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node3d.cpp
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node3d.cpp
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#include "node3d.h"
using namespace HybridAStar;
// CONSTANT VALUES
// possible directions
const int Node3D::dir = 3;
// possible movements
//const float Node3D::dy[] = { 0, -0.032869, 0.032869};
//const float Node3D::dx[] = { 0.62832, 0.62717, 0.62717};
//const float Node3D::dt[] = { 0, 0.10472, -0.10472};
// R = 6, 6.75 DEG
const float Node3D::dy[] = { 0, -0.0415893, 0.0415893};
const float Node3D::dx[] = { 0.7068582, 0.705224, 0.705224};
const float Node3D::dt[] = { 0, 0.1178097, -0.1178097};
// R = 3, 6.75 DEG
//const float Node3D::dy[] = { 0, -0.0207946, 0.0207946};
//const float Node3D::dx[] = { 0.35342917352, 0.352612, 0.352612};
//const float Node3D::dt[] = { 0, 0.11780972451, -0.11780972451};
//const float Node3D::dy[] = { 0, -0.16578, 0.16578};
//const float Node3D::dx[] = { 1.41372, 1.40067, 1.40067};
//const float Node3D::dt[] = { 0, 0.2356194, -0.2356194};
//###################################################
// IS ON GRID
//###################################################
bool Node3D::isOnGrid(const int width, const int height) const {
return x >= 0 && x < width && y >= 0 && y < height && (int)(t / Constants::deltaHeadingRad) >= 0 && (int)(t / Constants::deltaHeadingRad) < Constants::headings;
}
//###################################################
// IS IN RANGE
//###################################################
bool Node3D::isInRange(const Node3D& goal) const {
int random = rand() % 10 + 1;
float dx = std::abs(x - goal.x) / random;
float dy = std::abs(y - goal.y) / random;
return (dx * dx) + (dy * dy) < Constants::dubinsShotDistance;
}
//###################################################
// CREATE SUCCESSOR
//###################################################
Node3D* Node3D::createSuccessor(const int i) {
float xSucc;
float ySucc;
float tSucc;
// calculate successor positions forward
if (i < 3) {
xSucc = x + dx[i] * cos(t) - dy[i] * sin(t);
ySucc = y + dx[i] * sin(t) + dy[i] * cos(t);
tSucc = Helper::normalizeHeadingRad(t + dt[i]);
}
// backwards
else {
xSucc = x - dx[i - 3] * cos(t) - dy[i - 3] * sin(t);
ySucc = y - dx[i - 3] * sin(t) + dy[i - 3] * cos(t);
tSucc = Helper::normalizeHeadingRad(t - dt[i - 3]);
}
return new Node3D(xSucc, ySucc, tSucc, g, 0, this, i);
}
//###################################################
// MOVEMENT COST
//###################################################
void Node3D::updateG() {
// forward driving
if (prim < 3) {
// penalize turning
if (pred->prim != prim) {
// penalize change of direction
if (pred->prim > 2) {
g += dx[0] * Constants::penaltyTurning * Constants::penaltyCOD;
} else {
g += dx[0] * Constants::penaltyTurning;
}
} else {
g += dx[0];
}
}
// reverse driving
else {
// penalize turning and reversing
if (pred->prim != prim) {
// penalize change of direction
if (pred->prim < 3) {
g += dx[0] * Constants::penaltyTurning * Constants::penaltyReversing * Constants::penaltyCOD;
} else {
g += dx[0] * Constants::penaltyTurning * Constants::penaltyReversing;
}
} else {
g += dx[0] * Constants::penaltyReversing;
}
}
}
////###################################################
//// COST TO GO
////###################################################
