diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..399c187 --- /dev/null +++ b/LICENSE @@ -0,0 +1,21 @@ +MIT License + +Copyright (c) 2022 GaoLon + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md index 84e961d..1d0399d 100644 --- a/README.md +++ b/README.md @@ -1,36 +1,55 @@ -# DPtraj -A double-polynomial discription for trajectory interfaced with learning-based front end. +# Bilayer-based Trajectory Optimization -This work is presented in the paper: Hierarchically Depicting Vehicle Trajectory with Stability in Complex Environments, published in Science Robotics. +## 1. Setup -The backend trajectory optimizer improvements build upon our previous work (available at https://github.com/ZJU-FAST-Lab/Dftpav), where singularity issues were addressed. +All the tests are conducted in the Linux environment on a computer equipped with an Intel Core i7-10700 CPU and a GeForce RTX 2060 GPU. -Moreover, the approach has recently been extended and applied to more complex multi-joint robotic platforms (see https://github.com/Tracailer/Tracailer). +Moreover, our software is developed and tested in Ubuntu 18.04, 20.04 with ROS installed. +ROS can be installed here: [ROS Installation](http://wiki.ros.org/ROS/Installation). -If you find this repository helpful, please consider citing at least one of the following papers: +To build this project, ensure that you have the following dependencies installed: -```bibtex -@article{han2025hierarchically, - title={Hierarchically depicting vehicle trajectory with stability in complex environments}, - author={Han, Zhichao and Tian, Mengze and Gongye, Zaitian and Xue, Donglai and Xing, Jiaxi and Wang, Qianhao and Gao, Yuman and Wang, Jingping and Xu, Chao and Gao, Fei}, - journal={Science Robotics}, - volume={10}, - number={103}, - pages={eads4551}, - year={2025}, - publisher={American Association for the Advancement of Science} -} -@article{han2023efficient, - title={An efficient spatial-temporal trajectory planner for autonomous vehicles in unstructured environments}, - author={Han, Zhichao and Wu, Yuwei and Li, Tong and Zhang, Lu and Pei, Liuao and Xu, Long and Li, Chengyang and Ma, Changjia and Xu, Chao and Shen, Shaojie and others}, - journal={IEEE Transactions on Intelligent Transportation Systems}, - volume={25}, - number={2}, - pages={1797--1814}, - year={2023}, - publisher={IEEE} -} +-[Eigen](https://eigen.tuxfamily.org/index.php?title=Main_Page): A high-level C++ library for linear algebra operations. + +-The Open Motion Planning Library ([OMPL](https://ompl.kavrakilab.org/)): A comprehensive library for motion planning and control. + +## 2. Build on ROS + +1. Unzipping the compressed file and compile it. + + ```bash + cd ~/trajectoryOpt + catkin_make -DCMAKE_BUILD_TYPE=Release + ``` + +## 3. Run + +Open a new terminal window, `cd ` to `~/trajectoryOpt/` and type: + +```bash +source devel/setup.bash ``` -The code will be divided into several modules and gradually open-sourced in different branches. Currently, you can switch to the `backend` branch to try our efficient singularity-free backend optimization. This branch includes a README to guide you through quick deployment. \ No newline at end of file +Then, run the script: + +```bash +./run.sh +``` + +Then, you can use the **2D Nav Goal** in **RVIZ** to trigger the planning. + +Here is an example: + +![](README_md_files/1.gif) + +Here, the blue curve represents the trajectory generated by our method, whereas the red curve depicts the trajectory generated by the differential flattening-based method employed for comparative analysis. + +The program evaluates the kinematic state at each point along both trajectories and computes the maximum value for each metric. If successful, the terminal will output the maximum curvature and maximum steering angle rate ($\omega$) for each method. +The results indicate that our approach adheres to the kinematic constraint standards, whereas the comparative method violates constraints by more than an order of magnitude. + +Note: Due to computational performance and solver randomness, slight deviations in results may occur. + +## 4. Contact + +If you have any questions, please feel free to contact Zhichao HAN () or Mengze TIAN(). diff --git a/README_md_files/1.gif b/README_md_files/1.gif new file mode 100644 index 0000000..bff79b2 Binary files /dev/null and b/README_md_files/1.gif differ diff --git a/trajectoryOpt/.catkin_workspace b/trajectoryOpt/.catkin_workspace new file mode 100644 index 0000000..52fd97e --- /dev/null +++ b/trajectoryOpt/.catkin_workspace @@ -0,0 +1 @@ +# This file currently only serves to mark the location of a catkin workspace for tool integration diff --git a/trajectoryOpt/.vscode/settings.json b/trajectoryOpt/.vscode/settings.json new file mode 100644 index 0000000..48f9b3b --- /dev/null +++ b/trajectoryOpt/.vscode/settings.json @@ -0,0 +1,7 @@ +{ + "files.associations": { + "*.ipp": "cpp", + "typeindex": "cpp", + "typeinfo": "cpp" + } +} \ No newline at end of file diff --git a/trajectoryOpt/run.sh b/trajectoryOpt/run.sh new file mode 100755 index 0000000..1b5a983 --- /dev/null +++ b/trajectoryOpt/run.sh @@ -0,0 +1,4 @@ +roslaunch random_map_generator test.launch & sleep 1; #not sending map now +roslaunch plan_manage plan_node.launch & sleep 1; +wait + diff --git a/trajectoryOpt/src/.vscode/settings.json b/trajectoryOpt/src/.vscode/settings.json new file mode 100644 index 0000000..0261848 --- /dev/null +++ b/trajectoryOpt/src/.vscode/settings.json @@ -0,0 +1,84 @@ +{ + "files.associations": { + "random": "cpp", + "core": "cpp", + "sparsecore": "cpp", + "cmath": "cpp", + "complex": "cpp", + "valarray": "cpp", + "__locale": "cpp", + "cctype": "cpp", + "clocale": "cpp", + "cstdarg": "cpp", + "cstddef": "cpp", + "cstdio": "cpp", + "cstdlib": "cpp", + "cstring": "cpp", + "ctime": "cpp", + "cwchar": "cpp", + "cwctype": "cpp", + "array": "cpp", + "atomic": "cpp", + "hash_map": "cpp", + "hash_set": "cpp", + "strstream": "cpp", + "bit": "cpp", + "bitset": "cpp", + "chrono": "cpp", + "codecvt": "cpp", + "condition_variable": "cpp", + "cstdint": "cpp", + "deque": "cpp", + "list": "cpp", + "map": "cpp", + "set": "cpp", + "unordered_map": "cpp", + "unordered_set": "cpp", + "vector": "cpp", + "exception": "cpp", + "algorithm": "cpp", + "functional": "cpp", + "iterator": "cpp", + "memory": "cpp", + "memory_resource": "cpp", + "numeric": "cpp", + "optional": "cpp", + "ratio": "cpp", + "string": "cpp", + "string_view": "cpp", + "system_error": "cpp", + "tuple": "cpp", + "type_traits": "cpp", + "utility": "cpp", + "fstream": "cpp", + "initializer_list": "cpp", + "iomanip": "cpp", + "iosfwd": "cpp", + "iostream": "cpp", + "istream": "cpp", + "limits": "cpp", + "mutex": "cpp", + "new": "cpp", + "ostream": "cpp", + "shared_mutex": "cpp", + "sstream": "cpp", + "stdexcept": "cpp", + "streambuf": "cpp", + "thread": "cpp", + "cfenv": "cpp", + "cinttypes": "cpp", + "typeindex": "cpp", + "typeinfo": "cpp", + "variant": "cpp", + "__nullptr": "cpp", + "__split_buffer": "cpp", + "ios": "cpp", + "__hash_table": "cpp", + "__tree": "cpp", + "queue": "cpp", + "stack": "cpp", + "filesystem": "cpp", + "eigen": "cpp", + "csignal": "cpp" + } +} \ No newline at end of file diff --git a/trajectoryOpt/src/CMakeLists.txt b/trajectoryOpt/src/CMakeLists.txt new file mode 120000 index 0000000..2016816 --- /dev/null +++ b/trajectoryOpt/src/CMakeLists.txt @@ -0,0 +1 @@ +/opt/ros/noetic/share/catkin/cmake/toplevel.cmake \ No newline at end of file diff --git a/trajectoryOpt/src/path_search/CMakeLists.txt b/trajectoryOpt/src/path_search/CMakeLists.txt new file mode 100644 index 0000000..d0114de --- /dev/null +++ b/trajectoryOpt/src/path_search/CMakeLists.txt @@ -0,0 +1,48 @@ +cmake_minimum_required(VERSION 2.8.3) +project(path_search) + +set(CMAKE_VERBOSE_MAKEFILE "true") +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -fPIC") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall") + + + +find_package(Eigen3 REQUIRED) +find_package(ompl REQUIRED) + + + +find_package(PCL REQUIRED) +find_package(catkin REQUIRED COMPONENTS + roscpp + visualization_msgs + std_msgs + tools + cv_bridge +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + +) + + +#if this catkin packge's header is used by other packages, use catkin_package to +#declare the include directories of this package. +catkin_package( + INCLUDE_DIRS include +) + +add_library(kino_astar + src/kino_astar.cpp +) +target_link_libraries(kino_astar + ompl + ${catkin_LIBRARIES} + + +) diff --git a/trajectoryOpt/src/path_search/include/path_searching/kino_astar.h b/trajectoryOpt/src/path_search/include/path_searching/kino_astar.h new file mode 100755 index 0000000..7d6b656 --- /dev/null +++ b/trajectoryOpt/src/path_search/include/path_searching/kino_astar.h @@ -0,0 +1,275 @@ +#ifndef _KINODYNAMIC_ASTAR_H +#define _KINODYNAMIC_ASTAR_H + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "kino_model.hpp" +namespace path_searching{ + +using namespace std; + +#define IN_CLOSE_SET 'a' +#define IN_OPEN_SET 'b' +#define NOT_EXPAND 'c' +#define inf 1 >> 30 + + + class PathNode { + public: + /* -------------------- */ + Eigen::Vector2i index; + int yaw_idx; + /* --- the state is x y theta(orientation) */ + Eigen::Vector3d state; + double g_score, f_score; + /* control input should be steer and arc */ + Eigen::Vector2d input; + PathNode* parent; + char node_state; + int singul = 0; + /* -------------------- */ + PathNode() { + parent = NULL; + node_state = NOT_EXPAND; + } + ~PathNode(){}; + }; + typedef PathNode* PathNodePtr; + + + + + class NodeComparator { + public: + template + bool operator()(NodePtr node1, NodePtr node2) { + return node1->f_score > node2->f_score; + } + }; + + template + struct matrix_hash : std::unary_function { + std::size_t operator()(T const& matrix) const { + size_t seed = 0; + for (long int i = 0; i < matrix.size(); ++i) { + auto elem = *(matrix.data() + i); + seed ^= std::hash()(elem) + 0x9e3779b9 + (seed << 6) + (seed >> 2); + } + return seed; + } + }; + template + class NodeHashTable { + private: + /* data */ + + std::unordered_map> data_2d_; + std::unordered_map> data_3d_; + + + + public: + NodeHashTable(/* args */) { + } + ~NodeHashTable() { + } + // : for 2d vehicle planning + void insert(Eigen::Vector2i idx, NodePtr node) { + data_2d_.insert(std::make_pair(idx, node)); + } + //for 3d vehicle planning + void insert(Eigen::Vector2i idx, int yaw_idx, NodePtr node) { + data_3d_.insert(std::make_pair(Eigen::Vector3i(idx(0), idx(1), yaw_idx), node)); + } + void insert(Eigen::Vector3i idx,NodePtr node ){ + data_3d_.insert(std::make_pair(idx,node)); + } + + NodePtr find(Eigen::Vector2i idx) { + auto iter = data_2d_.find(idx); + return iter == data_2d_.end() ? NULL : iter->second; + } + NodePtr find(Eigen::Vector2i idx, int yaw_idx) { + auto iter = data_3d_.find(Eigen::Vector3i(idx(0), idx(1), yaw_idx)); + return iter == data_3d_.end() ? NULL : iter->second; + } + + void clear() { + data_2d_.clear(); + data_3d_.clear(); + } + }; + // struct FlatTrajData + // { + // int singul; + // std::vector traj_pts; // 3, N x,y dur + // std::vector thetas; + // Eigen::MatrixXd start_state; // start flat state (2, 3) + // Eigen::MatrixXd final_state; // end flat state (2, 3) + + // }; + // typedef std::vector KinoTrajData; + + class KinoAstar { + + private: + /* ---------- main data structure ---------- */ + vector path_node_pool_; + int use_node_num_, iter_num_; + NodeHashTable expanded_nodes_; + std::priority_queue, NodeComparator> open_set_; + std::vector path_nodes_; + + /* ---------- record data ---------- */ + Eigen::Vector4d start_state_, end_state_; + Eigen::Vector2d start_ctrl; + bool is_shot_succ_ = false; + bool has_path_ = false; + /* ---------- parameter ---------- */ + /* search */ + double step_arc = 1.0; + double max_cur_ = 0.35; + double max_steer_ = 0.78539815; + double max_seach_time = 0.1; + double max_forward_vel = 4.0; + double max_forward_acc = 2.0; + double max_backward_vel = 4.0; + double max_backward_acc = 2.0; + double wheel_base = 0.4; + double steer_res; + + double traj_forward_penalty = 1.0; + double traj_back_penalty = 2.0; + double traj_gear_switch_penalty = 15.0; + double traj_steer_penalty = 0.5; + double traj_steer_change_penalty = 0.0; + double horizon_; + double lambda_heu_; + + int allocate_num_; + int check_num_; + double tie_breaker_ = 1.0 + 1.0 / 10000; + + + + + /* map */ + double resolution_, inv_resolution_, yaw_resolution_, inv_yaw_resolution_; + Eigen::Vector2d origin_, map_size_3d_; + double yaw_origin_ = -M_PI; + /*shot hzc*/ + std::vector shot_timeList; + std::vector shot_lengthList; + std::vector shotindex; + std::vector shot_SList; + std::vector SampleTraj; + + /* helper */ + Eigen::Vector2i posToIndex(Eigen::Vector2d pt); + int yawToIndex(double yaw); + void retrievePath(PathNodePtr end_node); + + + + void getFlatState(Eigen::Vector4d state, Eigen::Vector2d control_input, + Eigen::MatrixXd &flat_state, int singul); + + bool is_shot_sucess(Eigen::Vector3d state1,Eigen::Vector3d state2); + void computeShotTraj(Eigen::Vector3d &state1, Eigen::Vector3d &state2, + std::vector &path_list, + double& len); + void stateTransit(Eigen::Vector3d &state0, Eigen::Vector3d &state1, + Eigen::Vector2d &ctrl_input); + + double evaluateLength(double curt,double locallength,double localtime, double max_vel, double max_acc, double startV = 0.0, double endV = 0.0); + double evaluateDuration(double length, double max_vel, double max_acc, double startV = 0.0, double endV = 0.0); + + map_util::OccMapUtil* frontend_map_itf_; + double non_siguav; + ompl::base::StateSpacePtr shotptr; + + inline int getSingularity(double vel) + { + int singul = 0; + if (fabs(vel) > 1e-2){ + if (vel >= 0.0){singul = 1;} + else{singul = -1;} + } + + return singul; + } + // getHeu + inline double getHeu(Eigen::VectorXd x1, Eigen::VectorXd x2) + { + double dx = abs(x1(0) - x2(0)); + double dy = abs(x1(1) - x2(1)); + return tie_breaker_* sqrt(dx * dx + dy * dy); + } + + + + public: + KinoAstar(){}; + ~KinoAstar(); + + enum { REACH_HORIZON = 1, REACH_END = 2, NO_PATH = 3, REACH_END_BUT_SHOT_FAILS = 4}; + + /* main API */ + void setParam(ros::NodeHandle& nh); + void init(ConfigPtr cfg_, ros::NodeHandle nh); + + void reset(); + int search(Eigen::Vector4d start_state, Eigen::Vector2d init_ctrl, + Eigen::Vector4d end_state,double& model_time, bool use3d = false); + // inital semantic map + void intialMap(map_util::OccMapUtil *map_itf); + // get kino traj for optimization + void getKinoNode(KinoTrajData &flat_trajs); + void getKinoNode(KinoTrajData &flat_trajs, std::vector inputSamples); + + void NodeVis(Eigen::Vector3d state); + + /*hzchzc*/ + Eigen::Vector3d evaluatePos(double t); + std::vector SamplePosList(int N); //px py yaw t + std::vector getSampleTraj(); + double totalTrajTime; + double checkl = 0.2; + + ros::Publisher expandNodesVis; + std::vector nm; + std::vector getRoughSamples(); + + + + + + std::vector getVisitedNodes(); + + std::vector state_list; + std::vector acc_list; + + typedef shared_ptr KinoAstarPtr; + + + }; + + +} // namespace + +#endif diff --git a/trajectoryOpt/src/path_search/include/path_searching/kino_model.hpp b/trajectoryOpt/src/path_search/include/path_searching/kino_model.hpp new file mode 100644 index 0000000..04da431 --- /dev/null +++ b/trajectoryOpt/src/path_search/include/path_searching/kino_model.hpp @@ -0,0 +1,32 @@ +#ifndef _KINOMODEL_H +#define _KINOMODEL_H +#include +#include +#include + +#include +#include +#include + + +#include +#include + + +namespace path_searching{ + + struct FlatTrajData + { + int singul; + std::vector traj_pts; // 3, N x,y dur + std::vector thetas; + Eigen::MatrixXd start_state; // start flat state (2, 3) + Eigen::MatrixXd final_state; // end flat state (2, 3) + double duration; + + }; + typedef std::vector KinoTrajData; + + +} +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/path_search/package.xml b/trajectoryOpt/src/path_search/package.xml new file mode 100644 index 0000000..d8b6655 --- /dev/null +++ b/trajectoryOpt/src/path_search/package.xml @@ -0,0 +1,28 @@ + + + path_search + + zhichaohan + + 0.1.0 + the path_search package + GPLV3 + + catkin + + roscpp + nav_msgs + visualization_msgs + tf + tools + + roscpp + nav_msgs + visualization_msgs + tf + tools + + + + + diff --git a/trajectoryOpt/src/path_search/src/kino_astar.cpp b/trajectoryOpt/src/path_search/src/kino_astar.cpp new file mode 100755 index 0000000..3e29826 --- /dev/null +++ b/trajectoryOpt/src/path_search/src/kino_astar.cpp @@ -0,0 +1,1071 @@ +#include +#include + + +#include +#include +#include + +using namespace std; +using namespace Eigen; + +namespace path_searching +{ + KinoAstar::~KinoAstar() + { + for (int i = 0; i < allocate_num_; i++) + { + delete path_node_pool_[i]; + } + } + void KinoAstar::stateTransit(Eigen::Vector3d &state0, Eigen::Vector3d &state1, + Eigen::Vector2d &ctrl_input){ + //helpful var + double psi = ctrl_input[0]; double s = ctrl_input[1]; + if(fabs(psi)>=0.01){ + double k = wheel_base/tan(psi); + state1[0] = state0[0] + k*(sin(state0[2]+s/k)-sin(state0[2])); + state1[1] = state0[1] - k*(cos(state0[2]+s/k)-cos(state0[2])); + state1[2] = state0[2] + s/k; + } + else{ + state1[0] = state0[0] + s * cos(state0[2]); + state1[1] = state0[1] + s * sin(state0[2]); + state1[2] = state0[2]; + } + // std::cout << "state0: "<CheckIfCollisionUsingPosAndYaw(start_state.head(3),&isocc); + if(isocc){ + ROS_ERROR("KinoAstar: head is not free!"); + return 0; + } + frontend_map_itf_->CheckIfCollisionUsingPosAndYaw(end_state.head(3),&isocc); + if(isocc){ + ROS_WARN("KinoAstar: end is not free!"); + return 0; + } + start_state_ = start_state; + start_ctrl = init_ctrl; + end_state_ = end_state; + Eigen::Vector2i end_index; + end_index = posToIndex(end_state.head(2)); + /* ---------- initialize ---------- */ + PathNodePtr cur_node = path_node_pool_[0]; + cur_node->parent = NULL; + cur_node->state = start_state.head(3); + cur_node->index = posToIndex(start_state.head(2)); + cur_node->yaw_idx = yawToIndex(start_state[2]); + cur_node->g_score = 0.0; + cur_node->input = Eigen::Vector2d(0.0,0.0); + cur_node->singul = getSingularity(start_state(3)); + cur_node->f_score = lambda_heu_ * getHeu(cur_node->state, end_state); + cur_node->node_state = IN_OPEN_SET; + open_set_.push(cur_node); + use_node_num_ += 1; + if(!use3d) + expanded_nodes_.insert(cur_node->index, cur_node); + else + expanded_nodes_.insert(cur_node->index, yawToIndex(start_state[2]),cur_node); + PathNodePtr terminate_node = NULL; + if(cur_node->singul == 0){ initsearch = true;} + /* ---------- search loop ---------- */ + while (!open_set_.empty()) + { + // ros::Duration(0.1).sleep(); + + // std::cout<<"cur_state: "<state.transpose()<<"\n"; + /* ---------- get lowest f_score node ---------- */ + cur_node = open_set_.top(); + + /* ---------- determine termination ---------- */ + // to decide the near end + bool reach_horizon = (cur_node->state.head(2) - start_state_.head(2)).norm() >= horizon_; + double t1 = ros::Time::now().toSec(); + //hzc hzc + if((cur_node->state.head(2) - end_state_.head(2)).norm()<1.5){ + + is_shot_sucess(cur_node->state,end_state_.head(3)); + } + double t2 = ros::Time::now().toSec(); + // std::cout<<"one-shot time: "<<(t2-t1)*1000<<" ms"< max_seach_time){ + terminate_node = cur_node; + retrievePath(terminate_node); + has_path_ = true; + if (terminate_node->parent == NULL) + { + + cout << "[34mKino Astar]: terminate_node->parent == NULL" << endl; + printf("\033[Kino Astar]: NO_PATH \n\033[0m"); + return 0; + } + else + { + ROS_WARN("KinoSearch: Reach the max seach time"); + return 0; + } + } + /* ---------- pop node and add to close set ---------- */ + open_set_.pop(); + cur_node->node_state = IN_CLOSE_SET; + // iter_num_ += 1; + /* ---------- init state propagation ---------- */ + Eigen::Vector3d cur_state = cur_node->state; + Eigen::Vector3d pro_state; + Eigen::Vector2d ctrl_input; + vector inputs; + double res = steer_res;//hzchzchzc + // if(!initsearch ){ + // if(start_state_[3]>0){ + // for(double arc = resolution_; arc <= 2*resolution_ + 1e-3; arc += resolution_){ + // for(double steer = -max_steer_; steer <= max_steer_ + 1e-3; steer += res * max_steer_* 1.0){ + // ctrl_input<< steer, arc; + // inputs.push_back(ctrl_input); + // } + // } + // } + // else{ + // for(double arc = -resolution_; arc >= -2*resolution_ - 1e-3; arc-= resolution_){ + // for(double steer = -max_steer_; steer <= max_steer_ + 1e-3; steer += res * max_steer_* 1.0){ + // ctrl_input<< steer, arc; + // inputs.push_back(ctrl_input); + // } + // } + // } + // initsearch = true; + // } + // else{ + for (double arc = -step_arc; arc <= step_arc + 1e-3; arc += 0.5*step_arc){ + if(fabs(arc)<0.05) continue; + + for (double steer = -max_steer_; steer <= max_steer_ + 1e-3; steer += res * max_steer_*1.0) + { + ctrl_input << steer, arc; + inputs.push_back(ctrl_input); + } + } + // } + /* ---------- state propagation loop ---------- */ + for (auto& input:inputs){ + int singul = input[1]>0?1:-1; + stateTransit(cur_state, pro_state, input); + // NodeVis(pro_state); + iter_num_ += 1; + + + // std::cout<<"cur_state: "<= map_size_3d_(0)*0.5 || + pro_state(1) <= origin_(1) || pro_state(1) >= map_size_3d_(1)*0.5) + { + // std::cout << "[Kino Astar]: out of map range" << endl; + //hzc data generation + // return 0; + continue; + } + /* not in close set */ + Eigen::Vector2i pro_id = posToIndex(pro_state.head(2)); + double pro_yaw_id = yawToIndex(pro_state[2]); + PathNodePtr pro_node; + if(use3d) + pro_node = expanded_nodes_.find(pro_id, pro_yaw_id); + else + pro_node = expanded_nodes_.find(pro_id); + if (pro_node != NULL && pro_node->node_state == IN_CLOSE_SET) + { + // std::cout<<"in close set!\n"; + continue; + } + + // /* not in the same voxel */ + Eigen::Vector2i diff = pro_id - cur_node->index; + int diff_yaw = pro_yaw_id - cur_node->yaw_idx; + if (diff.norm() == 0 && ((!use3d) || diff_yaw == 0)) + { + std::cout<<"diff.norm() == 0 && ((!use3d) || diff_yaw == 0)!\n"; + continue; + } + /* collision free */ + Eigen::Vector3d xt; + bool is_occ = false; + for (int k = 1; k <= check_num_; ++k) + { + double tmparc = input[1] * double(k) / double(check_num_); + Eigen::Vector2d tmpctrl; tmpctrl << input[0],tmparc; + stateTransit(cur_state, xt, tmpctrl); + frontend_map_itf_->CheckIfCollisionUsingPosAndYaw(xt, &is_occ); + if (is_occ) + { + // std::cout<<"occ!\n"; + break; + } + + } + + + + + if (is_occ) continue; + + /* ---------- compute cost ---------- */ + double tmp_g_score = 0.0; + double tmp_f_score = 0.0; + int lastDir = cur_node->singul; + if(singul>0){ + tmp_g_score += std::fabs(input[1]) * traj_forward_penalty; + } + else{ + tmp_g_score += std::fabs(input[1]) * traj_back_penalty; + } + // std::cout<<"1111111111111111gscore: "<input[0]); + tmp_g_score += cur_node->g_score; + // std::cout<<"2222222222222222222222gscrore: "<index = pro_id; + pro_node->state = pro_state; + pro_node->yaw_idx = pro_yaw_id; + pro_node->f_score = tmp_f_score; + pro_node->g_score = tmp_g_score; + pro_node->input = input; + pro_node->parent = cur_node; + pro_node->node_state = IN_OPEN_SET; + pro_node->singul = singul; + open_set_.push(pro_node); + if(use3d) + expanded_nodes_.insert(pro_id, pro_yaw_id, pro_node); + else + expanded_nodes_.insert(pro_id,pro_node); + use_node_num_ += 1; + if (use_node_num_ == allocate_num_) + { + cout << "run out of memory." << endl; + return 0; + } + } + else if (pro_node->node_state == IN_OPEN_SET) + { + + if (tmp_g_score < pro_node->g_score) + { + pro_node->index = pro_id; + pro_node->state = pro_state; + pro_node->yaw_idx = pro_yaw_id; + pro_node->f_score = tmp_f_score; + pro_node->g_score = tmp_g_score; + pro_node->input = input; + pro_node->parent = cur_node; + pro_node->singul = singul; + } + } + else + { + cout << "error type in searching: " << pro_node->node_state << endl; + } + } + } + + /* ---------- open set empty, no path ---------- */ + cout << "open set empty, no path." << endl; + return 0; + } + + + bool KinoAstar::is_shot_sucess(Eigen::Vector3d state1,Eigen::Vector3d state2){ + + std::vector path_list; + double len; + double ct1 = ros::Time::now().toSec(); + computeShotTraj(state1,state2,path_list,len); + double ct2 = ros::Time::now().toSec(); + // std::cout<<"compute shot traj time: "<<(ct2-ct1)*1000.0<<" ms"<CheckIfCollisionUsingPosAndYaw(path_list[i], &is_occ); + if(is_occ) return false; + } + double t2 = ros::Time::now().toSec(); + + + is_shot_succ_ = true; + return true; + } + + + + void KinoAstar::computeShotTraj(Eigen::Vector3d &state1, Eigen::Vector3d &state2, + std::vector &path_list, + double& len){ + namespace ob = ompl::base; + namespace og = ompl::geometric; + ob::ScopedState<> from(shotptr), to(shotptr), s(shotptr); + from[0] = state1[0]; from[1] = state1[1]; from[2] = state1[2]; + to[0] = state2[0]; to[1] = state2[1]; to[2] = state2[2]; + std::vector reals; + len = shotptr->distance(from(), to()); + + for (double l = 0.0; l <=len; l += checkl) + { + shotptr->interpolate(from(), to(), l/len, s()); + reals = s.reals(); + path_list.push_back(Eigen::Vector3d(reals[0], reals[1], reals[2])); + } + + return; + } + + + + // to retrieve the path to the correct order + void KinoAstar::retrievePath(PathNodePtr end_node) + { + PathNodePtr cur_node = end_node; + path_nodes_.push_back(cur_node); + + while (cur_node->parent != NULL) + { + cur_node = cur_node->parent; + path_nodes_.push_back(cur_node); + } + + reverse(path_nodes_.begin(), path_nodes_.end()); + } + + + void KinoAstar::intialMap(map_util::OccMapUtil *map_itf) + { + frontend_map_itf_ = map_itf; + // Dp_map.intialMap(map_itf); + + } + + void KinoAstar::init(ConfigPtr cfg_, ros::NodeHandle nh) + { + + // Dp_map.init(cfg_); + horizon_ = cfg_->horizon_; + yaw_resolution_ = cfg_->yaw_resolution_; + lambda_heu_ = cfg_->lambda_heu_; + allocate_num_ = cfg_->allocate_num_; + check_num_ = cfg_->check_num_; + max_seach_time = cfg_->max_seach_time; + step_arc = cfg_->step_arc; + checkl = cfg_->checkl; + non_siguav = 0.0; + wheel_base = cfg_->wheel_base; + + + + + + /* ---------- pre-allocated node ---------- */ + path_node_pool_.resize(allocate_num_); + for (int i = 0; i < allocate_num_; i++) + { + path_node_pool_[i] = new PathNode; + } + + use_node_num_ = 0; + iter_num_ = 0; + + map_size_3d_(0) = cfg_->mapX; + map_size_3d_(1) = cfg_->mapY; + + resolution_ = cfg_->mapRes; + origin_(0) = -0.5*map_size_3d_(0); + origin_(1) = -0.5*map_size_3d_(1); + yaw_origin_ = -M_PI; + + max_forward_vel = cfg_->vmax; + max_forward_vel = cfg_->vmax-0.2; + max_forward_acc = cfg_->lonAccmax; + max_backward_vel = max_forward_vel; + max_backward_acc = max_forward_acc; + + + + max_cur_ = cfg_->kmax;//damn it + std::cout << "max_cur_ = " << max_cur_ << std::endl; + max_steer_ = std::atan(wheel_base*max_cur_); + inv_resolution_ = 1.0 / resolution_; + inv_yaw_resolution_ = 1.0 / yaw_resolution_; + steer_res = cfg_->steer_res; + + shotptr =std::make_shared(1.0/max_cur_); + + expandNodesVis = nh.advertise("/vis/expanded_nodes", 1); + + } + + + + void KinoAstar::reset() + { + expanded_nodes_.clear(); + path_nodes_.clear(); + + std::priority_queue, NodeComparator> empty_queue; + open_set_.swap(empty_queue); + + for (int i = 0; i < use_node_num_; i++) + { + PathNodePtr node = path_node_pool_[i]; + node->parent = NULL; + node->node_state = NOT_EXPAND; + } + + use_node_num_ = 0; + iter_num_ = 0; + is_shot_succ_ = false; + + } + std::vector KinoAstar::getSampleTraj(){ + return SampleTraj; + } + /*hzchzc px py yaw*/ + Eigen::Vector3d KinoAstar::evaluatePos(double t){ + t = std::min(std::max(0,t),totalTrajTime); + double startvel = fabs(start_state_[3]); + double endvel = fabs(end_state_[3]); + int index = -1; + double tmpT = 0; + double CutTime; + //locate the local traj + for(int i = 0;i=t) { + index = i; + CutTime = t-tmpT+shot_timeList[i]; + break; + } + } + + double initv = non_siguav,finv = non_siguav; + if(index==0) {initv = startvel;} + if(index==shot_lengthList.size() - 1) finv = endvel; + + double localtime = shot_timeList[index]; + double locallength = shot_lengthList[index]; + int front = shotindex[index]; int back = shotindex[index+1]; + std::vector localTraj;localTraj.assign(SampleTraj.begin()+front,SampleTraj.begin()+back+1); + //find the nearest point + double arclength; + if(shot_SList[index] > 0) + arclength= evaluateLength(CutTime,locallength,localtime,max_forward_vel,max_forward_acc, initv,finv); + else + arclength= evaluateLength(CutTime,locallength,localtime,max_backward_vel, max_backward_acc, initv,finv); + double tmparc = 0; + for(int i = 0; i < localTraj.size()-1;i++){ + tmparc += (localTraj[i+1]-localTraj[i]).head(2).norm(); + if(tmparc>=arclength){ + double l1 = tmparc-arclength; + double l = (localTraj[i+1]-localTraj[i]).head(2).norm(); + double l2 = l-l1;//l2 + Eigen::Vector3d state = l1/l*localTraj[i]+l2/l*localTraj[i+1]; + if(fabs(localTraj[i+1][2]-localTraj[i][2])>=M_PI){ + double normalize_yaw; + if(localTraj[i+1][2]<=0){ + normalize_yaw = l1/l*localTraj[i][2]+l2/l*(localTraj[i+1][2]+2*M_PI); + } + else if(localTraj[i][2]<=0){ + normalize_yaw = l1/l*(localTraj[i][2]+2*M_PI)+l2/l*localTraj[i+1][2]; + } + state[2] = normalize_yaw; + } + return state; + } + } + return localTraj.back(); + } + std::vector KinoAstar::SamplePosList(int N){ + double dt = totalTrajTime/N; + std::vector path; + for(int i=0;i<=N;i++){ + double time = i*dt; + Eigen::Vector4d posAndt; + posAndt< cloudMap; + pcl::PointXYZ pt; + pt.x = state[0]; + pt.y = state[1]; + pt.z = 0.2; + cloudMap.points.push_back(pt); + cloudMap.width = cloudMap.points.size(); + cloudMap.height = 1; + cloudMap.is_dense = true; + pcl::toROSMsg(cloudMap, globalMap_pcd); + globalMap_pcd.header.stamp = ros::Time::now(); + globalMap_pcd.header.frame_id = "world"; + expandNodesVis.publish(globalMap_pcd); + + return; + } +std::vector KinoAstar::getRoughSamples(){ + + double truncate_len = 25.0; + bool exceed_len = false; + + + std::vector roughSampleList; + double startvel = fabs(start_state_[3]); + double endvel = fabs(end_state_[3]); + PathNodePtr node = path_nodes_.back(); + std::vector traj_pts; // 3, N + std::vector thetas; + Eigen::Vector4d x0, xt; + Vector2d ut, u0; + while(node->parent != NULL){ + for (int k = check_num_; k >0; k--) + { + Eigen::Vector3d state; + double tmparc = node->input[1] * double(k) / double(check_num_); + Eigen::Vector2d tmpctrl; tmpctrl << node->input[0],tmparc; + stateTransit(node->parent->state, state, tmpctrl); + state[2] = normalize_angle(state[2]); + roughSampleList.push_back(state); + + } + node = node->parent; + } + start_state_[2] = normalize_angle(start_state_[2]); + roughSampleList.push_back(start_state_.head(3)); + reverse(roughSampleList.begin(),roughSampleList.end()); + + if(is_shot_succ_){ + ompl::base::ScopedState<> from(shotptr), to(shotptr), s(shotptr); + Eigen::Vector3d state1,state2; + state1 = roughSampleList.back(); + state2 = end_state_.head(3); + from[0] = state1[0]; from[1] = state1[1]; from[2] = state1[2]; + to[0] = state2[0]; to[1] = state2[1]; to[2] = state2[2]; + double shotLength = shotptr->distance(from(), to()); + std::vector reals; + for(double l = checkl; l < shotLength; l += checkl){ + shotptr->interpolate(from(), to(), l/shotLength, s()); + reals = s.reals(); + roughSampleList.push_back(Eigen::Vector3d(reals[0], reals[1], normalize_angle(reals[2]))); + } + end_state_[2] = normalize_angle(end_state_[2]); + roughSampleList.push_back(end_state_.head(3)); + } + //truncate the init trajectory + double tmp_len = 0; + int truncate_idx = 0; + for(truncate_idx = 0;truncate_idx truncate_len){ + // break; + // } + } + roughSampleList.assign(roughSampleList.begin(),roughSampleList.begin()+truncate_idx+1); + + + SampleTraj = roughSampleList; + return SampleTraj; + } + + void KinoAstar::getKinoNode(KinoTrajData &flat_trajs) + { + + double truncate_len = 25.0; + bool exceed_len = false; + + flat_trajs.clear(); + std::vector roughSampleList; + double startvel = fabs(start_state_[3]); + double endvel = fabs(end_state_[3]); + PathNodePtr node = path_nodes_.back(); + std::vector traj_pts; // 3, N + std::vector thetas; + Eigen::Vector4d x0, xt; + Vector2d ut, u0; + while(node->parent != NULL){ + for (int k = check_num_; k >0; k--) + { + Eigen::Vector3d state; + double tmparc = node->input[1] * double(k) / double(check_num_); + Eigen::Vector2d tmpctrl; tmpctrl << node->input[0],tmparc; + stateTransit(node->parent->state, state, tmpctrl); + state[2] = normalize_angle(state[2]); + roughSampleList.push_back(state); + + } + node = node->parent; + } + start_state_[2] = normalize_angle(start_state_[2]); + roughSampleList.push_back(start_state_.head(3)); + reverse(roughSampleList.begin(),roughSampleList.end()); + + if(is_shot_succ_){ + ompl::base::ScopedState<> from(shotptr), to(shotptr), s(shotptr); + Eigen::Vector3d state1,state2; + state1 = roughSampleList.back(); + state2 = end_state_.head(3); + from[0] = state1[0]; from[1] = state1[1]; from[2] = state1[2]; + to[0] = state2[0]; to[1] = state2[1]; to[2] = state2[2]; + double shotLength = shotptr->distance(from(), to()); + std::vector reals; + for(double l = checkl; l < shotLength; l += checkl){ + shotptr->interpolate(from(), to(), l/shotLength, s()); + reals = s.reals(); + roughSampleList.push_back(Eigen::Vector3d(reals[0], reals[1], normalize_angle(reals[2]))); + } + end_state_[2] = normalize_angle(end_state_[2]); + roughSampleList.push_back(end_state_.head(3)); + } + //truncate the init trajectory + double tmp_len = 0; + int truncate_idx = 0; + for(truncate_idx = 0;truncate_idx truncate_len){ + // break; + // } + } + roughSampleList.assign(roughSampleList.begin(),roughSampleList.begin()+truncate_idx+1); + + + SampleTraj = roughSampleList; + /*divide the whole shot traj into different segments*/ + shot_lengthList.clear(); + shot_timeList.clear(); + shotindex.clear(); + shot_SList.clear(); + double tmpl = 0; + bool ifnewtraj = false; + int lastS = (SampleTraj[1]-SampleTraj[0]).head(2).dot(Eigen::Vector2d(cos(SampleTraj[0][2]),sin(SampleTraj[0][2])))>=0?1:-1; + //hzchzc attention please!!! max_v must = min_v max_acc must = min_acc + shotindex.push_back(0); + for(int i = 0; i=0 ? 