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local_explorer.cpp
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local_explorer.cpp
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#include "explorer.h"
#include "local_explorer.h"
using namespace HybNav;
using namespace std;
LocalPathfinder::LocalPathfinder(double v) : frontier_value_condition(v) {
grid.create(OccupancyGrid::CELLS, OccupancyGrid::CELLS, CV_8UC1);
}
list<gsl::vector_int> LocalPathfinder::neighbors(const gsl::vector_int& v, const gsl::vector_int& previous) {
list<gsl::vector_int> neighbors;
gsl::vector_int n(2);
if ((uint)v(1) < OccupancyGrid::CELLS - 1 && get_occupancy(v[0],v[1]+1) == 255) { n = v; n(1) += 1; neighbors.push_back(n); } // up
if ((uint)v(0) > 0 && get_occupancy(v[0]-1,v[1]) == 255) { n = v; n(0) -= 1; neighbors.push_back(n); } // right
if ((uint)v(0) < OccupancyGrid::CELLS - 1 && get_occupancy(v[0]+1,v[1]) == 255) { n = v; n(0) += 1; neighbors.push_back(n); } // left
if ((uint)v(1) > 0 && get_occupancy(v[0],v[1]-1) == 255) { n = v; n(1) -= 1; neighbors.push_back(n); } // down
//cout << "neighbors of: " << v(0) << "," << v(1);
//LocalExplorer::instance()->print_path(neighbors);
//cout << endl;
return neighbors;
}
unsigned long LocalPathfinder::movement_cost(const gsl::vector_int& from, const gsl::vector_int& to, const gsl::vector_int& previous) {
unsigned long cost = 1;
int safety_radius_cells = ceil(MetricMap::ROBOT_RADIUS * 0.7 / OccupancyGrid::CELL_SIZE);
// avoid grid edges
int x = to(0);
int y = to(1);
if ((x < safety_radius_cells) || (x > OccupancyGrid::CELLS - safety_radius_cells - 1) ||
(y < safety_radius_cells) || (y > OccupancyGrid::CELLS - safety_radius_cells - 1))
cost += 15;
// if there's a previous node in the path
if (previous != from) {
gsl::vector_int old2a(from);
old2a -= previous;
gsl::vector_int a2b(to);
a2b -= from;
if (a2b != old2a) cost += 10; // jaggy paths cost more
}
return cost;
}
void LocalPathfinder::prepare(void) {
process_current_grid();
}
void LocalPathfinder::process_current_grid(void) {
OccupancyGrid& current_grid = *MetricMap::instance()->current_grid;
grid = 255;
for (uint i = 0; i < OccupancyGrid::CELLS; i++) {
for (uint j = 0; j < OccupancyGrid::CELLS; j++) {
if (current_grid(i,j) >= frontier_value_condition)
cv::circle(grid, cv::Point(i,OccupancyGrid::CELLS - j - 1), floor(MetricMap::ROBOT_RADIUS * 0.8 / OccupancyGrid::CELL_SIZE), 0, -1, 4);
}
}
}
uchar LocalPathfinder::get_occupancy(uint i, uint j) {
return grid.at<uchar>(OccupancyGrid::CELLS - j - 1,i);
}
ConnectivityPathfinder::ConnectivityPathfinder(void) : LocalPathfinder(0), x_range(2), y_range(2) { }
bool ConnectivityPathfinder::is_goal(const gsl::vector_int& pos) {
bool result = (pos(0) >= x_range(0) && pos(0) <= x_range(1) && pos(1) >= y_range(0) && pos(1) <= y_range(1));
//cout << "is goal? " << pos(0) << "," << pos(1) << "gw [" << x_range(0) << "," << x_range(1) << "] [" << y_range(0) << "," << y_range(1) << " -> " << boolalpha << result << endl;
return result;
}
FrontierPathfinder::FrontierPathfinder(void) : LocalPathfinder(OccupancyGrid::Locc * 0.2) { }
bool FrontierPathfinder::is_goal(const gsl::vector_int& v) {
OccupancyGrid::FrontierList& frontiers = MetricMap::instance()->current_grid->frontiers;
OccupancyGrid::FrontierList::iterator it = find(frontiers.begin(), frontiers.end(), v);
bool result = (it != frontiers.end());
//cout << "is frontier? " << v(0) << "," << v(1) << ": " << boolalpha << result << endl;
return result;
}
LocalExplorer::LocalExplorer(void) : Singleton<LocalExplorer>(this), last_target(2) {
clear_paths();
last_target_valid = false;
}
bool LocalExplorer::target_is_frontier(void) {
return (follow_path.size() > 0 && frontier_pathfinder.is_goal(follow_path.back()));
}
struct DistanceCost : public binary_function<list<gsl::vector_int>,list<gsl::vector_int>,bool> {
const gsl::vector_int& last_target;
