_ASTAR_MODEL_H
#include <array>
#include <list>
#include <memory>
#include <utility>
#include <vector>
#include <costmap_cspace_msgs/MapMetaData3D.h>
#include <planner_cspace/blockmem_gridmap.h>
#include <planner_cspace/cyclic_vec.h>
#include <planner_cspace/grid_astar_model.h>
#include <planner_cspace/planner_3d/motion_cache.h>
#include <planner_cspace/planner_3d/rotation_cache.h>
namespace planner_cspace
{
namespace planner_3d
{
class CostCoeff
{
public:
float weight_decel_;
float weight_backward_;
float weight_ang_vel_;
float weight_costmap_;
float weight_costmap_turn_;
float weight_costmap_turn_heuristics_;
float weight_remembered_;
float weight_hysteresis_;
float in_place_turn_;
float hysteresis_max_dist_;
float hysteresis_expand_;
float min_curve_radius_;
float max_vel_;
float max_ang_vel_;
float angle_resolution_aspect_;
int turn_penalty_cost_threshold_;
};
class GridAstarModel3D : public GridAstarModelBase<3, 2>
{
public:
friend class GridAstarModel2D;
using Ptr = std::shared_ptr<GridAstarModel3D>;
using ConstPtr = std::shared_ptr<const GridAstarModel3D>;
using Vec = CyclicVecInt<3, 2>;
using Vecf = CyclicVecFloat<3, 2>;
protected:
bool hysteresis_;
costmap_cspace_msgs::MapMetaData3D map_info_;
Vecf euclid_cost_coef_;
Vecf resolution_;
std::vector<std::vector<Vec>> motion_primitives_;
std::vector<Vec> search_list_rough_;
int local_range_;
const BlockMemGridmapBase<float, 3, 2>& cost_estim_cache_;
const BlockMemGridmapBase<char, 3, 2>& cm_;
const BlockMemGridmapBase<char, 3, 2>& cm_hyst_;
const BlockMemGridmapBase<char, 3, 2>& cm_rough_;
const CostCoeff& cc_;
int range_;
RotationCache rot_cache_;
MotionCache motion_cache_;
MotionCache motion_cache_linear_;
Vec min_boundary_;
Vec max_boundary_;
std::array<float, 1024> euclid_cost_lin_cache_;
public:
explicit GridAstarModel3D(
const costmap_cspace_msgs::MapMetaData3D& map_info,
const Vecf& euclid_cost_coef,
const int local_range,
const BlockMemGridmapBase<float, 3, 2>& cost_estim_cache,
const BlockMemGridmapBase<char, 3, 2>& cm,
const BlockMemGridmapBase<char, 3, 2>& cm_hyst,
const BlockMemGridmapBase<char, 3, 2>& cm_rough,
const CostCoeff& cc,
const int range,
const float path_interpolation_resolution = 0.5,
const float grid_enumeration_resolution = 0.1);
void enableHysteresis(const bool enable);
void createEuclidCostCache();
float euclidCost(const Vec& v) const;
float euclidCostRough(const Vec& v) const;
float cost(
const Vec& cur, const Vec& next, const std::vector<VecWithCost>& start, const Vec& goal) const override;
float costEstim(
const Vec& cur, const Vec& goal) const override;
const std::vector<Vec>& searchGrids(
const Vec& p,
const std::vector<VecWithCost>& ss,
const Vec& es) const override;
std::list<Vecf> interpolatePath(
const std::list<Vec>& path) const;
};
class GridAstarModel2D : public GridAstarModelBase<3, 2>
{
public:
using Ptr = std::shared_ptr<GridAstarModel2D>;
const GridAstarModel3D::ConstPtr base_;
inline explicit GridAstarModel2D(const GridAstarModel3D::ConstPtr base)
: base_(base)
{
}
float cost(
const Vec& cur, const Vec& next, const std::vector<VecWithCost>& start, const Vec& goal) const final;
float costEstim(
const Vec& cur, const Vec& goal) const final;
const std::vector<Vec>& searchGrids(
const Vec& cur, const std::vector<VecWithCost>& start, const Vec& goal) const final;
};
} // namespace planner_3d
} // namespace planner_cspace
#endif // PLANNER_CSPACE_PLANNER_3D_GRID_ASTAR_MODEL_H