1:-1; + if(curS*lastS >= 0){ + tmpl += (state2-state1).head(2).norm(); + } + else{ + shotindex.push_back(i); + shot_SList.push_back(lastS); + shot_lengthList.push_back(tmpl); + if(lastS>0) + shot_timeList.push_back(evaluateDuration(tmpl,max_forward_vel, max_forward_acc, non_siguav,non_siguav)); + else + shot_timeList.push_back(evaluateDuration(tmpl,max_backward_vel, max_backward_acc, non_siguav,non_siguav)); + + tmpl = (state2-state1).head(2).norm(); + } + lastS = curS; + } + shot_SList.push_back(lastS); + shot_lengthList.push_back(tmpl); + if(lastS>0) + shot_timeList.push_back(evaluateDuration(tmpl,max_forward_vel, max_forward_acc, non_siguav,non_siguav)); + else + shot_timeList.push_back(evaluateDuration(tmpl,max_backward_vel, max_backward_acc, non_siguav,non_siguav)); + shotindex.push_back(SampleTraj.size()-1); + if(shot_timeList.size()>=2){ + if(shot_SList[0]>0) + shot_timeList[0] = evaluateDuration(shot_lengthList[0],max_forward_vel,max_forward_acc, startvel,non_siguav); + else + shot_timeList[0] = evaluateDuration(shot_lengthList[0],max_backward_vel, max_backward_acc, startvel,non_siguav); + if(shot_SList[shot_timeList.size()-1]>0) + shot_timeList[shot_timeList.size()-1] = evaluateDuration(shot_lengthList.back(),max_forward_vel,max_forward_acc,non_siguav,endvel); + else + shot_timeList[shot_timeList.size()-1] = evaluateDuration(shot_lengthList.back(),max_backward_vel,max_backward_acc,non_siguav,endvel); + } + else{ + if(shot_SList[0]>0) + shot_timeList[0] = evaluateDuration(shot_lengthList[0],max_forward_vel,max_forward_acc, startvel,endvel); + else + shot_timeList[0] = evaluateDuration(shot_lengthList[0],max_backward_vel,max_backward_acc, startvel,endvel); + } + /*extract flat traj + the flat traj include the end point but not the first point*/ + for(int i=0;i localTraj;localTraj.assign(SampleTraj.begin()+shotindex[i],SampleTraj.begin()+shotindex[i+1]+1); + traj_pts.clear(); + thetas.clear(); + double samplet; + double tmparc = 0; + int index = 0; + double sampletime = 0.1; + if(shot_timeList[i]<=sampletime){ + sampletime = shot_timeList[i] / 2.0; + } + for(samplet = sampletime; samplet 0){ + arc = evaluateLength(samplet,locallength,shot_timeList[i],max_forward_vel, max_forward_acc, initv, finv); + } + else{ + arc = evaluateLength(samplet,locallength,shot_timeList[i],max_backward_vel, max_backward_acc, initv, finv); + } + + //find the nearest point + for(int k = index; k=arc){ + index = k; + double l1 = tmparc-arc; + double l = (localTraj[k+1]-localTraj[k]).head(2).norm(); + double l2 = l-l1;//l2 + double px = (l1/l*localTraj[k]+l2/l*localTraj[k+1])[0]; + double py = (l1/l*localTraj[k]+l2/l*localTraj[k+1])[1]; + double yaw= (l1/l*localTraj[k]+l2/l*localTraj[k+1])[2]; + if(fabs(localTraj[k+1][2]-localTraj[k][2])>=M_PI){ + double normalize_yaw; + if(localTraj[k+1][2]<=0){ + normalize_yaw = l1/l*localTraj[k][2]+l2/l*(localTraj[k+1][2]+2*M_PI); + } + else if(localTraj[k][2]<=0){ + normalize_yaw = l1/l*(localTraj[k][2]+2*M_PI)+l2/l*localTraj[k+1][2]; + } + yaw = normalize_yaw; + } + traj_pts.push_back(Eigen::Vector3d(px,py,sampletime)); + thetas.push_back(yaw); + tmparc -=(localTraj[k+1]-localTraj[k]).head(2).norm(); + break; + } + } + } + traj_pts.push_back(Eigen::Vector3d(localTraj.back()[0],localTraj.back()[1],shot_timeList[i]-(samplet-sampletime))); + thetas.push_back(localTraj.back()[2]); + FlatTrajData flat_traj; + Eigen::MatrixXd startS; + Eigen::MatrixXd endS; + getFlatState(Eigen::Vector4d(localTraj.front()[0],localTraj.front()[1],localTraj.front()[2],initv),Initctrlinput,startS,sig); + getFlatState(Eigen::Vector4d(localTraj.back()[0],localTraj.back()[1],localTraj.back()[2],finv),Finctrlinput,endS,sig); + flat_traj.traj_pts = traj_pts; + flat_traj.thetas = thetas; + flat_traj.start_state = startS; + flat_traj.final_state = endS; + flat_traj.singul = sig; + flat_traj.duration = shot_timeList[i]; + flat_trajs.push_back(flat_traj); + } + totalTrajTime = 0.0; + for(const auto dt : shot_timeList){ + totalTrajTime += dt; + } + } + + void KinoAstar::getKinoNode(KinoTrajData &flat_trajs, std::vector inputSamples){ + double truncate_len = 25.0; + bool exceed_len = false; + + flat_trajs.clear(); + double startvel = 0.0; + double endvel = 0.0; + std::vector traj_pts; // 3, N + std::vector thetas; + Eigen::Vector4d x0, xt; + Vector2d ut, u0; + + + + SampleTraj = inputSamples; + /*divide the whole shot traj into different segments*/ + shot_lengthList.clear(); + shot_timeList.clear(); + shotindex.clear(); + shot_SList.clear(); + double tmpl = 0; + bool ifnewtraj = false; + int lastS = (SampleTraj[1]-SampleTraj[0]).head(2).dot(Eigen::Vector2d(cos(SampleTraj[0][2]),sin(SampleTraj[0][2])))>=0?1:-1; + //hzchzc attention please!!! max_v must = min_v max_acc must = min_acc + shotindex.push_back(0); + for(int i = 0; i=0 ? 1:-1; + if(curS*lastS >= 0){ + tmpl += (state2-state1).head(2).norm(); + } + else{ + shotindex.push_back(i); + shot_SList.push_back(lastS); + shot_lengthList.push_back(tmpl); + if(lastS>0) + shot_timeList.push_back(evaluateDuration(tmpl,max_forward_vel, max_forward_acc, non_siguav,non_siguav)); + else + shot_timeList.push_back(evaluateDuration(tmpl,max_backward_vel, max_backward_acc, non_siguav,non_siguav)); + + tmpl = (state2-state1).head(2).norm(); + } + lastS = curS; + } + shot_SList.push_back(lastS); + shot_lengthList.push_back(tmpl); + if(lastS>0) + shot_timeList.push_back(evaluateDuration(tmpl,max_forward_vel, max_forward_acc, non_siguav,non_siguav)); + else + shot_timeList.push_back(evaluateDuration(tmpl,max_backward_vel, max_backward_acc, non_siguav,non_siguav)); + shotindex.push_back(SampleTraj.size()-1); + if(shot_timeList.size()>=2){ + if(shot_SList[0]>0) + shot_timeList[0] = evaluateDuration(shot_lengthList[0],max_forward_vel,max_forward_acc, startvel,non_siguav); + else + shot_timeList[0] = evaluateDuration(shot_lengthList[0],max_backward_vel, max_backward_acc, startvel,non_siguav); + if(shot_SList[shot_timeList.size()-1]>0) + shot_timeList[shot_timeList.size()-1] = evaluateDuration(shot_lengthList.back(),max_forward_vel,max_forward_acc,non_siguav,endvel); + else + shot_timeList[shot_timeList.size()-1] = evaluateDuration(shot_lengthList.back(),max_backward_vel,max_backward_acc,non_siguav,endvel); + } + else{ + if(shot_SList[0]>0) + shot_timeList[0] = evaluateDuration(shot_lengthList[0],max_forward_vel,max_forward_acc, startvel,endvel); + else + shot_timeList[0] = evaluateDuration(shot_lengthList[0],max_backward_vel,max_backward_acc, startvel,endvel); + } + /*extract flat traj + the flat traj include the end point but not the first point*/ + for(int i=0;i localTraj;localTraj.assign(SampleTraj.begin()+shotindex[i],SampleTraj.begin()+shotindex[i+1]+1); + traj_pts.clear(); + thetas.clear(); + double samplet; + double tmparc = 0; + int index = 0; + double sampletime = 0.1; + if(shot_timeList[i]<=sampletime){ + sampletime = shot_timeList[i] / 2.0; + } + for(samplet = sampletime; samplet 0){ + arc = evaluateLength(samplet,locallength,shot_timeList[i],max_forward_vel, max_forward_acc, initv, finv); + } + else{ + arc = evaluateLength(samplet,locallength,shot_timeList[i],max_backward_vel, max_backward_acc, initv, finv); + } + + //find the nearest point + for(int k = index; k=arc){ + index = k; + double l1 = tmparc-arc; + double l = (localTraj[k+1]-localTraj[k]).head(2).norm(); + double l2 = l-l1;//l2 + double px = (l1/l*localTraj[k]+l2/l*localTraj[k+1])[0]; + double py = (l1/l*localTraj[k]+l2/l*localTraj[k+1])[1]; + double yaw= (l1/l*localTraj[k]+l2/l*localTraj[k+1])[2]; + if(fabs(localTraj[k+1][2]-localTraj[k][2])>=M_PI){ + double normalize_yaw; + if(localTraj[k+1][2]<=0){ + normalize_yaw = l1/l*localTraj[k][2]+l2/l*(localTraj[k+1][2]+2*M_PI); + } + else if(localTraj[k][2]<=0){ + normalize_yaw = l1/l*(localTraj[k][2]+2*M_PI)+l2/l*localTraj[k+1][2]; + } + yaw = normalize_yaw; + } + traj_pts.push_back(Eigen::Vector3d(px,py,sampletime)); + thetas.push_back(yaw); + tmparc -=(localTraj[k+1]-localTraj[k]).head(2).norm(); + break; + } + } + } + traj_pts.push_back(Eigen::Vector3d(localTraj.back()[0],localTraj.back()[1],shot_timeList[i]-(samplet-sampletime))); + thetas.push_back(localTraj.back()[2]); + FlatTrajData flat_traj; + Eigen::MatrixXd startS; + Eigen::MatrixXd endS; + getFlatState(Eigen::Vector4d(localTraj.front()[0],localTraj.front()[1],localTraj.front()[2],initv),Initctrlinput,startS,sig); + getFlatState(Eigen::Vector4d(localTraj.back()[0],localTraj.back()[1],localTraj.back()[2],finv),Finctrlinput,endS,sig); + flat_traj.traj_pts = traj_pts; + flat_traj.thetas = thetas; + flat_traj.start_state = startS; + flat_traj.final_state = endS; + flat_traj.singul = sig; + flat_traj.duration = shot_timeList[i]; + flat_trajs.push_back(flat_traj); + } + totalTrajTime = 0.0; + for(const auto dt : shot_timeList){ + totalTrajTime += dt; + } + } + double KinoAstar::evaluateDuration(double length, double max_vel, double max_acc, double startV, double endV){ + double critical_len; //the critical length of two-order optimal control, acc is the input + if(startV>max_vel||endV>max_vel){ + ROS_ERROR("kinoAstar:evaluateDuration:start or end vel is larger that the limit!"); + } + double startv2 = pow(startV,2); + double endv2 = pow(endV,2); + double maxv2 = pow(max_vel,2); + critical_len = (maxv2-startv2)/(2*max_acc)+(maxv2-endv2)/(2*max_acc); + if(length>=critical_len){ + return (max_vel-startV)/max_acc+(max_vel-endV)/max_acc+(length-critical_len)/max_vel; + } + else{ + double tmpv = sqrt(0.5*(startv2+endv2+2*max_acc*length)); + return (tmpv-startV)/max_acc + (tmpv-endV)/max_acc; + } + + + } + double KinoAstar::evaluateLength(double curt,double locallength,double localtime,double max_vel, double max_acc, double startV, double endV){ + double critical_len; //the critical length of two-order optimal control, acc is the input + if(startV>max_vel||endV>max_vel){ + ROS_ERROR("kinoAstar:evaluateLength:start or end vel is larger that the limit!"); + } + double startv2 = pow(startV,2); + double endv2 = pow(endV,2); + double maxv2 = pow(max_vel,2); + critical_len = (maxv2-startv2)/(2*max_acc)+(maxv2-endv2)/(2*max_acc); + if(locallength>=critical_len){ + double t1 = (max_vel-startV)/max_acc; + double t2 = t1+(locallength-critical_len)/max_vel; + if(curt<=t1){ + return startV*curt + 0.5*max_acc*pow(curt,2); + } + else if(curt<=t2){ + return startV*t1 + 0.5*max_acc*pow(t1,2)+(curt-t1)*max_vel; + } + else{ + return startV*t1 + 0.5*max_acc*pow(t1,2) + (t2-t1)*max_vel + max_vel*(curt-t2)-0.5*max_acc*pow(curt-t2,2); + } + } + else{ + double tmpv = sqrt(0.5*(startv2+endv2+2*max_acc*locallength)); + double tmpt = (tmpv-startV)/max_acc; + if(curt<=tmpt){ + return startV*curt+0.5*max_acc*pow(curt,2); + } + else{ + return startV*tmpt+0.5*max_acc*pow(tmpt,2) + tmpv*(curt-tmpt)-0.5*max_acc*pow(curt-tmpt,2); + } + } + } + + std::vector KinoAstar::getVisitedNodes() + { + vector visited; + visited.assign(path_node_pool_.begin(), path_node_pool_.begin() + use_node_num_ - 1); + return visited; + } + + Eigen::Vector2i KinoAstar::posToIndex(Eigen::Vector2d pt) + { + int idx = std::round((pt[0]-origin_[0])/resolution_); + int idy = std::round((pt[1]-origin_[1])/resolution_); + return Eigen::Vector2i(idx,idy); + } + + int KinoAstar::yawToIndex(double yaw) + { + yaw = normalize_angle(yaw); + // std::cout << "yaw: " << yaw << std::endl; + if(yaw>3.15||yaw<-3.15){ + ROS_ERROR("yaw>3.15||yaw<-3.15"); + } + int idx = floor((yaw - yaw_origin_) * inv_yaw_resolution_); + return idx; + } + + + + + void KinoAstar::getFlatState(Eigen::Vector4d state, Eigen::Vector2d control_input, + Eigen::MatrixXd &flat_state, int singul) + { + + flat_state.resize(2, 3); + + double angle = state(2); + double vel = state(3); // vel > 0 + + Eigen::Matrix2d init_R; + init_R << cos(angle), -sin(angle), + sin(angle), cos(angle); + + if (abs(vel) <= non_siguav){ + vel = singul * non_siguav; + } + else{ + vel = singul * vel; + } + + flat_state << state.head(2), init_R*Eigen::Vector2d(vel, 0.0), + init_R*Eigen::Vector2d(control_input(1), std::tan(control_input(0)) / wheel_base * std::pow(vel, 2)); + + } + +} // namespace resilient_planner diff --git a/trajectoryOpt/src/plan_manage/CMakeLists.txt b/trajectoryOpt/src/plan_manage/CMakeLists.txt new file mode 100644 index 0000000..221e36b --- /dev/null +++ b/trajectoryOpt/src/plan_manage/CMakeLists.txt @@ -0,0 +1,55 @@ +cmake_minimum_required(VERSION 2.8.3) +project(plan_manage) + +set(CMAKE_VERBOSE_MAKEFILE "true") +set(CMAKE_BUILD_TYPE "Release") + +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -fPIC") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall" ) + + + + + +find_package(Eigen3 REQUIRED) + +find_package(PCL REQUIRED) +find_package(catkin REQUIRED COMPONENTS + roscpp + visualization_msgs + std_msgs + tools + path_search + cv_bridge + decomp_ros_utils +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} +) + + +#if this catkin packge's header is used by other packages, use catkin_package to +#declare the include directories of this package. +catkin_package( + INCLUDE_DIRS include +) +#singua:plan_manage plan_manage_benchmark +add_library(plan_manage + src/plan_manage.cpp +) +target_link_libraries(plan_manage + kino_astar + ${catkin_LIBRARIES} +) +add_executable(plan_node + src/plan_node.cpp +) +target_link_libraries(plan_node + plan_manage + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} +) diff --git a/trajectoryOpt/src/plan_manage/config/planning copy.yaml b/trajectoryOpt/src/plan_manage/config/planning copy.yaml new file mode 100644 index 0000000..c6789b4 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/config/planning copy.yaml @@ -0,0 +1,77 @@ +# trajectory Optimizer +mini_T: 0.05 +wei_time_: 100.0 + +kmax: 1.67 #2.0+0.1 1.5 +kdotmax: 10000.0 +cons_eps_: 0.1 + + + +vmax: 2.0 +latAccmax: 1.5 +lonAccmax: 1.5 +accRatemax: 1.5 +phimax: 0.785 +omegamax: 300000.14 #0.5-0.02 + +traj_res: 32 +past: 20 +rho: 1.0 +rho_max: 1000.0 +gamma: 1.0 +mem_size: 256 +g_epsilon: 1.0e-3 +min_step: 1.0e-32 +delta: 1.0e-4 +max_iterations: 1000 +amlMaxIter: 100 + +penaWei: 1000.0 +esdfWei: 10000.0 + +pieceTime: 0.7 +miniS: 0.1 +safeMargin: 0.3 #0.15+0.05 +conpts: [[0.15, 0.0], [0.45, -0.00]] + +# + + +#map +mapRes: 0.1 +mapX: 20.0 +mapY: 20.0 +expandSize: 0 +wheel_base: 0.6 +horizon_: 50.0 +#res res res +# yaw_resolution_: 0.4 +# steer_res: 0.5 +# allocate_num_: 1000000 + +yaw_resolution_: 0.2 +steer_res: 0.25 +allocate_num_: 2000000 +#800000 +# +# yaw_resolution_: 0.785 +# steer_res: 0.5 +# yaw_resolution_: 1.57 +# steer_res: 0.5 +lambda_heu_: 1.0 + + +#0:48134 1:21376 2:19494 3:5794 4:4041 5:3064 +check_num_: 3 +step_arc: 0.3 +checkl: 0.1 + +max_seach_time: 1000.0 +non_siguav: 0.0 +backW: 2.0 +useDP: true +isdebug: false +isfixGear: false +isVis: false +enable_shot: false \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/config/planning.yaml b/trajectoryOpt/src/plan_manage/config/planning.yaml new file mode 100644 index 0000000..3ddfbf5 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/config/planning.yaml @@ -0,0 +1,78 @@ +# trajectory Optimizer +mini_T: 0.05 +wei_time_: 100.0 + +kmax: 1.67 #2.0+0.1 1.5 +kdotmax: 10000.0 +cons_eps_: 0.1 + + + +vmax: 2.0 +latAccmax: 1.5 +lonAccmax: 1.5 +accRatemax: 1.5 +phimax: 0.785 +omegamax: 0.35 #0.5-0.02 + +traj_res: 8 +past: 1 +rho: 1.0 +rho_max: 1000.0 +gamma: 1.0 +mem_size: 256 +g_epsilon: 1.0e-3 +min_step: 1.0e-32 +delta: 1.0e-3 +max_iterations: 1000 +amlMaxIter: 100 + +penaWei: 1000.0 +esdfWei: 10000.0 + +pieceTime: 0.8 +miniS: 0.1 +# safeMargin: 0.25 #0.15+0.05 +# conpts: [[0.15, 0.0], [0.3, -0.00]] +safeMargin: 0.2 #0.15+0.05 +conpts: [[0.15, 0.0], [0.3, -0.00]] +# + + +#map +mapRes: 0.1 +mapX: 20.0 +mapY: 20.0 +expandSize: 0 +wheel_base: 0.6 +horizon_: 50.0 +#res res res +yaw_resolution_: 3.15 +lambda_heu_: 1.0 +steer_res: 0.5 +allocate_num_: 1000000 +# datageneration +# yaw_resolution_: 0.2 +# steer_res: 0.25 +# allocate_num_: 2000000 +#800000 +# +# yaw_resolution_: 0.785 +# steer_res: 0.5 +# yaw_resolution_: 1.57 +# steer_res: 0.5 + + +#0:48134 1:21376 2:19494 3:5794 4:4041 5:3064 +check_num_: 3 +step_arc: 0.3 +checkl: 0.1 + +max_seach_time: 1000.0 +non_siguav: 0.0 +backW: 2.0 +useDP: true +isdebug: false +isfixGear: false +isVis: false +enable_shot: true \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/config/planning_v1.yaml b/trajectoryOpt/src/plan_manage/config/planning_v1.yaml new file mode 100644 index 0000000..9f8434a --- /dev/null +++ b/trajectoryOpt/src/plan_manage/config/planning_v1.yaml @@ -0,0 +1,67 @@ +# trajectory Optimizer +mini_T: 0.05 +wei_time_: 100.0 +#wheelbase = 0.5 +kmax: 2.0 #2.0+0.1 1.5 +kdotmax: 1.0 +cons_eps_: 0.1 + + +vmax: 2.0 +latAccmax: 1.5 +lonAccmax: 1.5 +accRatemax: 1.5 +phimax: 0.785 +omegamax: 0.4 #0.5-0.02 + + +traj_res: 16 +past: 0 +rho: 1.0 +rho_max: 1000.0 +gamma: 1.0 +mem_size: 256 +g_epsilon: 1.0 +min_step: 1.0e-32 +delta: 1.0e-1 +max_iterations: 1000 +amlMaxIter: 20 +useDP: false +penaWei: 5000.0 +esdfWei: 10000.0 + +pieceTime: 1.2 +miniS: 0.1 +safeMargin: 0.1 #0.15+0.05 +conpts: [[0.0, 0.0], [0.2, -0.00]] +non_siguav: 1.0 + + + + + +#map +mapRes: 0.1 +mapX: 20.0 +mapY: 20.0 +expandSize: 0 +wheel_base: 0.6 +horizon_: 50.0 + +yaw_resolution_: 3.15 +lambda_heu_: 1.0 + + +#0:48134 1:21376 2:19494 3:5794 4:4041 5:3064 +allocate_num_: 1000000 +check_num_: 8 +step_arc: 0.3 +checkl: 0.15 + +max_seach_time: 20.0 +backW: 1.0 + +isdebug: false +isfixGear: true +isVis: false +enable_shot: false \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/config/planning_v2.yaml b/trajectoryOpt/src/plan_manage/config/planning_v2.yaml new file mode 100644 index 0000000..92efa4c --- /dev/null +++ b/trajectoryOpt/src/plan_manage/config/planning_v2.yaml @@ -0,0 +1,67 @@ +# trajectory Optimizer +mini_T: 0.05 +wei_time_: 100.0 +#wheelbase = 0.5 +kmax: 2.0 #2.0+0.1 1.5 +kdotmax: 1.0 +cons_eps_: 0.1 + + +vmax: 2.0 +latAccmax: 1.5 +lonAccmax: 1.5 +accRatemax: 1.5 +phimax: 0.785 +omegamax: 0.4 #0.5-0.02 + + +traj_res: 8 +past: 0 +rho: 1.0 +rho_max: 1000.0 +gamma: 1.0 +mem_size: 256 +g_epsilon: 1.0 +min_step: 1.0e-32 +delta: 1.0e-1 +max_iterations: 1000 +amlMaxIter: 20 +useDP: false +penaWei: 1000.0 +esdfWei: 10000.0 + +pieceTime: 0.8 +miniS: 0.1 +safeMargin: 0.1 #0.15+0.05 +conpts: [[0.0, 0.0], [0.2, -0.00]] +non_siguav: 0.1 + + + + + +#map +mapRes: 0.1 +mapX: 20.0 +mapY: 20.0 +expandSize: 0 +wheel_base: 0.6 +horizon_: 50.0 + +yaw_resolution_: 3.15 +lambda_heu_: 1.0 + + +#0:48134 1:21376 2:19494 3:5794 4:4041 5:3064 +allocate_num_: 1000000 +check_num_: 8 +step_arc: 0.3 +checkl: 0.15 + +max_seach_time: 20.0 +backW: 1.0 + +isdebug: false +isfixGear: true +isVis: false +enable_shot: false \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/config/planning_v3.yaml b/trajectoryOpt/src/plan_manage/config/planning_v3.yaml new file mode 100644 index 0000000..fed812c --- /dev/null +++ b/trajectoryOpt/src/plan_manage/config/planning_v3.yaml @@ -0,0 +1,67 @@ +# trajectory Optimizer +mini_T: 0.05 +wei_time_: 100.0 +#wheelbase = 0.5 +kmax: 1.67 #2.0+0.1 1.5 +kdotmax: 1.0 +cons_eps_: 0.1 + + +vmax: 2.0 +latAccmax: 1.5 +lonAccmax: 1.5 +accRatemax: 1.5 +phimax: 0.785 +omegamax: 0.35 #0.4-0.05 + + +traj_res: 8 +past: 0 +rho: 1.0 +rho_max: 1000.0 +gamma: 1.0 +mem_size: 256 +g_epsilon: 1.0e-8 +min_step: 1.0e-32 +delta: 1.0e-1 +max_iterations: 1000 +amlMaxIter: 20 +useDP: false +penaWei: 10000.0 +esdfWei: 10000.0 + +pieceTime: 0.8 +miniS: 0.1 +safeMargin: 0.2 #0.15+0.05 +conpts: [[0.15, 0.0], [0.3, -0.00]] +non_siguav: 0.01 + + + + + +#map +mapRes: 0.1 +mapX: 20.0 +mapY: 20.0 +expandSize: 0 +wheel_base: 0.6 +horizon_: 50.0 + +yaw_resolution_: 3.15 +lambda_heu_: 1.0 +steer_res: 0.5 + +#0:48134 1:21376 2:19494 3:5794 4:4041 5:3064 +allocate_num_: 1000000 +check_num_: 8 +step_arc: 0.3 +checkl: 0.15 + +max_seach_time: 20.0 +backW: 1.0 + +isdebug: false +isfixGear: true +isVis: false +enable_shot: false \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/arcPlan/Polytraj.hpp b/trajectoryOpt/src/plan_manage/include/arcPlan/Polytraj.hpp new file mode 100644 index 0000000..c42a5bb --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/arcPlan/Polytraj.hpp @@ -0,0 +1,1497 @@ +#ifndef POLYTRAJ_HPP +#define POLYTRAJ_HPP + +#include +#include +#include +#include +#include +#include +#include "root_finder.hpp" +namespace PolyTrajOpt +{ + constexpr double PI = 3.1415926; + // typedef Eigen::Matrix CoefficientMat; + // typedef Eigen::Matrix dsigmaCoefficientMat; + // typedef Eigen::Matrix ddsigmaCoefficientMat; + + template + using CoefficientMat = Eigen::Matrix; + template + using dsigmaCoefficientMat = Eigen::Matrix; + template + using ddsigmaCoefficientMat = Eigen::Matrix; + + + template + class Piece // component from poly + { + private: // duration + coeffMat + double duration; + CoefficientMat coeffMat; + int order = 5; + + public: + Piece() = default; + + Piece(double dur, const CoefficientMat &cMat) + : duration(dur), coeffMat(cMat) {} + + inline int getDim() const + { + return Dim; + } + + inline int getOrder() const + { + return order; + } + + inline double getDuration() const + { + return duration; + } + + inline const CoefficientMat &getCoeffMat() const + { + return coeffMat; + } + inline CoefficientMat normalizeSigmaCoeffMat() const + { + CoefficientMat nSigmaCoeffsMat; + double t = 1.0; + for (int i = order; i >= 0; i--) + { + nSigmaCoeffsMat.col(i) = coeffMat.col(i) * t; + t *= duration; + } + return nSigmaCoeffsMat; + } + inline dsigmaCoefficientMat normalizeDsigmaCoeffMat() const + { + dsigmaCoefficientMat nDsigmalCoeffMat; + int n = 1; + double t = duration; + for (int i = order - 1; i >= 0; i--) + { + nDsigmalCoeffMat.col(i) = n * coeffMat.col(i) * t; + t *= duration; + n++; + } + return nDsigmalCoeffMat; + } + + inline ddsigmaCoefficientMat normalizeDdsigmaCoeffMat() const + { + ddsigmaCoefficientMat nDdsigmaCoeffMat; + int n = 2; + int m = 1; + double t = duration * duration; + for (int i = order - 2; i >= 0; i--) + { + nDdsigmaCoeffMat.col(i) = n * m * coeffMat.col(i) * t; + n++; + m++; + t *= duration; + } + return nDdsigmaCoeffMat; + } + inline Eigen::Matrix getSigma(const double &t) const{ + Eigen::Matrix Sigma; + Sigma.setZero(); + double tn = 1.0; + for (int i = order; i >= 0; i--) + { + Sigma += tn * coeffMat.col(i); + tn *= t; + } + return Sigma; + } + inline Eigen::Matrix getdSigma(const double &t) const + { + Eigen::Matrix dSigma; + dSigma.setZero(); + double tn = 1.0; + int n = 1; + + for (int i = order-1; i >= 0; i--) + { + dSigma += n * tn * coeffMat.col(i); + tn *= t; + n++; + } + return dSigma; + } + inline Eigen::Matrix getddSigma(const double &t) const + { + Eigen::Matrix ddSigma; + ddSigma.setZero(); + double tn = 1.0; + int m = 1; + int n = 2; + for (int i = order-2; i >= 0; i--) + { + ddSigma += m * n * tn * coeffMat.col(i); + tn *= t; + m++; + n++; + } + return ddSigma; + } + + inline Eigen::Matrix getdddSigma(const double &t) const + { + Eigen::Matrix dddSigma; + dddSigma.setZero(); + double tn = 1.0; + int m = 1; + int n = 2; + int l = 3; + for (int i = order-3; i >= 0; i--) + { + dddSigma += m * n * l * tn * coeffMat.col(i); + tn *= t; + m++; + n++; + l++; + } + + return dddSigma; + } + + + + inline double getMaxDsigmaNorm() const + { + dsigmaCoefficientMat nDsigmaCoeffMat = normalizeDsigmaCoeffMat(); + Eigen::VectorXd coeff = RootFinder::polySqr(nDsigmaCoeffMat.row(0)); + for(int i = 1; i < Dim; i++){ + coeff = coeff + RootFinder::polySqr(nDsigmaCoeffMat.row(i)); + } + int N = coeff.size(); + int n = N - 1; + for (int i = 0; i < N; i++) + { + coeff(i) *= n; + n--; + } + if (coeff.head(N - 1).squaredNorm() < DBL_EPSILON) + { + return getdSigma(0.0).norm(); + } + else + { + double l = -0.0625; + double r = 1.0625; + while (fabs(RootFinder::polyVal(coeff.head(N - 1), l)) < DBL_EPSILON) + { + l = 0.5 * l; + } + while (fabs(RootFinder::polyVal(coeff.head(N - 1), r)) < DBL_EPSILON) + { + r = 0.5 * (r + 1.0); + } + std::set candidates = RootFinder::solvePolynomial(coeff.head(N - 1), l, r, + FLT_EPSILON / duration); + candidates.insert(0.0); + candidates.insert(1.0); + double maxVelRateSqr = -INFINITY; + double tempNormSqr; + for (std::set::const_iterator it = candidates.begin(); + it != candidates.end(); + it++) + { + if (0.0 <= *it && 1.0 >= *it) + { + tempNormSqr = getdSigma((*it) * duration).norm() * getdSigma((*it) * duration).norm(); + maxVelRateSqr = maxVelRateSqr < tempNormSqr ? tempNormSqr : maxVelRateSqr; + } + } + return sqrt(maxVelRateSqr); + } + } + inline double getMaxDdsigmaNorm() const + { + ddsigmaCoefficientMat nDdsigmaCoeffMat = normalizeDdsigmaCoeffMat(); + Eigen::VectorXd coeff = RootFinder::polySqr(nDdsigmaCoeffMat.row(0)); + for(int i = 1; i < Dim; i++){ + coeff = coeff + RootFinder::polySqr(nDdsigmaCoeffMat.row(i)); + } + int N = coeff.size(); + int n = N - 1; + for (int i = 0; i < N; i++) + { + coeff(i) *= n; + n--; + } + if (coeff.head(N - 1).squaredNorm() < DBL_EPSILON) + { + return getddSigma(0.0).norm(); + } + else + { + double l = -0.0625; + double r = 1.0625; + while (fabs(RootFinder::polyVal(coeff.head(N - 1), l)) < DBL_EPSILON) + { + l = 0.5 * l; + } + while (fabs(RootFinder::polyVal(coeff.head(N - 1), r)) < DBL_EPSILON) + { + r = 0.5 * (r + 1.0); + } + std::set candidates = RootFinder::solvePolynomial(coeff.head(N - 1), l, r, + FLT_EPSILON / duration); + candidates.insert(0.0); + candidates.insert(1.0); + double maxAccRateSqr = -INFINITY; + double tempNormSqr; + for (std::set::const_iterator it = candidates.begin(); + it != candidates.end(); + it++) + { + if (0.0 <= *it && 1.0 >= *it) + { + tempNormSqr = getddSigma((*it) * duration).norm() * getddSigma((*it) * duration).norm(); + maxAccRateSqr = maxAccRateSqr < tempNormSqr ? tempNormSqr : maxAccRateSqr; + } + } + return sqrt(maxAccRateSqr); + } + } + }; + + + template + class PolyTrajectory + { + private: + using Pieces = std::vector>; + Pieces pieces; + + public: + PolyTrajectory() = default; + + PolyTrajectory(const std::vector &durs, + const std::vector> &cMats) + { + int N = std::min(durs.size(), cMats.size()); + pieces.reserve(N); + for (int i = 0; i < N; i++) + { + pieces.emplace_back(durs[i], cMats[i]); + } + } + + inline int getPieceNum() const + { + return pieces.size(); + } + inline Eigen::MatrixXd getWpts()const{ + int N = getPieceNum(); + Eigen::MatrixXd wpts; + wpts.resize(Dim, N-1); + for(int i = 0; i < N - 1; i++){ + wpts.col(i) << pieces[i].getSigma(pieces[i].getDuration()); + } + return wpts; + } + inline Eigen::MatrixXd getKypoints()const{ + int N = getPieceNum(); + Eigen::MatrixXd keyPoints; + keyPoints.resize(Dim, N+1); + keyPoints.col(0) << pieces[0].getSigma(0); + for(int i = 0; i < N - 1; i++){ + keyPoints.col(i+1) << pieces[i].getSigma(pieces[i].getDuration()); + } + keyPoints.col(N) << pieces[N-1].getSigma(pieces[N-1].getDuration()); + return keyPoints; + } + + + inline Eigen::MatrixXd getInPts()const{ + int N = getPieceNum(); + Eigen::MatrixXd InPts; + InPts.resize(Dim, N-1); + for(int i = 0; i < N - 1; i++){ + InPts.col(i) << pieces[i].getSigma(pieces[i].getDuration()); + } + return InPts; + } + + + inline Eigen::VectorXd getDurations() const + { + int N = getPieceNum(); + Eigen::VectorXd durations(N); + for (int i = 0; i < N; i++) + { + durations(i) = pieces[i].getDuration(); + } + return durations; + } + + inline double getTotalDuration() const + { + int N = getPieceNum(); + double totalDuration = 0.0; + for (int i = 0; i < N; i++) + { + totalDuration += pieces[i].getDuration(); + } + return totalDuration; + } + inline const Piece &operator[](int i) const + { + return pieces[i]; + } + + inline Piece &operator[](int i) + { + return pieces[i]; + } + + inline void clear(void) + { + pieces.clear(); + return; + } + + inline void reserve(const int &n) + { + pieces.reserve(n); + return; + } + + inline void emplace_back(const Piece &piece) + { + pieces.emplace_back(piece); + return; + } + + inline void emplace_back(const double &dur, + const CoefficientMat &cMat) + { + pieces.emplace_back(dur, cMat); + return; + } + + inline void append(const PolyTrajectory &traj) + { + pieces.insert(pieces.end(), traj.begin(), traj.end()); + return; + } + + inline int locatePieceIdx(double &t) const + { + int N = getPieceNum(); + int idx; + double dur; + for (idx = 0; + idx < N && + t > (dur = pieces[idx].getDuration()); + idx++) + { + t -= dur; + } + if (idx == N) + { + idx--; + t += pieces[idx].getDuration(); + } + return idx; + } + inline Eigen::Matrix getSigma(double t) const + { + int pieceIdx = locatePieceIdx(t); + return pieces[pieceIdx].getSigma(t); + } + inline Eigen::Matrix getdSigma(double t) const + { + int pieceIdx = locatePieceIdx(t); + return pieces[pieceIdx].getdSigma(t); + } + inline Eigen::Matrix getddSigma(double t) const + { + int pieceIdx = locatePieceIdx(t); + return pieces[pieceIdx].getddSigma(t); + } + inline Eigen::Matrix getdddSigma(double t) const + { + int pieceIdx = locatePieceIdx(t); + return pieces[pieceIdx].getdddSigma(t); + } + inline double getMaxDsigmaNorm() const{ + int N = getPieceNum(); + double maxDsigmaNorm = -INFINITY; + double tempNorm; + for (int i = 0; i < N; i++) + { + tempNorm = pieces[i].getMaxDsigmaNorm(); + maxDsigmaNorm = maxDsigmaNorm < tempNorm ? tempNorm : maxDsigmaNorm; + } + return maxDsigmaNorm; + } + inline double getMaxDdsigmaNorm() const{ + int N = getPieceNum(); + double maxDdsigmaNorm = -INFINITY; + double tempNorm; + for (int i = 0; i < N; i++) + { + tempNorm = pieces[i].getMaxDdsigmaNorm(); + maxDdsigmaNorm = maxDdsigmaNorm < tempNorm ? tempNorm : maxDdsigmaNorm; + } + return maxDdsigmaNorm; + } + }; + class DpTrajectory + { + private: + + public: + DpTrajectory() = default; + PolyTrajectory<2> posTraj; + PolyTrajectory<1> tTraj; + inline double getTotalDuration() const + { + return tTraj.getTotalDuration(); + } + inline int getPieceNum() const{ + return posTraj.getPieceNum(); + } + + inline Eigen::Vector2d getPos(double t) const + { + return posTraj.getSigma(tTraj.getSigma(t)[0]); + } + inline Eigen::Vector2d getVel(double t) const{ + double s = tTraj.getSigma(t)[0]; + double ds = tTraj.getdSigma(t)[0]; + Eigen::Vector2d vel= posTraj.getdSigma(s); + Eigen::Vector2d realV = vel * ds; + return realV; + } + inline Eigen::Vector2d getAcc(double t) const{ + double s = tTraj.getSigma(t)[0]; + double ds = tTraj.getdSigma(t)[0]; + double dds = tTraj.getddSigma(t)[0]; + Eigen::Vector2d vel = posTraj.getdSigma(s); + Eigen::Vector2d acc = posTraj.getddSigma(s); + Eigen::Vector2d realA = dds * vel + ds*acc*ds; + return realA; + } + + + inline Eigen::Vector2d getScale(double t) const{ + double s = tTraj.getSigma(t)[0]; + Eigen::Vector2d vel= posTraj.getdSigma(s); + return vel; + } + inline Eigen::VectorXd getDurations() const{ + return tTraj.getDurations(); + } + + inline Eigen::MatrixXd getInPts()const{ + return posTraj.getInPts(); + } + inline Eigen::VectorXd getDs()const{ + return posTraj.getDurations(); + } + + + double getVelNorm(double t) const{ + return getVel(t).norm(); + } + double getArc(double t) const{ + t = std::min(t, getTotalDuration()); + t = std::max(t, 0.0); + if(t < 1.0e-3) return 0.0; + double length = 0.0; + for(double dt = 0.0; dt <= t-1.0e-3; dt += 0.001){ + double s = tTraj.getSigma(dt)[0]; + double ds = tTraj.getdSigma(dt)[0]; + Eigen::Vector2d vel= posTraj.getdSigma(s); + Eigen::Vector2d realV = vel * ds; + length += 0.001 * realV.norm(); + } + return length; + } + + + inline double getTotalArc() const{ + double length = 0.0; + for(double t = 0.0; t < tTraj.getTotalDuration()-1.0e-3; t+=0.01){ + double s = tTraj.getSigma(t)[0]; + double ds = tTraj.getdSigma(t)[0]; + Eigen::Vector2d vel= posTraj.getdSigma(s); + Eigen::Vector2d realV = vel * ds; + length += 0.01 * realV.norm(); + } + return length; + } + inline Eigen::Vector2d getPosByArc(double arc) const{ + double len = 0.0; + if(arc ==0.0){ + return getPos(0.0); + } + else { + for(double t = 0.0; t <= getTotalDuration(); t+=0.01){ + double vel = getVelNorm(t); + len += vel * 0.01; + if(len >=arc){ + return getPos(t); + } + } + return getPos(getTotalDuration()); + } + } + inline double getTByArc(double arc) const{ + double len = 0.0; + if(arc ==0.0){ + return 0.0; + } + else { + for(double t = 0.0; t <= getTotalDuration(); t+=0.01){ + double vel = getVelNorm(t); + len += vel * 0.01; + if(len >=arc){ + return t; + } + } + return getTotalDuration(); + } + } + inline Eigen::Vector2d getScaleByArc(double arc) const{ + double len = 0.0; + if(arc ==0.0){ + return getScale(0.0); + } + else { + for(double t = 0.0; t <= getTotalDuration(); t+=0.01){ + double vel = getVelNorm(t); + len += vel * 0.01; + if(len >=arc){ + return getScale(t); + } + } + return getScale(getTotalDuration()); + } + } + }; + class UgvTrajectory{ + private: + + public: + UgvTrajectory() = default; + std::vector Traj_container; + std::vector etas; + inline int getSegNum() const { return etas.size();} + inline int locateTrajIdx(double &t) const + { + int N = etas.size(); + int idx; + double dur; + for (idx = 0; + idx < N && + t > (dur = Traj_container[idx].getTotalDuration()+1.0e-6); + idx++) + { + t -= dur; + } + if (idx == N) + { + idx--; + t += Traj_container[idx].getTotalDuration(); + } + return idx; + } + inline int locateTrajIdxByArc(double & arc) const{ + int N = etas.size(); + int idx; + double dur; + for (idx = 0; + idx < N && + arc > (dur = Traj_container[idx].getTotalArc()); + idx++) + { + arc -= dur; + } + if (idx == N) + { + idx--; + arc += Traj_container[idx].getTotalArc(); + } + return idx; + } + inline int getDirection(double t) const{ + int idx = locateTrajIdx(t); + if(etas[idx] > 0){ + return 1; + } + else{ + return -1; + } + } + inline double getTotalDuration() const + { + double totalT = 0.0; + for(const auto traj : Traj_container){ + totalT += traj.getTotalDuration(); + } + return totalT; + } + + + inline double getTotalArc() const + { + double totalArc = 0.0; + for(const auto traj : Traj_container){ + totalArc += traj.getTotalArc(); + } + return totalArc; + } + inline double getSegArc(int i) const + { + return Traj_container[i].getTotalArc(); + } + + + inline Eigen::Vector2d getPos(double t) const + { + int idx = locateTrajIdx(t); + return Traj_container[idx].getPos(t); + } + inline double getArc(double t) const{ + double arc = 0.0; + int idx = locateTrajIdx(t); + if(idx > 0){ + for(int i = 0; i < idx; i++){ + arc += Traj_container[i].getTotalArc(); + } + } + return arc + Traj_container[idx].getArc(t); + } + + inline Eigen::Vector2d getPosByArc(double arc) const + { + int idx = locateTrajIdxByArc(arc); + return Traj_container[idx].getPosByArc(arc); + } + double getVelItemByArc(double arc) const{ + double abst = getTByArc(arc); + return getVelItem(abst); + } + double getCurByArc(double arc) const{ + double abst = getTByArc(arc); + return getCur(abst); + } + + + inline double getTByArc(double arc) const{ + int idx = locateTrajIdxByArc(arc); + double tt = 0.0; + if(idx > 0){ + for(int i = 0; i < idx; i++){ + tt += Traj_container[i].getTotalDuration(); + } + } + return tt + Traj_container[idx].getTByArc(arc); + } + + + double getVelItem(double t) const{ + int idx = locateTrajIdx(t); + int eta = etas[idx]; + return