//void Node3D::updateH(const Node3D& goal, const nav_msgs::OccupancyGrid::ConstPtr& grid, Node2D* nodes2D, float* dubinsLookup, Visualize& visualization) {
// float dubinsCost = 0;
// float reedsSheppCost = 0;
// float twoDCost = 0;
// float twoDoffset = 0;
// // if dubins heuristic is activated calculate the shortest path
// // constrained without obstacles
// if (Constants::dubins) {
//// ONLY FOR dubinsLookup
//// int uX = std::abs((int)goal.x - (int)x);
//// int uY = std::abs((int)goal.y - (int)y);
//// // if the lookup table flag is set and the vehicle is in the lookup area
//// if (Constants::dubinsLookup && uX < Constants::dubinsWidth - 1 && uY < Constants::dubinsWidth - 1) {
//// int X = (int)goal.x - (int)x;
//// int Y = (int)goal.y - (int)y;
//// int h0;
//// int h1;
//// // mirror on x axis
//// if (X >= 0 && Y <= 0) {
//// h0 = (int)(helper::normalizeHeadingRad(M_PI_2 - t) / Constants::deltaHeadingRad);
//// h1 = (int)(helper::normalizeHeadingRad(M_PI_2 - goal.t) / Constants::deltaHeadingRad);
//// }
//// // mirror on y axis
//// else if (X <= 0 && Y >= 0) {
//// h0 = (int)(helper::normalizeHeadingRad(M_PI_2 - t) / Constants::deltaHeadingRad);
//// h1 = (int)(helper::normalizeHeadingRad(M_PI_2 - goal.t) / Constants::deltaHeadingRad);
//// }
//// // mirror on xy axis
//// else if (X <= 0 && Y <= 0) {
//// h0 = (int)(helper::normalizeHeadingRad(M_PI - t) / Constants::deltaHeadingRad);
//// h1 = (int)(helper::normalizeHeadingRad(M_PI - goal.t) / Constants::deltaHeadingRad);
//// } else {
//// h0 = (int)(t / Constants::deltaHeadingRad);
//// h1 = (int)(goal.t / Constants::deltaHeadingRad);
//// }
//// dubinsCost = dubinsLookup[uX * Constants::dubinsWidth * Constants::headings * Constants::headings
//// + uY * Constants::headings * Constants::headings
//// + h0 * Constants::headings
//// + h1];
//// } else {
// /*if (Constants::dubinsShot && std::abs(x - goal.x) >= 10 && std::abs(y - goal.y) >= 10)*/
//// // start
//// double q0[] = { x, y, t};
//// // goal
//// double q1[] = { goal.x, goal.y, goal.t};
//// DubinsPath dubinsPath;
//// dubins_init(q0, q1, Constants::r, &dubinsPath);
//// dubinsCost = dubins_path_length(&dubinsPath);
// ompl::base::DubinsStateSpace dubinsPath(Constants::r);
// State* dbStart = (State*)dubinsPath.allocState();
// State* dbEnd = (State*)dubinsPath.allocState();
// dbStart->setXY(x, y);
// dbStart->setYaw(t);
// dbEnd->setXY(goal.x, goal.y);
// dbEnd->setYaw(goal.t);
// dubinsCost = dubinsPath.distance(dbStart, dbEnd);
// }
// // if reversing is active use a
// if (Constants::reverse && !Constants::dubins) {
// ompl::base::ReedsSheppStateSpace reedsSheppPath(Constants::r);
// State* rsStart = (State*)reedsSheppPath.allocState();
// State* rsEnd = (State*)reedsSheppPath.allocState();
// rsStart->setXY(x, y);
// rsStart->setYaw(t);
// rsEnd->setXY(goal.x, goal.y);
// rsEnd->setYaw(goal.t);
// reedsSheppCost = reedsSheppPath.distance(rsStart, rsEnd);
// }
// // if twoD heuristic is activated determine shortest path
// // unconstrained with obstacles
// if (Constants::twoD && !nodes2D[(int)y * grid->info.width + (int)x].isDiscovered()) {
// // create a 2d start node
// Node2D start2d(x, y, 0, 0, nullptr);
// // create a 2d goal node
// Node2D goal2d(goal.x, goal.y, 0, 0, nullptr);
// // run 2d astar and return the cost of the cheapest path for that node
// nodes2D[(int)y * grid->info.width + (int)x].setG(Algorithm::aStar(goal2d, start2d, grid, nodes2D, visualization));
// }