DistanceCost(const gsl::vector_int& _last_target) : last_target(_last_target) { }
bool operator()(const list<gsl::vector_int>& a, const list<gsl::vector_int>& b) {
gsl::vector_int last_a = a.back();
last_a -= last_target;
gsl::vector_int last_b = b.back();
last_b -= last_target;
return (last_a.norm2() < last_b.norm2());
}
};
void LocalExplorer::update(void) {
frontier_pathfinder.process_current_grid();
connectivity_pathfinder.process_current_grid();
}
void LocalExplorer::sort_paths(void) {
if (last_target_valid) all_paths.sort(DistanceCost(last_target));
}
void LocalExplorer::clear_paths(void) {
all_paths.clear();
follow_path.clear();
found = false;
}
bool LocalExplorer::found_path(void) {
return found;
}
bool LocalExplorer::other_paths_left(void) {
return !all_paths.empty();
}
bool LocalExplorer::valid_path(void)
{
if (follow_path.empty()) return true;
for (list<gsl::vector_int>::iterator it = follow_path.begin(); it != follow_path.end(); ++it) {
if (OccupancyGrid::valid_coordinates((*it)(0),(*it)(1))) {
if ((Explorer::instance()->state == Explorer::ExploringLocally && frontier_pathfinder.get_occupancy((*it)(0), (*it)(1)) == 0) ||
(Explorer::instance()->state == Explorer::ExploringGlobally && connectivity_pathfinder.get_occupancy((*it)(0), (*it)(1)) == 0))
{
cout << "path crosses obstacle" << endl;
return false;
}
}
}
return true;
}
// Given the array of paths, it follows the first path in it and removes it from the given array
void LocalExplorer::follow_next_path(void) {
follow_path = all_paths.front();
all_paths.pop_front();
follow_path.pop_front();
last_target = follow_path.back();
last_target_valid = true;
cout << follow_path << endl;
print_all_paths();
}
void LocalExplorer::print_all_paths(void) {
cout << "all paths (" << all_paths.size() << "): " << endl;
for (list< list<gsl::vector_int> >::iterator it = all_paths.begin(); it != all_paths.end(); ++it) {
cout << *it << endl;
}
}
std::ostream& operator<<(std::ostream& out, const std::list<gsl::vector_int>& l) {
for (list<gsl::vector_int>::const_iterator it = l.begin(); it != l.end(); ++it) {
if (it != l.begin()) cout << ", ";
cout << *it;
}
return out;
}
// Computes all possible paths to the detected frontiers. If at least one path is found, it is "followed"
void LocalExplorer::compute_frontier_paths(void) {
MetricMap::instance()->current_grid->update_frontiers();
if (MetricMap::instance()->current_grid->frontiers.empty()) { clear_paths(); found = false; }
else {
gsl::vector_int grid_position = MetricMap::instance()->grid_position();
all_paths = frontier_pathfinder.findpath(grid_position, false);
if (!all_paths.empty()) { found = true; sort_paths(); follow_next_path(); }
else found = false;
}
}
void LocalExplorer::compute_gateway_path(TopoMap::GatewayNode* gateway, bool follow) {
cout << "Looking for paths to gateway" << endl;
gsl::vector_int start = MetricMap::instance()->grid_position();
all_paths = connectivity_pathfinder.findpath(start, gateway->position(), true);
//gateway->get_ranges(connectivity_pathfinder.x_range, connectivity_pathfinder.y_range);
//all_paths = connectivity_pathfinder.findpath(start, true);
if (all_paths.empty()) {
cout << "Movement is impossible" << endl;
// TODO: break edge?
found = false;
}
else {
int extra_node_dist = 10;
gsl::vector_int extra_node(2);
switch(gateway->edge) {
case North: extra_node(0) = 0; extra_node(1) = extra_node_dist; break;
case South: extra_node(0) = 0; extra_node(1) = -extra_node_dist; break;
case East: extra_node(0) = extra_node_dist; extra_node(1) = 0; break;
case West: extra_node(0) = -extra_node_dist; extra_node(1) = 0; break;
}
// add a ficticious far node at the end of each path, to ensure crossing OccupancyGrids
for (list< list<gsl::vector_int> >::iterator it = all_paths.begin(); it != all_paths.end(); ++it) {
gsl::vector_int last = it->back();
last += extra_node;
it->push_back(last);
}
found = true;
if (follow) follow_next_path();
}
}