Traj_container[idx].getVelNorm(t) * eta; + } + + double getLonAcc(double t) const{ + int idx = locateTrajIdx(t); + Eigen::Vector2d scale = Traj_container[idx].getScale(t); + double yaw = atan2(etas[idx] * scale[1], etas[idx] * scale[0]); + Eigen::Vector2d acc = Traj_container[idx].getAcc(t); + return acc.dot(Eigen::Vector2d(cos(yaw), sin(yaw))); + } + double getCur(double t) const{ + int idx = locateTrajIdx(t); + int eta = etas[idx]; + double s = Traj_container[idx].tTraj.getSigma(t)[0]; + Eigen::Vector2d vel = Traj_container[idx].posTraj.getdSigma(s); + Eigen::Vector2d acc = Traj_container[idx].posTraj.getddSigma(s); + return eta*(vel[0]*acc[1]-vel[1]*acc[0])/(vel.norm()*vel.norm()*vel.norm()); + } + double getCurDot(double t) const{ + int idx = locateTrajIdx(t); + int eta = etas[idx]; + + double s = Traj_container[idx].tTraj.getSigma(t)[0]; + + double ds = Traj_container[idx].tTraj.getdSigma(t)[0]; + Eigen::Vector2d vel = Traj_container[idx].posTraj.getdSigma(s); + Eigen::Vector2d acc = Traj_container[idx].posTraj.getddSigma(s); + Eigen::Vector2d jerk = Traj_container[idx].posTraj.getdddSigma(s); + + Eigen::Matrix2d B; + B << 0,-1, + 1, 0; + double tp1 = jerk.transpose()*B*vel; + double v3 = pow(vel.norm(),3); + double tp2 = acc.transpose()*B*vel; + double tp3 = acc.dot(vel); + double v1 = vel.norm(); + double v6 = pow(vel.norm(),6); + double denor = tp1*v3-3.0*tp2*tp3*v1; + double kdot = denor / v6 * ds; + return kdot * eta; + } + double getPhi(double t, double wheelbase = 0.6){ + double c = getCur(t); + return atan(c * wheelbase); + } + double getOmega(double t, double wheelbase = 0.6){ + int idx = locateTrajIdx(t); + int eta = etas[idx]; + + double s = Traj_container[idx].tTraj.getSigma(t)[0]; + double ds = Traj_container[idx].tTraj.getdSigma(t)[0]; + Eigen::Vector2d vel = Traj_container[idx].posTraj.getdSigma(s); + Eigen::Vector2d acc = Traj_container[idx].posTraj.getddSigma(s); + Eigen::Vector2d jerk = Traj_container[idx].posTraj.getdddSigma(s); + + Eigen::Matrix2d B; + B << 0,-1, + 1, 0; + double tp1 = jerk.transpose()*B*vel; + double v3 = pow(vel.norm(),3); + double tp2 = acc.transpose()*B*vel; + double tp3 = acc.dot(vel); + double v1 = vel.norm(); + double v6 = pow(vel.norm(),6); + double denor = tp1*v3-3.0*tp2*tp3*v1; + double nor = v6+tp2*tp2*wheelbase*wheelbase; + double omega = wheelbase * denor / nor * ds; + + + return omega * eta; + } + + + + inline double getYaw(double t) const{ + int idx = locateTrajIdx(t); + Eigen::Vector2d scale = Traj_container[idx].getScale(t); + double yaw = atan2(etas[idx] * scale[1], etas[idx] * scale[0]); + return yaw; + } + inline double getGearYaw(int idx) const{ + double T = Traj_container[idx].getTotalDuration(); + Eigen::Vector2d scale = Traj_container[idx].getScale(T); + double yaw = atan2(etas[idx] * scale[1], etas[idx] * scale[0]); + return yaw; + } + + inline Eigen::Vector2d getGearPos(int idx) const + { + double T = Traj_container[idx].getTotalDuration(); + return Traj_container[idx].getPos(T); + } + + + + inline double getYawByArc(double arc) const{ + int idx = locateTrajIdxByArc(arc); + Eigen::Vector2d scale = Traj_container[idx].getScaleByArc(arc); + double yaw = atan2(etas[idx] * scale[1], etas[idx] * scale[0]); + return yaw; + } + + + + + inline Eigen::VectorXd getDurations() const{ + std::vector stdDurations; + for(const auto traj : Traj_container){ + Eigen::VectorXd tmpDurations = traj.getDurations(); + for(int i = 0; i < tmpDurations.size(); i++){ + stdDurations.push_back(tmpDurations[i]); + } + } + Eigen::VectorXd durations; + durations.resize(stdDurations.size()); + for(int i = 0; i < stdDurations.size(); i++){ + durations[i] = stdDurations[i]; + } + return durations; + } + inline int getPieceNum() const{ + int pieceNum = 0; + for(const auto traj : Traj_container){ + pieceNum += traj.getPieceNum(); + } + return pieceNum; + } + + + + }; + + + // The banded system class is used for solving + // banded linear system Ax=b efficiently. + // A is an N*N band matrix with lower band width lowerBw + // and upper band width upperBw. + // Banded LU factorization has O(N) time complexity. + class BandedSystem { + public: + // The size of A, as well as the lower/upper + // banded width p/q are needed + inline void create(const int &n, const int &p, const int &q) { + // In case of re-creating before destroying + destroy(); + N = n; + lowerBw = p; + upperBw = q; + int actualSize = N * (lowerBw + upperBw + 1); + ptrData = new double[actualSize]; + std::fill_n(ptrData, actualSize, 0.0); + return; + } + + inline void destroy() { + if (ptrData != nullptr) { + delete[] ptrData; + ptrData = nullptr; + } + return; + } + + private: + int N; + int lowerBw; + int upperBw; + // Compulsory nullptr initialization here + double *ptrData = nullptr; + + public: + // Reset the matrix to zero + inline void reset(void) { + std::fill_n(ptrData, N * (lowerBw + upperBw + 1), 0.0); + return; + } + + // The band matrix is stored as suggested in "Matrix Computation" + inline const double &operator()(const int &i, const int &j) const { + return ptrData[(i - j + upperBw) * N + j]; + } + + inline double &operator()(const int &i, const int &j) { + return ptrData[(i - j + upperBw) * N + j]; + } + + // This function conducts banded LU factorization in place + // Note that NO PIVOT is applied on the matrix "A" for efficiency!!! + inline void factorizeLU() { + int iM, jM; + double cVl; + for (int k = 0; k <= N - 2; k++) { + iM = std::min(k + lowerBw, N - 1); + cVl = operator()(k, k); + for (int i = k + 1; i <= iM; i++) { + if (operator()(i, k) != 0.0) { + operator()(i, k) /= cVl; + } + } + jM = std::min(k + upperBw, N - 1); + for (int j = k + 1; j <= jM; j++) { + cVl = operator()(k, j); + if (cVl != 0.0) { + for (int i = k + 1; i <= iM; i++) { + if (operator()(i, k) != 0.0) { + operator()(i, j) -= operator()(i, k) * cVl; + } + } + } + } + } + return; + } + + // This function solves Ax=b, then stores x in b + // The input b is required to be N*m, i.e., + // m vectors to be solved. + template + inline void solve(EIGENMAT &b) const { + int iM; + for (int j = 0; j <= N - 1; j++) { + iM = std::min(j + lowerBw, N - 1); + for (int i = j + 1; i <= iM; i++) { + if (operator()(i, j) != 0.0) { + b.row(i) -= operator()(i, j) * b.row(j); + } + } + } + for (int j = N - 1; j >= 0; j--) { + b.row(j) /= operator()(j, j); + iM = std::max(0, j - upperBw); + for (int i = iM; i <= j - 1; i++) { + if (operator()(i, j) != 0.0) { + b.row(i) -= operator()(i, j) * b.row(j); + } + } + } + return; + } + + // This function solves ATx=b, then stores x in b + // The input b is required to be N*m, i.e., + // m vectors to be solved. + template + inline void solveAdj(EIGENMAT &b) const { + int iM; + for (int j = 0; j <= N - 1; j++) { + b.row(j) /= operator()(j, j); + iM = std::min(j + upperBw, N - 1); + for (int i = j + 1; i <= iM; i++) { + if (operator()(j, i) != 0.0) { + b.row(i) -= operator()(j, i) * b.row(j); + } + } + } + for (int j = N - 1; j >= 0; j--) { + iM = std::max(0, j - lowerBw); + for (int i = iM; i <= j - 1; i++) { + if (operator()(j, i) != 0.0) { + b.row(i) -= operator()(j, i) * b.row(j); + } + } + } + return; + } + }; + + + + +template class MinJerkOpt + { + public: + MinJerkOpt() = default; + ~MinJerkOpt() { A.destroy(); } + + + private: + int N; // pieceNum + Eigen::MatrixXd headPVA, tailPVA; + Eigen::MatrixXd b, c, adjScaledGrad; // 6*N, 2 + BandedSystem A; // 6 * N, 6 * N + Eigen::Matrix t, tInv; + public: + inline void reset(const int &pieceNum) + { + + + N = pieceNum; + A.create(6 * N, 6, 6); + b.resize(6 * N, Dim); + c.resize(6 * N, Dim); + adjScaledGrad.resize(6 * N, Dim); + + + t(0) = 1.0; + + A(0, 0) = 1.0; + A(1, 1) = 1.0; + A(2, 2) = 2.0; + for (int i = 0; i < N - 1; i++) { + A(6 * i + 3, 6 * i + 3) = 6.0; + A(6 * i + 3, 6 * i + 4) = 24.0; + A(6 * i + 3, 6 * i + 5) = 60.0; + A(6 * i + 3, 6 * i + 9) = -6.0; + A(6 * i + 4, 6 * i + 4) = 24.0; + A(6 * i + 4, 6 * i + 5) = 120.0; + A(6 * i + 4, 6 * i + 10) = -24.0; + A(6 * i + 5, 6 * i) = 1.0; + A(6 * i + 5, 6 * i + 1) = 1.0; + A(6 * i + 5, 6 * i + 2) = 1.0; + A(6 * i + 5, 6 * i + 3) = 1.0; + A(6 * i + 5, 6 * i + 4) = 1.0; + A(6 * i + 5, 6 * i + 5) = 1.0; + A(6 * i + 6, 6 * i) = 1.0; + A(6 * i + 6, 6 * i + 1) = 1.0; + A(6 * i + 6, 6 * i + 2) = 1.0; + A(6 * i + 6, 6 * i + 3) = 1.0; + A(6 * i + 6, 6 * i + 4) = 1.0; + A(6 * i + 6, 6 * i + 5) = 1.0; + A(6 * i + 6, 6 * i + 6) = -1.0; + A(6 * i + 7, 6 * i + 1) = 1.0; + A(6 * i + 7, 6 * i + 2) = 2.0; + A(6 * i + 7, 6 * i + 3) = 3.0; + A(6 * i + 7, 6 * i + 4) = 4.0; + A(6 * i + 7, 6 * i + 5) = 5.0; + A(6 * i + 7, 6 * i + 7) = -1.0; + A(6 * i + 8, 6 * i + 2) = 2.0; + A(6 * i + 8, 6 * i + 3) = 6.0; + A(6 * i + 8, 6 * i + 4) = 12.0; + A(6 * i + 8, 6 * i + 5) = 20.0; + A(6 * i + 8, 6 * i + 8) = -2.0; + } + A(6 * N - 3, 6 * N - 6) = 1.0; + A(6 * N - 3, 6 * N - 5) = 1.0; + A(6 * N - 3, 6 * N - 4) = 1.0; + A(6 * N - 3, 6 * N - 3) = 1.0; + A(6 * N - 3, 6 * N - 2) = 1.0; + A(6 * N - 3, 6 * N - 1) = 1.0; + A(6 * N - 2, 6 * N - 5) = 1.0; + A(6 * N - 2, 6 * N - 4) = 2.0; + A(6 * N - 2, 6 * N - 3) = 3.0; + A(6 * N - 2, 6 * N - 2) = 4.0; + A(6 * N - 2, 6 * N - 1) = 5.0; + A(6 * N - 1, 6 * N - 4) = 2.0; + A(6 * N - 1, 6 * N - 3) = 6.0; + A(6 * N - 1, 6 * N - 2) = 12.0; + A(6 * N - 1, 6 * N - 1) = 20.0; + A.factorizeLU(); + + return; + } + + inline void generate(const Eigen::MatrixXd &inPs, + const double &dT, + const Eigen::MatrixXd &headState, + const Eigen::MatrixXd &tailState) + { + headPVA = headState; + tailPVA = tailState; + + t(1) = dT; + t(2) = t(1) * t(1); + t(3) = t(2) * t(1); + t(4) = t(2) * t(2); + t(5) = t(4) * t(1); + tInv = t.cwiseInverse(); + + b.setZero(); + b.row(0) = headPVA.col(0).transpose(); + b.row(1) = headPVA.col(1).transpose() * t(1); + b.row(2) = headPVA.col(2).transpose() * t(2); + for (int i = 0; i < N - 1; i++) { + b.row(6 * i + 5) = inPs.col(i).transpose(); + } + b.row(6 * N - 3) = tailPVA.col(0).transpose(); + b.row(6 * N - 2) = tailPVA.col(1).transpose() * t(1); + b.row(6 * N - 1) = tailPVA.col(2).transpose() * t(2); + + A.solve(b); + for (int i = 0; i < N; i++) { + c.block<6, Dim>(6 * i, 0) = + b.block<6, Dim>(6 * i, 0).array().colwise() * tInv.array(); + } + return; + } + inline PolyTrajectory getTraj() const + { + PolyTrajectory polytraj; + polytraj.reserve(N); + for (int i = 0; i < N; i++) + { + polytraj.emplace_back(t(1), c.block<6, Dim>(6 * i, 0).transpose().rowwise().reverse()); + } + + return polytraj; + } + inline double getTrajJerkCost() const { + double energy = 0.0; + for (int i = 0; i < N; i++) { + energy += 36.0 * c.row(6 * i + 3).squaredNorm() * t(1) + + 144.0 * c.row(6 * i + 4).dot(c.row(6 * i + 3)) * t(2) + + 192.0 * c.row(6 * i + 4).squaredNorm() * t(3) + + 240.0 * c.row(6 * i + 5).dot(c.row(6 * i + 3)) * t(3) + + 720.0 * c.row(6 * i + 5).dot(c.row(6 * i + 4)) * t(4) + + 720.0 * c.row(6 * i + 5).squaredNorm() * t(5); + } + return energy; + } + + + inline void initSmGradCost(Eigen::MatrixXd& gdC, double& gdT) { + gdC.resize(6 * N, Dim); + for (int i = 0; i < N; i++) { + gdC.row(6 * i + 5) = 240.0 * c.row(6 * i + 3) * t(3) + + 720.0 * c.row(6 * i + 4) * t(4) + + 1440.0 * c.row(6 * i + 5) * t(5); + gdC.row(6 * i + 4) = 144.0 * c.row(6 * i + 3) * t(2) + + 384.0 * c.row(6 * i + 4) * t(3) + + 720.0 * c.row(6 * i + 5) * t(4); + gdC.row(6 * i + 3) = 72.0 * c.row(6 * i + 3) * t(1) + + 144.0 * c.row(6 * i + 4) * t(2) + + 240.0 * c.row(6 * i + 5) * t(3); + gdC.block<3, Dim>(6 * i, 0).setZero(); + } + gdT = 0.0; + for (int i = 0; i < N; i++) { + gdT += 36.0 * c.row(6 * i + 3).squaredNorm() + + 288.0 * c.row(6 * i + 4).dot(c.row(6 * i + 3)) * t(1) + + 576.0 * c.row(6 * i + 4).squaredNorm() * t(2) + + 720.0 * c.row(6 * i + 5).dot(c.row(6 * i + 3)) * t(2) + + 2880.0 * c.row(6 * i + 5).dot(c.row(6 * i + 4)) * t(3) + + 3600.0 * c.row(6 * i + 5).squaredNorm() * t(4); + } + return; + } + + + inline void calGrads_PT(const Eigen::MatrixXd& gdC, double& gdT, Eigen::MatrixXd& gdHead, Eigen::MatrixXd& gdTail, + Eigen::MatrixXd& gdP) { + gdP.resize(Dim, N - 1); + gdHead.resize(Dim, 3); + gdTail.resize(Dim, 3); + for (int i = 0; i < N; i++) { + adjScaledGrad.block<6, Dim>(6 * i, 0) = + gdC.block<6, Dim>(6 * i, 0).array().colwise() * tInv.array(); + } + A.solveAdj(adjScaledGrad); + + for (int i = 0; i < N - 1; i++) { + gdP.col(i) = adjScaledGrad.row(6 * i + 5).transpose(); + } + gdHead = adjScaledGrad.topRows(3).transpose() * t.head<3>().asDiagonal(); + gdTail = adjScaledGrad.bottomRows(3).transpose() * t.head<3>().asDiagonal(); + + gdT += headPVA.col(1).dot(adjScaledGrad.row(1)); + gdT += headPVA.col(2).dot(adjScaledGrad.row(2)) * 2.0 * t(1); + gdT += tailPVA.col(1).dot(adjScaledGrad.row(6 * N - 2)); + gdT += tailPVA.col(2).dot(adjScaledGrad.row(6 * N - 1)) * 2.0 * t(1); + Eigen::Matrix gdtInv; + gdtInv(0) = 0.0; + gdtInv(1) = -1.0 * tInv(2); + gdtInv(2) = -2.0 * tInv(3); + gdtInv(3) = -3.0 * tInv(4); + gdtInv(4) = -4.0 * tInv(5); + gdtInv(5) = -5.0 * tInv(5) * tInv(1); + const Eigen::VectorXd gdcol = gdC.cwiseProduct(b).rowwise().sum(); + for (int i = 0; i < N; i++) { + gdT += gdtInv.dot(gdcol.segment<6>(6 * i)); + } + return; + } + inline void calGrads_PT(const Eigen::MatrixXd& gdC, double& gdT, Eigen::MatrixXd& gdP) { + gdP.resize(Dim, N - 1); + for (int i = 0; i < N; i++) { + adjScaledGrad.block<6, Dim>(6 * i, 0) = + gdC.block<6, Dim>(6 * i, 0).array().colwise() * tInv.array(); + } + A.solveAdj(adjScaledGrad); + + for (int i = 0; i < N - 1; i++) { + gdP.col(i) = adjScaledGrad.row(6 * i + 5).transpose(); + } + + gdT += headPVA.col(1).dot(adjScaledGrad.row(1)); + gdT += headPVA.col(2).dot(adjScaledGrad.row(2)) * 2.0 * t(1); + gdT += tailPVA.col(1).dot(adjScaledGrad.row(6 * N - 2)); + gdT += tailPVA.col(2).dot(adjScaledGrad.row(6 * N - 1)) * 2.0 * t(1); + Eigen::Matrix gdtInv; + gdtInv(0) = 0.0; + gdtInv(1) = -1.0 * tInv(2); + gdtInv(2) = -2.0 * tInv(3); + gdtInv(3) = -3.0 * tInv(4); + gdtInv(4) = -4.0 * tInv(5); + gdtInv(5) = -5.0 * tInv(5) * tInv(1); + const Eigen::VectorXd gdcol = gdC.cwiseProduct(b).rowwise().sum(); + for (int i = 0; i < N; i++) { + gdT += gdtInv.dot(gdcol.segment<6>(6 * i)); + } + return; + } + + inline const int &getPieceNum (void) const{ + return N; + } + inline const Eigen::MatrixXd &getCoeffs(void) const { + return c; + } + inline const double &getDt(void) const { + return t(1); + } + }; + + + + + + + + + + + + + + + + typedef MinJerkOpt<1> MinJerkOpt1d; + + typedef MinJerkOpt<2> MinJerkOpt2d; + + typedef MinJerkOpt<3> MinJerkOpt3d; + + template class MINCO_S3NU + { + public: + MINCO_S3NU() = default; + ~MINCO_S3NU() { A.destroy(); } + Eigen::VectorXd T1; + + + private: + int N; + Eigen::MatrixXd headPVA; + Eigen::MatrixXd tailPVA; + BandedSystem A; + Eigen::MatrixXd c; + Eigen::VectorXd T2; + Eigen::VectorXd T3; + Eigen::VectorXd T4; + Eigen::VectorXd T5; + + public: + inline void reset(const int &pieceNum) + { + N = pieceNum; + A.create(6 * N, 6, 6); + c.resize(6 * N, Dim); + T1.resize(N); + T2.resize(N); + T3.resize(N); + T4.resize(N); + T5.resize(N); + return; + } + + inline void generate(const Eigen::MatrixXd &inPs, + const Eigen::VectorXd &ts, + const Eigen::MatrixXd &headState, + const Eigen::MatrixXd &tailState) + { + headPVA = headState; + tailPVA = tailState; + T1 = ts; + T2 = T1.cwiseProduct(T1); + T3 = T2.cwiseProduct(T1); + T4 = T2.cwiseProduct(T2); + T5 = T4.cwiseProduct(T1); + + A.reset(); + c.setZero(); + + A(0, 0) = 1.0; + A(1, 1) = 1.0; + A(2, 2) = 2.0; + c.row(0) = headPVA.col(0).transpose(); + c.row(1) = headPVA.col(1).transpose(); + c.row(2) = headPVA.col(2).transpose(); + + for (int i = 0; i < N - 1; i++) + { + A(6 * i + 3, 6 * i + 3) = 6.0; + A(6 * i + 3, 6 * i + 4) = 24.0 * T1(i); + A(6 * i + 3, 6 * i + 5) = 60.0 * T2(i); + A(6 * i + 3, 6 * i + 9) = -6.0; + A(6 * i + 4, 6 * i + 4) = 24.0; + A(6 * i + 4, 6 * i + 5) = 120.0 * T1(i); + A(6 * i + 4, 6 * i + 10) = -24.0; + A(6 * i + 5, 6 * i) = 1.0; + A(6 * i + 5, 6 * i + 1) = T1(i); + A(6 * i + 5, 6 * i + 2) = T2(i); + A(6 * i + 5, 6 * i + 3) = T3(i); + A(6 * i + 5, 6 * i + 4) = T4(i); + A(6 * i + 5, 6 * i + 5) = T5(i); + A(6 * i + 6, 6 * i) = 1.0; + A(6 * i + 6, 6 * i + 1) = T1(i); + A(6 * i + 6, 6 * i + 2) = T2(i); + A(6 * i + 6, 6 * i + 3) = T3(i); + A(6 * i + 6, 6 * i + 4) = T4(i); + A(6 * i + 6, 6 * i + 5) = T5(i); + A(6 * i + 6, 6 * i + 6) = -1.0; + A(6 * i + 7, 6 * i + 1) = 1.0; + A(6 * i + 7, 6 * i + 2) = 2 * T1(i); + A(6 * i + 7, 6 * i + 3) = 3 * T2(i); + A(6 * i + 7, 6 * i + 4) = 4 * T3(i); + A(6 * i + 7, 6 * i + 5) = 5 * T4(i); + A(6 * i + 7, 6 * i + 7) = -1.0; + A(6 * i + 8, 6 * i + 2) = 2.0; + A(6 * i + 8, 6 * i + 3) = 6 * T1(i); + A(6 * i + 8, 6 * i + 4) = 12 * T2(i); + A(6 * i + 8, 6 * i + 5) = 20 * T3(i); + A(6 * i + 8, 6 * i + 8) = -2.0; + + c.row(6 * i + 5) = inPs.col(i).transpose(); + } + + A(6 * N - 3, 6 * N - 6) = 1.0; + A(6 * N - 3, 6 * N - 5) = T1(N - 1); + A(6 * N - 3, 6 * N - 4) = T2(N - 1); + A(6 * N - 3, 6 * N - 3) = T3(N - 1); + A(6 * N - 3, 6 * N - 2) = T4(N - 1); + A(6 * N - 3, 6 * N - 1) = T5(N - 1); + A(6 * N - 2, 6 * N - 5) = 1.0; + A(6 * N - 2, 6 * N - 4) = 2 * T1(N - 1); + A(6 * N - 2, 6 * N - 3) = 3 * T2(N - 1); + A(6 * N - 2, 6 * N - 2) = 4 * T3(N - 1); + A(6 * N - 2, 6 * N - 1) = 5 * T4(N - 1); + A(6 * N - 1, 6 * N - 4) = 2; + A(6 * N - 1, 6 * N - 3) = 6 * T1(N - 1); + A(6 * N - 1, 6 * N - 2) = 12 * T2(N - 1); + A(6 * N - 