// if (Constants::twoD) {
// // offset for same node in cell
// twoDoffset = sqrt(((x - (long)x) - (goal.x - (long)goal.x)) * ((x - (long)x) - (goal.x - (long)goal.x)) +
// ((y - (long)y) - (goal.y - (long)goal.y)) * ((y - (long)y) - (goal.y - (long)goal.y)));
// twoDCost = nodes2D[(int)y * grid->info.width + (int)x].getG() - twoDoffset;
// }
// // return the maximum of the heuristics, making the heuristic admissable
// h = std::max(reedsSheppCost, std::max(dubinsCost, twoDCost));
//}
////###################################################
//// COLLISION CHECKING
////###################################################
//bool Node3D::isTraversable(const nav_msgs::OccupancyGrid::ConstPtr& grid, Constants::config* collisionLookup) const {
// int X = (int)x;
// int Y = (int)y;
// int iX = (int)((x - (long)x) * Constants::positionResolution);
// iX = iX > 0 ? iX : 0;
// int iY = (int)((y - (long)y) * Constants::positionResolution);
// iY = iY > 0 ? iY : 0;
// int iT = (int)(t / Constants::deltaHeadingRad);
// int idx = iY * Constants::positionResolution * Constants::headings + iX * Constants::headings + iT;
// int cX;
// int cY;
// for (int i = 0; i < collisionLookup[idx].length; ++i) {
// cX = (X + collisionLookup[idx].pos[i].x);
// cY = (Y + collisionLookup[idx].pos[i].y);
// // make sure the configuration coordinates are actually on the grid
// if (cX >= 0 && (unsigned int)cX < grid->info.width && cY >= 0 && (unsigned int)cY < grid->info.height) {
// if (grid->data[cY * grid->info.width + cX]) {
// return false;
// }
// }
// }
// return true;
//}
////###################################################
//// DUBINS SHOT
////###################################################
//Node3D* Node3D::dubinsShot(const Node3D& goal, const nav_msgs::OccupancyGrid::ConstPtr& grid, Constants::config* collisionLookup) const {
// // start
// double q0[] = { x, y, t };
// // goal
// double q1[] = { goal.x, goal.y, goal.t };
// // initialize the path
// DubinsPath path;
// // calculate the path
// dubins_init(q0, q1, Constants::r, &path);
// int i = 0;
// float x = 0.f;
// float length = dubins_path_length(&path);
// Node3D* dubinsNodes = new Node3D [(int)(length / Constants::dubinsStepSize) + 1];
// while (x < length) {
// double q[3];
// dubins_path_sample(&path, x, q);
// dubinsNodes[i].setX(q[0]);
// dubinsNodes[i].setY(q[1]);
// dubinsNodes[i].setT(helper::normalizeHeadingRad(q[2]));
// // collision check
// if (dubinsNodes[i].isTraversable(grid, collisionLookup)) {
// // set the predecessor to the previous step
// if (i > 0) {
// dubinsNodes[i].setPred(&dubinsNodes[i - 1]);
// } else {
// dubinsNodes[i].setPred(this);
// }
// if (&dubinsNodes[i] == dubinsNodes[i].pred) {
// std::cout << "looping shot";
// }
// x += Constants::dubinsStepSize;
// i++;
// } else {
// // std::cout << "Dubins shot collided, discarding the path" << "\n";
// // delete all nodes
// delete [] dubinsNodes;
// return nullptr;
// }
// }
// // std::cout << "Dubins shot connected, returning the path" << "\n";
// return &dubinsNodes[i - 1];
//}
//###################################################
// 3D NODE COMPARISON
//###################################################
bool Node3D::operator == (const Node3D& rhs) const {
return (int)x == (int)rhs.x &&
(int)y == (int)rhs.y &&
(std::abs(t - rhs.t) <= Constants::deltaHeadingRad ||
std::abs(t - rhs.t) >= Constants::deltaHeadingNegRad);
}