1, 6 * N - 1) = 20 * T3(N - 1); + + c.row(6 * N - 3) = tailPVA.col(0).transpose(); + c.row(6 * N - 2) = tailPVA.col(1).transpose(); + c.row(6 * N - 1) = tailPVA.col(2).transpose(); + + A.factorizeLU(); + A.solve(c); + + return; + } + + inline PolyTrajectory getTraj() const + { + PolyTrajectory polytraj; + polytraj.reserve(N); + for (int i = 0; i < N; i++) + { + + polytraj.emplace_back(T1(i), + c.block<6, Dim>(6 * i, 0) + .transpose() + .rowwise() + .reverse()); + } + return polytraj; + } + + inline double getTrajJerkCost() const + { + double energy = 0.0; + for (int i = 0; i < N; i++) + { + energy += 36.0 * c.row(6 * i + 3).squaredNorm() * T1(i) + + 144.0 * c.row(6 * i + 4).dot(c.row(6 * i + 3)) * T2(i) + + 192.0 * c.row(6 * i + 4).squaredNorm() * T3(i) + + 240.0 * c.row(6 * i + 5).dot(c.row(6 * i + 3)) * T3(i) + + 720.0 * c.row(6 * i + 5).dot(c.row(6 * i + 4)) * T4(i) + + 720.0 * c.row(6 * i + 5).squaredNorm() * T5(i); + } + return energy; + } + + inline const Eigen::MatrixXd &getCoeffs(void) const + { + return c; + } + + inline void initSmGradCost(Eigen::MatrixXd& gdC, Eigen::VectorXd &gdT) const + { + gdC.resize(6 * N, Dim); + for (int i = 0; i < N; i++) + { + gdC.row(6 * i + 5) = 240.0 * c.row(6 * i + 3) * T3(i) + + 720.0 * c.row(6 * i + 4) * T4(i) + + 1440.0 * c.row(6 * i + 5) * T5(i); + gdC.row(6 * i + 4) = 144.0 * c.row(6 * i + 3) * T2(i) + + 384.0 * c.row(6 * i + 4) * T3(i) + + 720.0 * c.row(6 * i + 5) * T4(i); + gdC.row(6 * i + 3) = 72.0 * c.row(6 * i + 3) * T1(i) + + 144.0 * c.row(6 * i + 4) * T2(i) + + 240.0 * c.row(6 * i + 5) * T3(i); + gdC.block<3, Dim>(6 * i, 0).setZero(); + } + gdT.resize(N); + for (int i = 0; i < N; i++) + { + gdT(i) = 36.0 * c.row(6 * i + 3).squaredNorm() + + 288.0 * c.row(6 * i + 4).dot(c.row(6 * i + 3)) * T1(i) + + 576.0 * c.row(6 * i + 4).squaredNorm() * T2(i) + + 720.0 * c.row(6 * i + 5).dot(c.row(6 * i + 3)) * T2(i) + + 2880.0 * c.row(6 * i + 5).dot(c.row(6 * i + 4)) * T3(i) + + 3600.0 * c.row(6 * i + 5).squaredNorm() * T4(i); + } + + return; + } + + + + inline void calGrads_PT(const Eigen::MatrixXd& gdC, Eigen::VectorXd& gdT, Eigen::MatrixXd& gdP, + Eigen::MatrixXd& gdHead, Eigen::MatrixXd& gdTail) + + { + gdP.resize(Dim, N - 1); + gdHead.resize(Dim, 3); + gdTail.resize(Dim, 3); + Eigen::MatrixXd adjGrad = gdC; + A.solveAdj(adjGrad); + + for (int i = 0; i < N - 1; i++) + { + gdP.col(i) = adjGrad.row(6 * i + 5).transpose(); + } + gdHead = adjGrad.topRows(3).transpose(); + gdTail = adjGrad.bottomRows(3).transpose(); + + Eigen::Matrix B1; + Eigen::Matrix B2; + for (int i = 0; i < N - 1; i++) + { + // negative velocity + B1.row(2) = -(c.row(i * 6 + 1) + + 2.0 * T1(i) * c.row(i * 6 + 2) + + 3.0 * T2(i) * c.row(i * 6 + 3) + + 4.0 * T3(i) * c.row(i * 6 + 4) + + 5.0 * T4(i) * c.row(i * 6 + 5)); + B1.row(3) = B1.row(2); + + // negative acceleration + B1.row(4) = -(2.0 * c.row(i * 6 + 2) + + 6.0 * T1(i) * c.row(i * 6 + 3) + + 12.0 * T2(i) * c.row(i * 6 + 4) + + 20.0 * T3(i) * c.row(i * 6 + 5)); + + // negative jerk + B1.row(5) = -(6.0 * c.row(i * 6 + 3) + + 24.0 * T1(i) * c.row(i * 6 + 4) + + 60.0 * T2(i) * c.row(i * 6 + 5)); + + // negative snap + B1.row(0) = -(24.0 * c.row(i * 6 + 4) + + 120.0 * T1(i) * c.row(i * 6 + 5)); + + // negative crackle + B1.row(1) = -120.0 * c.row(i * 6 + 5); + + gdT(i) += B1.cwiseProduct(adjGrad.block<6, Dim>(6 * i + 3, 0)).sum(); + } + + // negative velocity + B2.row(0) = -(c.row(6 * N - 5) + + 2.0 * T1(N - 1) * c.row(6 * N - 4) + + 3.0 * T2(N - 1) * c.row(6 * N - 3) + + 4.0 * T3(N - 1) * c.row(6 * N - 2) + + 5.0 * T4(N - 1) * c.row(6 * N - 1)); + + // negative acceleration + B2.row(1) = -(2.0 * c.row(6 * N - 4) + + 6.0 * T1(N - 1) * c.row(6 * N - 3) + + 12.0 * T2(N - 1) * c.row(6 * N - 2) + + 20.0 * T3(N - 1) * c.row(6 * N - 1)); + + // negative jerk + B2.row(2) = -(6.0 * c.row(6 * N - 3) + + 24.0 * T1(N - 1) * c.row(6 * N - 2) + + 60.0 * T2(N - 1) * c.row(6 * N - 1)); + gdT(N - 1) += B2.cwiseProduct(adjGrad.block<3, Dim>(6 * N - 3, 0)).sum(); + + } + }; +} //namespace plan_utils +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/arcPlan/Trajopt_alm.hpp b/trajectoryOpt/src/plan_manage/include/arcPlan/Trajopt_alm.hpp new file mode 100644 index 0000000..fe7616a --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/arcPlan/Trajopt_alm.hpp @@ -0,0 +1,1517 @@ +#ifndef TRAJOPT.HPP +#define TRAJOPT.HPP +#include "Polytraj.hpp" +#include "lbfgs.hpp" +#include "geoutils2d.hpp" +#include +#include +// using namespace std; + +namespace PolyTrajOpt +{ +class TrajOpt{ + private: + + Eigen::VectorXi piecenums; + int trajnum; + double gslar_ = 0.05; + double wei_time_ = 500.0; + double esdfWei = 1000.0; + double kmax = 0.45; + double kdotmax = 1.0; + double vmax = 3.0; + double latAccmax = 3.0; + double lonAccmax = 3.0; + double accRatemax = 3.0; + double phimax = 0.785; + double omegamax = 0.3; + double wheelbase = 0.6; + int traj_res = 16; + + std::vector cfgHs_; + std::vector conpts; + /*lots of alm param*/ + double scaling_wf_ = 1.0; + Eigen::VectorXd scaling_eqwc_, scaling_uneqwc_; + double scaling_wf_min_ = 0.01, scaling_wc_min_ = 0.01; + int eqc_num = 0, neqc_num = 0, totalc_num = 0; + Eigen::VectorXd lambda, mu, hx, gx; + double rho = 1.0, rho_max =1000.0; + double gamma = 1; + double cons_eps_ = 0.20; + double safeMargin = 0.15; + Eigen::VectorXd gradx; + double almTotalcost; + Eigen::MatrixXd headState2d_, tailState2d_; + std::vector singual_; + map_util::OccMapUtil* map_itf_; + + int eqc_idx = 0; + int uneqc_idx = 0; + std::shared_ptr vis_tool_; + bool isdebug_; + bool isfix_; + double backW_; + double miniS = 0.1; + bool isstart; + double totalCost; + std::string name_; + + + + public: + // se2Plan::MinJerkOpt<3> jerkOpt; + std::vector> posOpts; + std::vector> tOpts; + double min_dis_; + double debugEnergy, debugRhoT,debugEsdf, debugCur, debugMinis; + + + + inline int OptimizeSe2Trajectory( + const Eigen::MatrixXd &headState2d, const Eigen::MatrixXd &tailState2d, Eigen::VectorXd rdTs_container, + const std::vector &inPs_container, const std::vector &gearPos, + const std::vector & angles, map_util::OccMapUtil* map_itf, std::shared_ptr config_, const std::vector singual, + std::shared_ptr vis_tool,std::string name = "nn", std::vector ds_container = {}) + { + //arcs is total length for each mincotraj + //angles is the angle at the gear shifting state + //inPs_container[i] is the wayPts for each mincotraj + + name_ = name; + vis_tool_ = vis_tool; + + + + + /*setparam*/ + wei_time_ = config_->wei_time_; + kdotmax = config_->kdotmax; + kmax = config_->kmax; + // kmax = 10000.0; + vmax = config_->vmax; + latAccmax = config_->latAccmax; + lonAccmax = config_->lonAccmax; + accRatemax = config_->accRatemax; + traj_res = config_->traj_res; + rho = config_->rho; + rho_max = config_->rho_max; + gamma = config_->gamma; + cons_eps_ = config_->cons_eps_; + conpts = config_->conpts; + singual_ = singual; + isdebug_ = config_->isdebug; + isfix_ = config_->isfixGear; + backW_ = config_->backW; + miniS = config_->miniS; + safeMargin = config_->safeMargin; + esdfWei = config_->esdfWei; + map_itf_ = map_itf; + + phimax = config_->phimax; + omegamax = config_->omegamax; + wheelbase = config_->wheel_base; + kmax = tan(phimax) / wheelbase; + + + isstart = true; + + for(int i = 0; i < rdTs_container.size(); i++){ + if(rdTs_container[i] <= gslar_){ + ROS_ERROR("piece time <= gslar_"); + rdTs_container[i] = gslar_ + 0.1; + } + } + + //totalt is total time + headState2d_ = headState2d; + tailState2d_ = tailState2d; + trajnum = singual_.size(); + ROS_WARN_STREAM("trajnum: "<0.1 cur s' >= 0 vel acc omega + // neqc_num += piecenums[i] * (traj_res+1) * conpts.size(); // esdf + } + ROS_INFO("begin to optimize Arc Trajectory!"); + // std::cout << "trajnum: " << trajnum << std::endl; + // std::cout << "piecenums: "<< piecenums.transpose() < Vdts(x.data()+offset, rdTs_container.size()); + for(int i = 0; i < rdTs_container.size(); i++){ + double va; + RealT2VirtualT(rdTs_container[i], va); + Vdts[i] = va; + } + offset += rdTs_container.size(); + for(int i = 0; i < trajnum-1; i++){ + memcpy(x.data()+offset,gearPos[i].data(), 2 * sizeof(x[0])); + offset += 2; + } + Eigen::Map angles_(x.data()+offset, trajnum-1); + for(int i = 0; i < trajnum - 1; i++){ + angles_[i] = angles[i]; + } + offset += trajnum-1; + std::vector Rds_container; + for(int i = 0; i < trajnum; i++){ + Eigen::Map Vds(x.data()+offset, piecenums[i]); + Eigen::VectorXd Rds(piecenums[i]); + if(ds_container.size() == 0){ + { + Eigen::Vector2d tmpHead, tmpTail; + if(i == 0){ + tmpHead << headState2d.col(0); + } + else{ + tmpHead << gearPos[i-1]; + } + if(i == trajnum - 1){ + tmpTail << tailState2d.col(0); + } + else{ + tmpTail << gearPos[i]; + } + Eigen::MatrixXd tmpPts; tmpPts.resize(2, piecenums[i] + 1); + tmpPts.col(0) << tmpHead; tmpPts.col(piecenums[i]) << tmpTail; + for(int j = 0; j < piecenums[i] - 1; j++){ + tmpPts.col(j+1) = inPs_container[i].col(j); + } + + for(int j = 0; j < piecenums[i]; j++){ + Rds[j] = (tmpPts.col(j) - tmpPts.col(j+1)).norm(); + } + } + // std::cout << "trajid: " << i << " Rds: " << Rds.transpose() << std::endl; + // Rds.setConstant(rdTs_container[i]); + } + else{ + Rds = ds_container[i]; + } + + for(int j = 0; j < Rds.size(); j++){ + if(Rds[j] <= gslar_){ + ROS_ERROR("RT[i] <= gslar_"); + Rds[j] = gslar_+ 0.1; + } + } + Rds_container.push_back(Rds); + RealT2VirtualT(Rds, Vds); + offset += piecenums[i]; + } + + //the variables beform optimization + ROS_INFO("The variables beform optimization: "); + for(int i = 0; i < trajnum; i++){ + std::cout << "trajid: "<mem_size;//128 + lbfgs_params.past = config_->past; //3 + lbfgs_params.g_epsilon = config_->g_epsilon; + lbfgs_params.min_step = config_->min_step; + lbfgs_params.delta = config_->delta; + lbfgs_params.max_iterations = config_->max_iterations; + double final_cost; + bool flag_success = true; + + /*ALM*/ + double t1 = ros::Time::now().toSec(); + int iter = 0; + while(true){ + int result = lbfgs::lbfgs_optimize( + x, + final_cost, + TrajOpt::almCostFunctionCallback, + NULL, + NULL, + this, + lbfgs_params); + if (result == lbfgs::LBFGS_CONVERGENCE || + result == lbfgs::LBFGS_CANCELED || + result == lbfgs::LBFGS_STOP||result == lbfgs::LBFGSERR_MAXIMUMITERATION) + { + // ROS_INFO_STREAM("se2 trajectory generation success! cost: " << final_cost ); + } + else if (result == lbfgs::LBFGSERR_MAXIMUMLINESEARCH){ + ROS_WARN("Lbfgs: The line-search routine reaches the maximum number of evaluations."); + return 0; + } + else + { + ROS_WARN("Solver error. Return = %d, %s. Skip this planning.", result, lbfgs::lbfgs_strerror(result)); + return 0; + } + updateDualVar(); + if(ifConvergence()){ + // ROS_WARN_STREAM("Convergence! iter: "< config_->amlMaxIter){ + ROS_WARN("Reach Max iteration"); + return 0; + break; + + } + } + double t2 = ros::Time::now().toSec(); + // printf("\033[32mse2 trajectory generation success!time(ms)=%5.3f, totalCost=%5.3f \n\033[0m", (t2-t1) * 1000.0,totalCost); +// + debugVis(); + // { + // ROS_INFO("Optimized scale s, times, waypoints: "); + // for(int i = 0; i < posOpts.size(); i++){ + // std::cout << "trajid: " << i << " scales: " << posOpts[i].T1.transpose() << std::endl; + // std::cout << "trajid: " << i << " timess: " << tOpts[i].T1.transpose() << std::endl; + // PolyTrajOpt::PolyTrajectory<2> traj = posOpts[i].getTraj(); + // std::cout << "waypoints: \n" << traj.getWpts() << std::endl; + // } + // ROS_WARN_STREAM("esdf: "<(func_data); + opt->totalCost = 0.0; + + int offset = 0; + std::vector> P_container; + std::vector> gradP_container;; + for(int trajid = 0; trajid < opt->trajnum; trajid++){ + Eigen::Map P(x.data()+offset, 2, opt->piecenums[trajid] - 1); + Eigen::MapgradP(grad.data()+offset, 2, opt->piecenums[trajid] - 1); + offset += 2 * (opt->piecenums[trajid] - 1); + gradP.setZero(); + P_container.push_back(P); + gradP_container.push_back(gradP); + } + Eigen::Map Vdts(x.data()+offset, opt->trajnum); + Eigen::MapgradVdts(grad.data()+offset, opt->trajnum); + offset += opt -> trajnum; + Eigen::VectorXd dts(opt->trajnum); + Eigen::VectorXd gradDts(opt->trajnum); gradDts.setZero(); + opt->VirtualT2RealT(Vdts, dts); + + std::vector> Gear_container; + std::vector> gradGear_container; + for(int trajid = 0; trajid < opt->trajnum - 1; trajid++){ + Eigen::Map Gear(x.data()+offset, 2); + Eigen::MapgradGear(grad.data()+offset, 2); + offset += 2; + gradGear.setZero(); + Gear_container.push_back(Gear); + gradGear_container.push_back(gradGear); + } + Eigen::Map Angles(x.data()+offset, opt->trajnum-1); + Eigen::MapgradAngles(grad.data()+offset, opt->trajnum-1); + gradAngles.setZero(); + offset += opt->trajnum-1; + + + + std::vector> Vs_container; + std::vector> gradVs_container;; + std::vector Rs_container; + std::vector gradRs_container;; + for(int trajid = 0; trajid < opt->trajnum; trajid++){ + Eigen::Map Vs(x.data()+offset, opt->piecenums[trajid]); + Eigen::MapgradVs(grad.data()+offset, opt->piecenums[trajid]); + Vs_container.push_back(Vs); + gradVs.setZero(); + gradVs_container.push_back(gradVs); + Eigen::VectorXd Rs(opt->piecenums[trajid]); + Eigen::VectorXd gradRs(opt->piecenums[trajid]); gradRs.setZero(); + opt->VirtualT2RealT(Vs, Rs); + Rs_container.push_back(Rs); + gradRs_container.push_back(gradRs); + offset += opt->piecenums[trajid]; + } + + + + std::vector gdS2c_2d(opt->trajnum), gdS2c_1d(opt->trajnum), gdC2c_2d(opt->trajnum), gdC2c_1d(opt->trajnum), gdTotalc_2d(opt->trajnum), gdTotalc_1d(opt->trajnum); + std::vector gdS2t_2d(opt->trajnum), gdC2t_2d(opt->trajnum), gdTotalt_2d(opt->trajnum), gdS2t_1d(opt->trajnum), gdC2t_1d(opt->trajnum), gdTotalt_1d(opt->trajnum); + + opt->eqc_idx = 0; + opt->uneqc_idx = 0; + opt->debugEnergy = 0.0; + opt->debugEsdf = 0.0; + opt->min_dis_ = INFINITY; + opt->debugRhoT = 0.0; + opt->debugCur = -INFINITY; + opt->debugMinis = INFINITY; + // std::cout << "-------------------------------------\n"; + + for(int trajid = 0; trajid < opt->trajnum; trajid++){ + double s = 1.0 * opt->singual_[trajid]; + // double k; + // if(s > 0){ + // k= 1.0; + // } + // else{ + // k = 1.0; + // } + Eigen::Matrix IniState, FinState; + if(trajid == 0){ + IniState = opt->headState2d_; + } + else{ + IniState.col(0) << Gear_container[trajid - 1]; + IniState.col(1) << s * cos(Angles[trajid -1]), s * sin(Angles[trajid -1]); + IniState.col(2) << 0.0, 0.0; + } + if(trajid == opt->trajnum-1){ + FinState = opt->tailState2d_; + } + else{ + FinState.col(0) << Gear_container[trajid]; + FinState.col(1) << s * cos(Angles[trajid]), s * sin(Angles[trajid]); + FinState.col(2) << 0.0, 0.0; + } + // std::cout <<"trajid: " <posOpts[trajid].generate(P_container[trajid],Rs_container[trajid],IniState,FinState); + opt->posOpts[trajid].initSmGradCost(gdS2c_2d[trajid], gdS2t_2d[trajid]); + // smcost += k*opt->posOpts[trajid].getTrajJerkCost(); + // gdS2c_2d[trajid] = gdS2c_2d[trajid] * k; + // gdS2t_2d[trajid]= gdS2t_2d[trajid] * k; + gdS2c_2d[trajid].setZero(); + gdS2t_2d[trajid].setZero(); + + { + Eigen::MatrixXd wpTs, IniSt, FinSt; + wpTs.resize(1, opt->piecenums[trajid]-1); IniSt.resize(1,3); FinSt.resize(1,3); + for(int idx = 0; idx < opt->piecenums[trajid]-1; idx++){ + wpTs.col(idx) << Rs_container[trajid].segment(0, idx + 1).sum(); + } + IniSt << 0.0, 0.0, 0.0; + FinSt << Rs_container[trajid].sum(), 0.0,0.0; + Eigen::VectorXd cdts(opt->piecenums[trajid]); + cdts.setConstant(dts[trajid]); + opt->tOpts[trajid].generate(wpTs, cdts, IniSt, FinSt); + opt->tOpts[trajid].initSmGradCost(gdS2c_1d[trajid], gdS2t_1d[trajid]); + // smcost += opt->tOpts[trajid].getTrajJerkCost() * k; + // gdS2c_1d[trajid] = gdS2c_1d[trajid] * k; + // gdS2t_1d[trajid] = gdS2t_1d[trajid] * k; + gdS2c_1d[trajid].setZero(); + gdS2t_1d[trajid].setZero(); + } + + // gdS2c_2d[trajid].setZero(); gdS2t_2d.setZero(); + opt->almGradCost2CT(almcost, opt->posOpts[trajid], opt->tOpts[trajid], gdC2c_2d[trajid], gdC2t_2d[trajid], gdC2c_1d[trajid], gdC2t_1d[trajid], trajid); // Time int cost + // gdC2c_2d[trajid].setZero(); + // gdC2t_2d[trajid]=0.0; + // gdC2c_1d[trajid].setZero(); + // gdC2t_1d[trajid].setZero(); + // almcost = 0.0; + gdTotalc_2d[trajid] = gdC2c_2d[trajid] + gdS2c_2d[trajid]; + gdTotalt_2d[trajid] = gdC2t_2d[trajid] + gdS2t_2d[trajid]; + gdTotalc_1d[trajid] = gdC2c_1d[trajid] + gdS2c_1d[trajid]; + gdTotalt_1d[trajid] = gdC2t_1d[trajid] + gdS2t_1d[trajid]; + // gdTotalc_2d[trajid] = gdC2c_2d[trajid]; + // gdTotalt_2d[trajid] = gdC2t_2d[trajid]; + } + for(int trajid = 0; trajid < opt->trajnum; trajid++) { + Eigen::MatrixXd propogate_gradp_2d, propogate_gradIni_2d, propogate_gradFin_2d; + opt->posOpts[trajid].calGrads_PT(gdTotalc_2d[trajid], gdTotalt_2d[trajid], propogate_gradp_2d, propogate_gradIni_2d, propogate_gradFin_2d); + double sg = 1.0 * opt->singual_[trajid]; + if(trajid > 0){ + double theta = Angles[trajid-1]; + gradGear_container[trajid-1] += propogate_gradIni_2d.col(0); + gradAngles[trajid-1] += propogate_gradIni_2d.col(1).transpose() * Eigen::Vector2d(-sg * sin(theta), sg*cos(theta)); + } + if(trajid < opt->trajnum-1){ + double theta = Angles[trajid]; + gradGear_container[trajid] += propogate_gradFin_2d.col(0); + gradAngles[trajid] += propogate_gradFin_2d.col(1).transpose() * Eigen::Vector2d(-sg * sin(theta), sg*cos(theta)); + } + gradP_container[trajid] = propogate_gradp_2d; + double k; + if(sg > 0){ + k = 1.0; + } + else{ + k = opt->backW_; + } + // gradArcs[trajid] = gdTotalt_2d[trajid] / opt->piecenums[trajid] + opt->wei_time_ * k; + // timecost += k * opt->wei_time_ * arcs[trajid]; + gradRs_container[trajid] = gdTotalt_2d[trajid]; + + Eigen::MatrixXd propogate_gradp_1d, propogate_gradIni_1d, propogate_gradFin_1d; + opt->tOpts[trajid].calGrads_PT(gdTotalc_1d[trajid], gdTotalt_1d[trajid], propogate_gradp_1d, propogate_gradIni_1d, propogate_gradFin_1d); + //特殊 + for(int p1 = 0; p1 < opt->piecenums[trajid] - 1; p1++){ + gradRs_container[trajid].segment(0, p1 + 1).array() += propogate_gradp_1d.col(p1)[0]; + } + gradRs_container[trajid].array() += propogate_gradFin_1d.col(0)[0]; + gradDts[trajid] = gdTotalt_1d[trajid].sum(); + gradDts[trajid] += k * opt->wei_time_ * opt->piecenums[trajid]; + timecost += k * opt->wei_time_ * dts[trajid]* opt->piecenums[trajid]; + opt->debugRhoT += k * opt->wei_time_ * dts[trajid]* opt->piecenums[trajid]; + } + opt->Virtual2Grad(Vdts, gradDts, gradVdts); + for(int trajid = 0; trajid < opt->trajnum; trajid++){ + // gradRs_container[trajid].setConstant(gradRs_container[trajid].sum() / opt->piecenums[trajid]); + opt->Virtual2Grad(Vs_container[trajid], gradRs_container[trajid], gradVs_container[trajid]); + } + if(opt->isfix_){ + for(int trajid = 0; trajid < opt->trajnum - 1; trajid++){ + gradGear_container[trajid].setZero(); + gradAngles[trajid] = 0.0; + } + } + //hzchzc + gradGear_container[0].setZero(); + gradGear_container[1].setZero(); + gradAngles[0] = 0.0; + gradAngles[1] = 0.0; + gradVdts.setZero(); + if(opt->isdebug_){ + // std::cout << "------------------------------------------------------------------\n"; + std::cout << "min_dis_: "<min_dis_ << std::endl; + std::cout << "debugCur: "<debugCur << std::endl; + std::cout << "debugMinis: "<debugMinis << std::endl; + // // std::cout << "gradVT: " << gradVT.transpose() << std::endl; + // std::cout << "angles: "<debugEnergy > 1.0e10){ + std::cout << "cost is too high!"<<"\n"; + } + else{ + opt->debugVis(); + ros::Duration(0.01).sleep(); + } + } + opt->totalCost += timecost; + return smcost + timecost + almcost; + } + template + void VirtualT2RealT(const EIGENVEC &VT, Eigen::VectorXd &RT) + { + for (int i = 0; i < VT.size(); ++i) + { + RT(i) = VT(i) > 0.0 ? ((0.5 * VT(i) + 1.0) * VT(i) + 1.0) + gslar_ + : 1.0 / ((0.5 * VT(i) - 1.0) * VT(i) + 1.0) + gslar_; + } + } + void VirtualT2RealT(const double & VT, double &RT){ + + + RT = VT > 0.0 ? ((0.5 * VT + 1.0) * VT + 1.0) + gslar_ + : 1.0 / ((0.5 * VT - 1.0) * VT + 1.0) + gslar_; + } + template + inline void RealT2VirtualT(const Eigen::VectorXd &RT, EIGENVEC &VT) + { + for (int i = 0; i < RT.size(); ++i) + { + VT(i) = RT(i) > 1.0 + gslar_ + ? (sqrt(2.0 * RT(i) - 1.0 - 2 * gslar_) - 1.0) + : (1.0 - sqrt(2.0 / (RT(i)-gslar_) - 1.0)); + } + } + inline void RealT2VirtualT(const double &RT, double &VT) + { + + VT = RT > 1.0 + gslar_ + ? (sqrt(2.0 * RT - 1.0 - 2 * gslar_) - 1.0) + : (1.0 - sqrt(2.0 / (RT-gslar_) - 1.0)); + } + template + void VirtualTGradCost(const Eigen::VectorXd &RT, const EIGENVEC &VT,const Eigen::VectorXd &gdRT, EIGENVECGD &gdVT,double &costT) + { + for (int i = 0; i < VT.size(); ++i) + { + double gdVT2Rt; + if (VT(i) > 0) + { + gdVT2Rt = VT(i) + 1.0; + } + else + { + double denSqrt = (0.5 * VT(i) - 1.0) * VT(i) + 1.0; + gdVT2Rt = (1.0 - VT(i)) / (denSqrt * denSqrt); + } + + gdVT(i) = (gdRT(i) + wei_time_) * gdVT2Rt; + } + + costT = RT.sum() * wei_time_; + } + void VirtualTGradCost(const double &RT, const double &VT, const double &gdRT, double &gdVT, double& costT){ + double gdVT2Rt; + if (VT > 0) + { + gdVT2Rt = VT + 1.0; + } + else + { + double denSqrt = (0.5 * VT - 1.0) * VT + 1.0; + gdVT2Rt = (1.0 - VT) / (denSqrt * denSqrt); + } + + gdVT = (gdRT + wei_time_) * gdVT2Rt; + costT = RT * wei_time_; + } + void VirtualTGrad2t(const double &VT, const double &gdRT, double &gdVT){ + double gdVT2Rt; + if (VT > 0) + { + gdVT2Rt = VT + 1.0; + } + else + { + double denSqrt = (0.5 * VT - 1.0) * VT + 1.0; + gdVT2Rt = (1.0 - VT) / (denSqrt * denSqrt); + } + gdVT = gdRT * gdVT2Rt; + } + template + void Virtual2Grad(const EIGENVEC &VT, const Eigen::VectorXd &gdRT, EIGENVECGD &gdVT){ + for (int i = 0; i < VT.size(); ++i) + { + double gdVT2Rt; + if (VT(i) > 0) + { + gdVT2Rt = VT(i) + 1.0; + } + else + { + double denSqrt = (0.5 * VT(i) - 1.0) * VT(i) + 1.0; + gdVT2Rt = (1.0 - VT(i)) / (denSqrt * denSqrt); + } + + gdVT(i) = (gdRT(i)) * gdVT2Rt; + } + + } + double expC2(double t) { + return t > 0.0 ? ((0.5 * t + 1.0) * t + 1.0) + : 1.0 / ((0.5 * t - 1.0) * t + 1.0); + } + double logC2(double T) { + return T > 1.0 ? (sqrt(2.0 * T - 1.0) - 1.0) : (1.0 - sqrt(2.0 / T - 1.0)); + } + void forwardT(const Eigen::Ref& t, const double& sT, Eigen::Ref vecT) { + int M = t.size(); + for (int i = 0; i < M; ++i) { + vecT(i) = expC2(t(i)); + } + vecT(M) = 0.0; + vecT /= 1.0 + vecT.sum(); + vecT(M) = 1.0 - vecT.sum(); + vecT *= sT; + return; + } + void backwardT(const Eigen::Ref& vecT, Eigen::Ref t) { + int M = t.size(); + t = vecT.head(M) / vecT(M); + for (int i = 0; i < M; ++i) { + t(i) = logC2(vecT(i)); + } + return; + } + void almGradCost2CT(double &cost,const PolyTrajOpt::MINCO_S3NU<2>& posOpt, const PolyTrajOpt::MINCO_S3NU<1>& tOpt, Eigen::MatrixXd& gdC2c_2d, Eigen::VectorXd& gdC2t_2d, Eigen::MatrixXd& gdC2c_1d, Eigen::VectorXd& gdC2t_1d, int trajid){ + // output gradT gradC + int N = piecenums[trajid]; + double sg = 1.0 * singual_[trajid]; + double s, ds, dds, ddds, dddds, latAcc, lonAcc, vnorm, cur; + Eigen::Vector2d pos, vel, acc, jerk, snap; + Eigen::Vector2d realVel, realAcc, realJerk; + double energy; + double gradS, gradDs, gradDds, gradDdds; + Eigen::Vector2d gradPos, gradVel, gradAcc, gradJerk; + Eigen::Matrix beta0_2d, beta1_2d, beta2_2d, beta3_2d, beta4_2d; + Eigen::Matrix beta0_1d, beta1_1d, beta2_1d, beta3_1d, beta4_1d; + Eigen::Matrix2d rotR, drotR; + Eigen::Vector2d outerNormal; + Eigen::Matrix t_2d, t_1d; + double step, alpha, eqf; + double vioCur, vioVel, vioLonAcc, vioLatAcc, vioAcc, vioYawdot, vioCor, vioDs; + int corId = -1; + double baset = 0.0; + t_2d(0) = 1.0; + t_1d(0) = 1.0; + + gdC2c_2d.resize(6 * N, 2); + gdC2c_2d.setZero(); + gdC2t_2d.resize(N); + gdC2t_2d.setZero(); + gdC2c_1d.resize(6 * N, 1); + gdC2c_1d.setZero(); + gdC2t_1d.resize(N); + gdC2t_1d.setZero(); + double baseS = 0.0; + + + for (int i = 0; i < N; ++i) + { + const Eigen::Matrix &c_1d = tOpt.getCoeffs().block<6, 1>(i * 6, 0); + const Eigen::Matrix &c_2d = posOpt.getCoeffs().block<6, 2>(i * 6, 0); + + step = tOpt.T1(i) / traj_res; // T_i /k + // innerLoop = traj_res; + for (int j = 0; j <= traj_res; ++j) + { + + /*analyse t*/ + t_1d(1) = step * j; + t_1d(2) = t_1d(1) * t_1d(1); + t_1d(3) = t_1d(2) * t_1d(1); + t_1d(4) = t_1d(2) * t_1d(2); + t_1d(5) = t_1d(4) * t_1d(1); + beta0_1d = t_1d; + beta1_1d << 0.0, 1.0, 2.0 * t_1d(1), 3.0 * t_1d(2), 4.0 * t_1d(3), 5.0 * t_1d(4); + beta2_1d << 0.0, 0.0, 2.0, 6.0 * t_1d(1), 12.0 * t_1d(2), 20.0 * t_1d(3); + beta3_1d << 0.0, 0.0, 0.0, 6.0, 24.0 * t_1d(1), 60.0 * t_1d(2); + beta4_1d << 0.0, 0.0, 0.0, 0.0, 24.0, 120 * t_1d(1); + s = c_1d.transpose() * beta0_1d; + ds = c_1d.transpose() * beta1_1d; + dds = c_1d.transpose() * beta2_1d; + ddds = c_1d.transpose() * beta3_1d; + dddds = c_1d.transpose() * beta4_1d; + gradS = 0.0; + gradDs = 0.0; + gradDds = 0.0; + gradDdds = 0.0; + /*analyse pos*/ + t_2d(1) = s - baseS; + t_2d(2) = t_2d(1) * t_2d(1); + t_2d(3) = t_2d(2) * t_2d(1); + t_2d(4) = t_2d(2) * t_2d(2); + t_2d(5) = t_2d(4) * t_2d(1); + beta0_2d = t_2d; + beta1_2d << 0.0, 1.0, 2.0 * t_2d(1), 3.0 * t_2d(2), 4.0 * t_2d(3), 5.0 * t_2d(4); + beta2_2d << 0.0, 0.0, 2.0, 6.0 * t_2d(1), 12.0 * t_2d(2), 20.0 * t_2d(3); + beta3_2d << 0.0, 0.0, 0.0, 6.0, 24.0 * t_2d(1), 60.0 * t_2d(2); + beta4_2d << 0.0, 0.0, 0.0, 0.0, 24.0, 120 * t_2d(1); + pos = c_2d.transpose() * beta0_2d; + vel = c_2d.transpose() * beta1_2d; + acc = c_2d.transpose() * beta2_2d; + jerk = c_2d.transpose() * beta3_2d; + snap = c_2d.transpose() * beta4_2d; + gradPos.setZero(); + gradVel.setZero(); + gradAcc.setZero(); + gradJerk.setZero(); + alpha = 1.0 / traj_res * j; + cur = (vel[0]*acc[1] - acc[0]*vel[1]); + rotR << vel[0], -vel[1], + vel[1], vel[0]; + rotR = (sg * rotR) / vel.norm(); + realVel = vel * ds; + realAcc = dds * vel + ds*acc*ds; + realJerk = ddds * vel + acc * dds * ds +2.0 * ds * acc * dds + ds * ds * ds * jerk; + + /*test vnorm = 1*/ + // { + // double arcscale = 1.0; + // double eqf2 = arcscale * (vel.dot(vel) - 1.0); + // double swc = scaling_eqwc_[eqc_idx]; + // double lbd = lambda[eqc_idx]; + // cost += swc * eqf2 * (lbd + 0.5 * rho * swc * eqf2); + // hx[eqc_idx] = eqf2; + // Eigen::Vector2d gradViolaM2v; + // gradViolaM2v = 2.0 * arcscale * vel; + // gradVel += addAlmGradPro(swc, lbd, eqf2, gradViolaM2v); + // eqc_idx ++; + + // } + // { + // double arcscale = 10.0; + // double eqf2 = arcscale * (vel.dot(vel) - 1.0) * step; + // double swc = scaling_eqwc_[eqc_idx]; + // double lbd = lambda[eqc_idx]; + // cost += swc * eqf2 * (lbd + 0.5 * rho * swc * eqf2); + // hx[eqc_idx] = eqf2; + // Eigen::Vector2d gradViolaM2v; + // gradViolaM2v = 2.0 * arcscale * vel * step; + // double gradViolaM2t; + // gradViolaM2t = arcscale * (vel.dot(vel) - 1.0) / traj_res; + + // gradVel += addAlmGradPro(swc, lbd, eqf2, gradViolaM2v); + // gdC2t_1d += addAlmGradPro(swc, lbd, eqf2, gradViolaM2t); + // eqc_idx ++; + + // } + /*v > 0.9*/ + { + debugMinis = std::min(debugMinis, vel.norm()); + double vionegV = miniS * miniS - vel.dot(vel); + double swc = scaling_uneqwc_[uneqc_idx]; + double tmu = mu[uneqc_idx]; + gx[uneqc_idx] = vionegV; + if(tmu + rho * swc * vionegV > 0){ + cost += swc * vionegV * (tmu + 0.5 * rho * swc * vionegV); + Eigen::Vector2d gradViolanegv; + gradViolanegv = -2.0*vel; + gradVel += addAlmGradPro(swc, tmu, vionegV, gradViolanegv); + } + + else{ + cost += -0.5 * tmu * tmu / rho; + } + uneqc_idx++; + + } + // { + // double scalenegv = 10000.0; + // double vionegV = 0.9 - vel.squaredNorm(); + // if(vionegV > 0){ + // double pena, penaD; + // positiveSmoothedL1(vionegV, pena, penaD); + // cost += scalenegv * pena; + // gradVel += scalenegv * penaD * (-2.0) * vel; + // } + + // } + /*curvature constraint*/ + { + double curs = 1.0; + cur = (vel[0]*acc[1] - acc[0]*vel[1]) / (vel.norm() * vel.norm() * vel.norm()); + // if(fabs(cur)>100.0){ + // std::cout << "i: "< 0){ + cost += swc * vioCur * (tmu + 0.5 * rho * swc * vioCur); + Eigen::Vector2d gradViolaCv; + Eigen::Vector2d gradViolaCa; + + gradViolaCv = curs *( + 2*cross*Eigen::Vector2d(acc[1], -acc[0])/(vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()) - + 6*Eigen::Vector2d(vel[0], vel[1])*cross*cross/(vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()) + ); + + gradViolaCa = curs * 2 * Eigen::Vector2d(-vel[1], vel[0]) * cross / (vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()); + gradVel += addAlmGradPro(swc, tmu, vioCur, gradViolaCv); + gradAcc += addAlmGradPro(swc, tmu, vioCur, gradViolaCa); + } + else{ + cost += -0.5 * tmu * tmu / rho; + } + uneqc_idx++; + } + // { + // double curs = 1.0; + // vioCur = curs*(cur*cur - kmax*kmax); + // double swc = scaling_uneqwc_[uneqc_idx]; + // double tmu = mu[uneqc_idx]; + // gx[uneqc_idx] = vioCur; + // if(tmu + rho * swc * vioCur > 0){ + // cost += swc * vioCur * (tmu + 0.5 * rho * swc * vioCur); + // Eigen::Vector2d gradViolaCv; + // Eigen::Vector2d gradViolaCa; + // gradViolaCv = curs * 2 * cur * Eigen::Vector2d(acc[1], -acc[0]); + // gradViolaCa = curs * 2 * cur * Eigen::Vector2d(-vel[1], vel[0]); + // gradVel += addAlmGradPro(swc, tmu, vioCur, gradViolaCv); + // gradAcc += addAlmGradPro(swc, tmu, vioCur, gradViolaCa); + // } + // else{ + // cost += -0.5 * tmu * tmu / rho; + // } + // uneqc_idx++; + // } + /* + { //kdot + Eigen::Matrix2d B; + B << 0,-1, + 1, 0; + double tp1 = jerk.transpose()*B*vel; + double v3 = pow(vel.norm(),3); + double tp2 = acc.transpose()*B*vel; + double tp3 = acc.dot(vel); + double v1 = vel.norm(); + double v6 = pow(vel.norm(),6); + double denor = tp1*v3-3.0*tp2*tp3*v1; + double kdot = denor / v6 * ds; + double vioKdot = kdot*kdot-kdotmax*kdotmax; + double swc = scaling_uneqwc_[uneqc_idx]; + double tmu = mu[uneqc_idx]; + gx[uneqc_idx] = vioKdot; + if(tmu + rho * swc * vioKdot > 0){ + cost += swc * vioKdot * (tmu + 0.5 * rho * swc * vioKdot); + + Eigen::Vector2d gradViolaKdv; + Eigen::Vector2d gradtp1_v = -B*jerk; + Eigen::Vector2d gradv3_v = 3.0*vel.norm()*vel; + Eigen::Vector2d gradtp2_v = -B*acc; + Eigen::Vector2d gradtp3_v = acc; + Eigen::Vector2d gradv1_v = vel/vel.norm(); + Eigen::Vector2d gradv6_v = 6.0*pow(vel.norm(),4)*vel; + Eigen::Vector2d graddenor_v = gradtp1_v*v3+tp1*gradv3_v-3.0*(gradtp2_v*tp3*v1+tp2*gradtp3_v*v1+tp2*tp3*gradv1_v); + gradViolaKdv = 2.0 * kdot * (graddenor_v*v6-gradv6_v*denor) / (v6*v6) * ds; + + Eigen::Vector2d gradViolaKda; + Eigen::Vector2d gradtp2_a = B*vel; + Eigen::Vector2d gradtp3_a = vel; + Eigen::Vector2d graddenor_a = -3.0*(gradtp2_a*tp3*v1+tp2*gradtp3_a*v1); + gradViolaKda = 2.0*kdot*(graddenor_a/v6*ds); + + Eigen::Vector2d gradViolaKdj; + Eigen::Vector2d gradtp1_j = B*vel; + Eigen::Vector2d graddenor_j = gradtp1_j*v3; + gradViolaKdj = 2.0*kdot*(graddenor_j/v6*ds); + + double gradViolaKdds = 2.0*kdot*denor/v6; + + gradVel += addAlmGradPro(swc, tmu, vioKdot, gradViolaKdv); + gradAcc += addAlmGradPro(swc, tmu, vioKdot, gradViolaKda); + gradJerk += addAlmGradPro(swc, tmu, vioKdot, gradViolaKdj); + gradDs +=addAlmGradPro(swc, tmu, vioKdot, gradViolaKdds); + } + else{ + cost += -0.5 * tmu * tmu / rho; + } + uneqc_idx++; + }*/ + { //omega + double womega = 5.0; + Eigen::Matrix2d B; + B << 0,-1, + 1, 0; + double tp1 = jerk.transpose()*B*vel; + double v3 = pow(vel.norm(),3); + double tp2 = acc.transpose()*B*vel; + double tp3 = acc.dot(vel); + double v1 = vel.norm(); + double v6 = pow(vel.norm(),6); + double denor = tp1*v3-3.0*tp2*tp3*v1; + double nor = v6 + pow(tp2*wheelbase,2); + double omega = wheelbase * denor / nor * ds; + double vioOmega = womega * (omega*omega-omegamax*omegamax); + + double swc = scaling_uneqwc_[uneqc_idx]; + double tmu = mu[uneqc_idx]; + gx[uneqc_idx] = vioOmega; + if(tmu + rho * swc * vioOmega > 0){ + cost += swc * vioOmega * (tmu + 0.5 * rho * swc * vioOmega); + + Eigen::Vector2d gradViolaOmegav; + Eigen::Vector2d gradtp1_v = -B*jerk; + Eigen::Vector2d gradv3_v = 3.0*vel.norm()*vel; + Eigen::Vector2d gradtp2_v = -B*acc; + Eigen::Vector2d gradtp3_v = acc; + Eigen::Vector2d gradv1_v = vel/vel.norm(); + Eigen::Vector2d gradv6_v = 6.0*pow(vel.norm(),4)*vel; + Eigen::Vector2d graddenor_v = gradtp1_v*v3+tp1*gradv3_v-3.0*(gradtp2_v*tp3*v1+tp2*gradtp3_v*v1+tp2*tp3*gradv1_v); + Eigen::Vector2d gradnor_v = gradv6_v + 2.0*tp2*wheelbase*wheelbase*gradtp2_v; + gradViolaOmegav = womega * 2.0 * omega * (graddenor_v*nor-gradnor_v*denor) / (nor*nor) * ds * wheelbase; + + Eigen::Vector2d gradViolaOmegaa; + Eigen::Vector2d gradtp2_a = B*vel; + Eigen::Vector2d gradtp3_a = vel; + Eigen::Vector2d graddenor_a = -3.0*(gradtp2_a*tp3*v1+tp2*gradtp3_a*v1); + Eigen::Vector2d gradnor_a = 2.0*tp2*wheelbase*wheelbase*gradtp2_a; + gradViolaOmegaa = womega *2.0 * omega * (graddenor_a*nor-gradnor_a*denor) / (nor*nor) * ds * wheelbase; + + Eigen::Vector2d gradViolaOmegaj; + Eigen::Vector2d gradtp1_j = B*vel; + Eigen::Vector2d graddenor_j = gradtp1_j*v3; + gradViolaOmegaj = womega *2.0*omega*(graddenor_j/nor*ds*wheelbase); + + double gradViolaOmegads = womega *2.0*omega*denor/nor*wheelbase; + + gradVel += addAlmGradPro(swc, tmu, vioOmega, gradViolaOmegav); + gradAcc += addAlmGradPro(swc, tmu, vioOmega, gradViolaOmegaa); + gradJerk += addAlmGradPro(swc, tmu, vioOmega, gradViolaOmegaj); + gradDs +=addAlmGradPro(swc, tmu, vioOmega, gradViolaOmegads); + } + else{ + cost += -0.5 * tmu * tmu / rho; + } + uneqc_idx++; + } + + + + /*s' >=0*/ + { + + vioDs = -ds; + double swc = scaling_uneqwc_[uneqc_idx]; + double tmu = mu[uneqc_idx]; + gx[uneqc_idx] = vioDs; + if(tmu + rho * swc * vioDs > 0){ + cost += swc * vioDs * (tmu + 0.5 * rho * swc * vioDs); + gradDs += addAlmGradPro(swc, tmu, vioDs, -1.0); + } + else{ + cost += -0.5 * tmu * tmu / rho; + } + uneqc_idx++; + } + { + //realVel (vel * ds) + vioVel = realVel.squaredNorm() - vmax * vmax; + double swc = scaling_uneqwc_[uneqc_idx]; + double tmu = mu[uneqc_idx]; + gx[uneqc_idx] = vioVel; + if(tmu + rho * swc * vioVel > 0){ + cost += swc * vioVel * (tmu + 0.5 * rho * swc * vioVel); + Eigen::Vector2d gradViolaVv; + double gradViolaVds; + gradViolaVv = ds * ds * 2.0 * vel; + gradViolaVds = 2.0 * ds * vel.squaredNorm(); + gradVel += addAlmGradPro(swc, tmu, vioVel, gradViolaVv); + gradDs += addAlmGradPro(swc, tmu, vioVel, gradViolaVds); + + } + else{ + cost += -0.5 * tmu * tmu / rho; + } + uneqc_idx++; + } + + + /* + { + //realAcc = dds * vel + ds*acc*ds; + vioAcc = realAcc.squaredNorm() - accRatemax * accRatemax; + double swc = scaling_uneqwc_[uneqc_idx]; + double tmu = mu[uneqc_idx]; + gx[uneqc_idx] = vioAcc; + if(tmu + rho * swc * vioAcc > 0){ + cost += swc * vioAcc * (tmu + 0.5 * rho * swc * vioAcc); + Eigen::Vector2d gradViolaAv; + Eigen::Vector2d gradViolaAa; + double gradViolaAds; + double gradViolaAdds; + gradViolaAv = dds * dds * 2.0 * vel + 2.0 * dds * ds * ds * acc; + gradViolaAa = 2.0 * dds * ds * ds * vel + ds * ds * ds * ds * 2.0 * acc; + gradViolaAds = 2.0 * ds * 2.0 * dds * vel.transpose() * acc + 4.0 * ds * ds * ds * acc.squaredNorm(); + gradViolaAdds = 2.0 * dds * vel.squaredNorm() + 2.0 * ds * ds * vel.transpose() * acc; + gradVel += addAlmGradPro(swc, tmu, vioAcc, gradViolaAv); + gradAcc += addAlmGradPro(swc, tmu, vioAcc, gradViolaAa); + gradDs += addAlmGradPro(swc, tmu, vioAcc, gradViolaAds); + gradDds += addAlmGradPro(swc, tmu, vioAcc, gradViolaAdds); + + } + else{ + cost += -0.5 * tmu * tmu / rho; + } + uneqc_idx++; + }*/ + + + + { + //realAcc = dds * vel + ds*acc*ds; + lonAcc = dds * vel.norm() + ds * ds * acc.dot(vel) / vel.norm(); + vioLonAcc = lonAcc * lonAcc - lonAccmax * lonAccmax; + double swc = scaling_uneqwc_[uneqc_idx]; + double tmu = mu[uneqc_idx]; + gx[uneqc_idx] = vioLonAcc; + + if(tmu + rho * swc * vioLonAcc > 0){ + cost += swc * vioLonAcc * (tmu + 0.5 * rho * swc * vioLonAcc); + Eigen::Vector2d gradViolaLonAv; + Eigen::Vector2d gradViolaLonAa; + double gradViolaLonAds; + double gradViolaLonAdds; + gradViolaLonAv = 2.0*lonAcc*(dds*vel/vel.norm()+ds*ds*acc/vel.norm() - ds*ds*vel*acc.dot(vel)/(pow(vel.norm(),3))); + gradViolaLonAa = 2.0*lonAcc*(ds*ds*vel/vel.norm()); + gradViolaLonAds = 2.0*lonAcc*(2*ds*acc.dot(vel) / vel.norm()); + gradViolaLonAdds = 2.0*lonAcc*vel.norm(); + + gradVel += addAlmGradPro(swc, tmu, vioLonAcc, gradViolaLonAv); + gradAcc += addAlmGradPro(swc, tmu, vioLonAcc, gradViolaLonAa); + gradDs += addAlmGradPro(swc, tmu, vioLonAcc, gradViolaLonAds); + gradDds += addAlmGradPro(swc, tmu, vioLonAcc, gradViolaLonAdds); + + } + else{ + cost += -0.5 * tmu * tmu / rho; + } + uneqc_idx++; + } + + + + + + + /*static collsion avoidance*/ + //full shape model + { + for(const Eigen::Vector2d resPt : conpts){ + Eigen::Vector2d gradViolaSdpos; + Eigen::Vector2d absPt = pos + rotR * resPt; + /* + rotR << vel[0], -vel[1], + vel[1], vel[0]; + rotR = (sg * rotR) / vel.norm(); + */ + Eigen::Matrix2d temp_l_Bl; + temp_l_Bl << resPt(0), resPt(1), + -resPt(1), resPt(0); + double dis = map_itf_->getDistGrad(absPt, gradViolaSdpos); + min_dis_ = std::min(dis, min_dis_); + + double vioSdist = (-dis + safeMargin+0.05);//hzchzchzc + if(vioSdist > 0){ + double pena, penaD; + positiveSmoothedL1(vioSdist, pena, penaD); + // positiveSmoothedL3(vioSdist, pena, penaD); + cost += esdfWei * pena; + debugEsdf += esdfWei * pena; + gradPos += esdfWei * penaD * (-1.0) * gradViolaSdpos; + gradVel += esdfWei * penaD * (-1.0) * + (sg * temp_l_Bl / vel.norm() - vel * (rotR * resPt).transpose() / (vel.squaredNorm()) ) + * gradViolaSdpos; + } + + } + } + //point model + // { + // Eigen::Vector2d gradViolaSdpos; + // double dis = map_itf_->getDistGrad(pos, gradViolaSdpos); + // double vioSdist = (-dis + 0.0); + // if(vioSdist > 0){ + // double pena, penaD; + // positiveSmoothedL1(vioSdist, pena, penaD); + // // positiveSmoothedL3(vioSdist, pena, penaD); + // cost += esdfWei * pena; + // debugEsdf += esdfWei * pena; + // gradPos += esdfWei * penaD * (-1.0) * gradViolaSdpos; + // } + // } + + // { + // for(const Eigen::Vector2d resPt : conpts){ + // Eigen::Vector2d gradViolaSdpos; + // Eigen::Vector2d absPt = pos + rotR * resPt; + // Eigen::Matrix2d temp_l_Bl; + // temp_l_Bl << resPt(0), resPt(1), + // -resPt(1), resPt(0); + // double dis = map_itf_->getDistGrad(absPt, gradViolaSdpos); + // double vioSdist = (-dis + safeMargin); + // double swc = scaling_uneqwc_[uneqc_idx]; + // double tmu = mu[uneqc_idx]; + // gx[uneqc_idx] = vioSdist; + // // std::cout << "gx[uneqc_idx]" << gx[uneqc_idx] < 0){ + // cost += swc * vioSdist * (tmu + 0.5 * rho * swc * vioSdist); + // Eigen::Vector2d gradViolaSpos = (-1.0) * gradViolaSdpos; + // Eigen::Vector2d gradViolaSvel = (-1.0) * + // (sg * temp_l_Bl / vel.norm() - vel * (rotR * resPt).transpose() / (vel.squaredNorm()) ) + // * gradViolaSdpos; + // gradPos += addAlmGradPro(swc, tmu, vioSdist, gradViolaSpos); + // gradVel += addAlmGradPro(swc, tmu, vioSdist, gradViolaSvel); + // } + // else{ + // cost += -0.5 * tmu * tmu / rho; + // } + // uneqc_idx++; + // } + // } + + + //realAcc = dds * vel + ds*acc*ds; + //realJerk = ddds * vel + 3.0 * ds * acc * dds + ds * ds * ds * jerk; + //step = tOpt.getDt() / traj_res; + { + double wpw = 1.0; + if(sg > 0){ + wpw = 1.0; + } + else{ + wpw = backW_; + } + + cost += wpw * step * realJerk.squaredNorm(); + totalCost += wpw * step * realJerk.squaredNorm(); + gradVel += wpw * step * 2.0 * ddds * realJerk; + gradAcc += wpw * step * 2.0 * 3.0 * ds * dds * realJerk; + gradJerk += wpw * step * 2.0 * ds * ds * ds * realJerk; + + gradDs += wpw * step * 2.0 * realJerk.transpose() * (3*acc*dds + 3*ds*ds*jerk); + gradDds += wpw * step * 2.0 * realJerk.transpose() * (3*acc*ds); + gradDdds += wpw * step * 2.0 * realJerk.transpose() * (vel); + gdC2t_1d[i] += wpw * realJerk.squaredNorm() / traj_res; + + debugEnergy += wpw * step * realJerk.squaredNorm(); + + } + + + double gradResS = (gradPos.dot(vel) + + gradVel.dot(acc) + + gradAcc.dot(jerk) + + gradJerk.dot(snap)); + gradS += gradResS; + + gdC2c_1d.block<6, 1>(i * 6, 0) += beta0_1d * gradS + + beta1_1d * gradDs + + beta2_1d * gradDds + + beta3_1d * gradDdds; + gdC2t_1d[i] += (gradS * (ds) + + gradDs * (dds) + + gradDds * (ddds) + + gradDdds * (dddds)) * + alpha; + + + gdC2c_2d.block<6, 2>(i * 6, 0) += beta0_2d * gradPos.transpose() + + beta1_2d * gradVel.transpose() + + beta2_2d * gradAcc.transpose() + + beta3_2d * gradJerk.transpose(); + + if(i > 0){ + gdC2t_2d.segment(0, i).array() += -gradResS; + } + + + } + baseS += posOpt.T1(i); + } + } + void positiveSmoothedL1(const double &x, double &f, double &df) + { + const double pe = 1.0e-4; + const double half = 0.5 * pe; + const double f3c = 1.0 / (pe * pe); + const double f4c = -0.5 * f3c / pe; + const double d2c = 3.0 * f3c; + const double d3c = 4.0 * f4c; + + if (x < pe) + { + f = (f4c * x + f3c) * x * x * x; + df = (d3c * x + d2c) * x * x; + } + else + { + f = x - half; + df = 1.0; + } + return; + } + void positiveSmoothedL3(const double &x, double &f, double &df){ + df = x * x; + f = df *x; + df *= 3.0; + + + return ; + } + + void updateDualVar(){ + /*update lambda*/ + { + for(int i = 0; i < eqc_num; i++){ + lambda[i] += rho * scaling_eqwc_[i] * hx[i]; + } + } + /*update mu*/ + { + for(int i = 0; i < neqc_num; i++){ + if(mu[i] + rho * scaling_uneqwc_[i] * gx[i] >= 0){ + mu[i] += rho * scaling_uneqwc_[i] * gx[i]; + } + else{ + mu[i] = 0; + } + } + } + /*update rho*/ + { + rho = std::min((1 + gamma) * rho, rho_max); + } + } + bool ifConvergence(){ + //to do + Eigen::VectorXd maxgx(neqc_num), maxhx(eqc_num); + for(int i =0 ;i < eqc_num; i++){ + // maxhx[i] = hx[i] * lambda[i]; + maxhx[i] = hx[i]; + } + for(int i = 0; i < neqc_num; i++){ + maxgx[i] = std::max(0.0, gx[i]); + } + double reshx; + if(maxhx.size()==0){ + reshx = 0.0; + } + else{ + reshx = maxhx.cwiseAbs().maxCoeff(); + } + int gxidx; + double resgx = maxgx.cwiseAbs().maxCoeff(&gxidx); + /*hzc may ???*/ + //&& (resgrad) < prec_eps_ + // std::cout << "reshx: "< + EIGENVEC addAlmGradPro(const double &ws, const double &lbd, const double &cons, const EIGENVEC &grad_){ + EIGENVEC output = ws * lbd * grad_ + rho * ws * ws * cons * grad_; + return output; + } + // std::vector> getSe2traj(double dt){ + // std::vector> arrowTraj; + // Se2Trajectory traj; + // traj.posTraj = posJerkOpt.getTraj(); + // traj.angleTraj = yawJerkOpt.getTraj(); + // for(double t = 0.0; t < traj.getTotalDuration()-1.0e-3; t+=dt){ + // Eigen::Vector2d pos= traj.getPos(t); + // double angle = traj.getAngle(t); + // Eigen::Vector3d p1,p2; + // p1 << pos[0], pos[1], 0.0; + // p2 << pos[0] + 1.0 * cos(angle), pos[1] + 1.0 * sin(angle), 0.0; + // arrowTraj.push_back(std::pair(p1,p2)); + // } + // Eigen::Vector2d pos= traj.getPos(traj.getTotalDuration()); + // double angle = traj.getAngle(traj.getTotalDuration()); + // Eigen::Vector3d p1,p2; + // p1 << pos[0], pos[1], 0.0; + // p2 << pos[0] + 1.0 * cos(angle), pos[1] + 1.0 * sin(angle), 0.0; + // arrowTraj.push_back(std::pair(p1,p2)); + // return arrowTraj; + // } + std::vector getTraj(double dt){ + //return {px,py,yaw} + std::vector poseTraj; + for(int i = 0; i < trajnum; i++){ + PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + PolyTrajectory<1> Ttraj = tOpts[i].getTraj(); + for(double t = 0.0; t < Ttraj.getTotalDuration()-1.0e-3; t+=dt){ + double s = Ttraj.getSigma(t)[0]; + double ds = Ttraj.getdSigma(t)[0]; + Eigen::Vector2d pos= polytraj.getSigma(s); + Eigen::Vector2d vel= polytraj.getdSigma(s); + poseTraj.push_back(Eigen::Vector3d(pos[0],pos[1],ds*vel.norm())); + } + // std::cout <<" trajid: "<< i << " durations: "<< Ttraj.getDurations().transpose() << std::endl; + } + return poseTraj; + } + + + double getLength(int i){ + double length = 0; + PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + PolyTrajectory<1> Ttraj = tOpts[i].getTraj(); + for(double t = 0.0; t < Ttraj.getTotalDuration()-1.0e-3; t+=0.01){ + double s = Ttraj.getSigma(t)[0]; + double ds = Ttraj.getdSigma(t)[0]; + Eigen::Vector2d vel= polytraj.getdSigma(s); + Eigen::Vector2d realV = vel * ds; + length += 0.01 * realV.norm(); + } + return length; + } + // Se2Trajectory getTraj(){ + // Se2Trajectory traj; + // traj.posTraj = posJerkOpt.getTraj(); + // traj.angleTraj = yawJerkOpt.getTraj(); + // return traj; + // } + double getTotalDuration(int i){ + PolyTrajOpt::PolyTrajectory<1> tTraj = tOpts[i].getTraj(); + return tTraj.getTotalDuration(); + } + double getMaxCur(){ + double maxcur = 0.0; + for(int i = 0; i < trajnum; i++){ + PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + PolyTrajectory<1> Ttraj = tOpts[i].getTraj(); + for(double t = 0.0; t < Ttraj.getTotalDuration()-1.0e-3; t+=0.01){ + double s = Ttraj.getSigma(t)[0]; + Eigen::Vector2d vel= polytraj.getdSigma(s); + Eigen::Vector2d acc= polytraj.getddSigma(s); + double cur = (vel[0]*acc[1] - acc[0]*vel[1]) / (vel.norm() * vel.norm() * vel.norm()); + if(fabs(cur) > fabs(maxcur)){ + maxcur = cur; + } + } + } + + return maxcur; + } + double getMaxCurDot(){ + UgvTrajectory optTraj; + for(int i = 0; i < trajnum; i++){ + PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + PolyTrajectory<1> Ttraj = tOpts[i].getTraj(); + DpTrajectory dpTraj; + dpTraj.posTraj = polytraj; + dpTraj.tTraj = Ttraj; + optTraj.Traj_container.push_back(dpTraj); + optTraj.etas.push_back(singual_[i]); + } + double maxcurdot = 0.0; + + // double baset = 0.0; + // for(int id = 0; id < optTraj.etas.size(); id++){ + // for(int i = 0; i < optTraj.Traj_container[id].tTraj.getPieceNum(); i++){ + // double step = optTraj.Traj_container[id].tTraj.getDurations()[i]/traj_res; + // for(int j = 0; j <= traj_res; j++){ + // double curt = baset + j*step; + // double curdot = optTraj.getCurDot(curt); + // if(fabs(curdot) > fabs(maxcurdot)){ + // maxcurdot = curdot; + // } + // } + // baset += optTraj.Traj_container[id].tTraj.getDurations()[i]; + // } + + // } + + for(double t = 0.0; t < optTraj.getTotalDuration(); t+=0.01){ + double curdot = optTraj.getCurDot(t); + if(fabs(curdot) > fabs(maxcurdot)){ + maxcurdot = curdot; + } + } + return maxcurdot; + } + + double getMaxOmega(){ + UgvTrajectory optTraj; + for(int i = 0; i < trajnum; i++){ + PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + PolyTrajectory<1> Ttraj = tOpts[i].getTraj(); + DpTrajectory dpTraj; + dpTraj.posTraj = polytraj; + dpTraj.tTraj = Ttraj; + optTraj.Traj_container.push_back(dpTraj); + optTraj.etas.push_back(singual_[i]); + } + double maxomega = 0.0; + + // double baset = 0.0; + // for(int id = 0; id < optTraj.etas.size(); id++){ + // for(int i = 0; i < optTraj.Traj_container[id].tTraj.getPieceNum(); i++){ + // double step = optTraj.Traj_container[id].tTraj.getDurations()[i]/traj_res; + // for(int j = 0; j <= traj_res; j++){ + // double curt = baset + j*step; + // double curdot = optTraj.getCurDot(curt); + // if(fabs(curdot) > fabs(maxcurdot)){ + // maxcurdot = curdot; + // } + // } + // baset += optTraj.Traj_container[id].tTraj.getDurations()[i]; + // } + + // } + + for(double t = 0.0; t < optTraj.getTotalDuration(); t+=0.01){ + double omega = optTraj.getOmega(t); + if(fabs(omega) > fabs(maxomega)){ + maxomega = omega; + } + } + return maxomega; + } + + + + + UgvTrajectory getOptTraj(){ + UgvTrajectory optTraj; + for(int i = 0; i < trajnum; i++){ + PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + PolyTrajectory<1> Ttraj = tOpts[i].getTraj(); + DpTrajectory dpTraj; + dpTraj.posTraj = polytraj; + dpTraj.tTraj = Ttraj; + optTraj.Traj_container.push_back(dpTraj); + optTraj.etas.push_back(singual_[i]); + } + ROS_WARN_STREAM("proposed max cur: "<visualize_path(getTraj(0.01), "/visualization/refinedTraj_"+name_); + std::vector wpts; + for(int i = 0; i < trajnum; i++){ + PolyTrajOpt::PolyTrajectory<2> traj = posOpts[i].getTraj(); + wpts.push_back(traj.getSigma(0.0)); + Eigen::MatrixXd interWpts = traj.getWpts(); + for(int j = 0; j < interWpts.cols(); j++){ + wpts.push_back(interWpts.col(j)); + } + wpts.push_back(traj.getSigma(traj.getTotalDuration())); + } + vis_tool_ ->visualize_pointcloud(wpts, "/visualization/wapoints_"+name_); + + // UgvTrajectory optTraj = getOptTraj(); + // vis_tool_->visualize_se2traj(optTraj, "/visualization/fullshapeTraj_"+name_); + + if(isstart&&isdebug_){ + ros::Duration(7.5).sleep(); + isstart = false; + } + } +}; +} +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/arcPlan/Trajopt_penalty.hpp b/trajectoryOpt/src/plan_manage/include/arcPlan/Trajopt_penalty.hpp new file mode 100644 index 0000000..10754a4 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/arcPlan/Trajopt_penalty.hpp @@ -0,0 +1,1069 @@ +#ifndef TRAJOPT.HPP +#define TRAJOPT.HPP +#include "Polytraj.hpp" +#include "lbfgs.hpp" +#include "geoutils2d.hpp" +#include +#include +// using namespace std; +/*to do list + vel constraint + lon acc constraint + lat acc constraint + yaw dot constraint +*/ +namespace PolyTrajOpt +{ +class TrajOpt{ + private: + + Eigen::VectorXi piecenums; + int trajnum; + double gslar_ = 0.05; + double wei_time_ = 500.0; + double kmax = 0.45; + double vmax = 3.0; + double latAccmax = 3.0; + double lonAccmax = 3.0; + double accRatemax = 8.0; + double kdotmax = 5.0; + double yawdotmax = 3.14; + double penaWei = 1000.0; + double esdfWei = 1000.0; + int traj_res = 16; + std::vector cfgHs_; + std::vector conpts; + // = {Eigen::Vector2d(3.455, 0.95), + // Eigen::Vector2d(3.455, -0.95), + // Eigen::Vector2d(-1.425, 0.95), + // Eigen::Vector2d(-1.425, -0.95)}; + // std::vector conpts = {Eigen::Vector2d(3.0, 0.7), + // Eigen::Vector2d(3.0, -0.7), + // Eigen::Vector2d(-1.4, 0.7), + // Eigen::Vector2d(-1.4, -0.7)}; + double safeMargin = 0.15; + Eigen::MatrixXd headState2d_, tailState2d_; + std::vector singual_; + map_util::OccMapUtil* map_itf_; + double miniS; + + std::shared_ptr vis_tool_; + bool isdebug_; + bool isfix_; + double backW_; + int iter; + bool isstart; + std::string name_; + public: + // se2Plan::MinJerkOpt<3> jerkOpt; + std::vector> posOpts; + std::vector> tOpts; + double min_dis_; + double debugEnergy; + double debugRhoT; + double debugEsdf, debugCur, debugDs, debugminVel; + + + inline int OptimizeSe2Trajectory( + const Eigen::MatrixXd &headState2d, const Eigen::MatrixXd &tailState2d, Eigen::VectorXd rdTs_container, + const std::vector &inPs_container, const std::vector &gearPos, + const std::vector & angles, map_util::OccMapUtil* map_itf, std::shared_ptr config_, const std::vector singual, + std::shared_ptr vis_tool,std::string name = "nn", std::vector ds_container = {}) + { + //rdT_container is the real dt for each piece of the trajectory + //angles is the angle at the gear shifting state + //inPs_container[i] is the wayPts for each mincotraj + + name_ = name; + vis_tool_ = vis_tool; + /*setparam*/ + wei_time_ = config_->wei_time_; + kmax = config_->kmax; + vmax = config_->vmax; + accRatemax = config_->accRatemax; + kdotmax = config_->kdotmax; + yawdotmax = config_->yawdotmax; + traj_res = config_->traj_res; + singual_ = singual; + isdebug_ = config_->isdebug; + isfix_ = config_->isfixGear; + backW_ = config_->backW; + map_itf_ = map_itf; + conpts = config_->conpts; + penaWei = config_->penaWei; + miniS = config_->miniS; + safeMargin = config_->safeMargin; + esdfWei = config_->esdfWei; + isstart = true; + iter = 0; + for(int i = 0; i < rdTs_container.size(); i++){ + if(rdTs_container[i] <= gslar_){ + ROS_ERROR("piece time <= gslar_"); + rdTs_container[i] = gslar_+0.01; + // return 0; //hzchzc + } + } + + + //totalt is total time + headState2d_ = headState2d; + tailState2d_ = tailState2d; + trajnum = singual_.size(); + posOpts.resize(trajnum);piecenums.resize(trajnum); + tOpts.resize(trajnum); + int variable_num_ = 0; + for(int i = 0; i < trajnum; i++) { + piecenums[i] = inPs_container[i].cols() + 1; + posOpts[i].reset(piecenums[i]); + tOpts[i].reset(piecenums[i]); + variable_num_ += 2 * (piecenums[i] - 1); + variable_num_ += (piecenums[i]); // scale (ds + } + ROS_WARN("begin to optimize Arc Trajectory!"); + std::cout << "trajnum: " << trajnum << std::endl; + std::cout << "piecenums: "<< piecenums.transpose() < Vdts(x.data()+offset, rdTs_container.size()); + for(int i = 0; i < rdTs_container.size(); i++){ + double va; + RealT2VirtualT(rdTs_container[i], va); + Vdts[i] = va; + } + offset += rdTs_container.size(); + for(int i = 0; i < trajnum-1; i++){ + memcpy(x.data()+offset,gearPos[i].data(), 2 * sizeof(x[0])); + offset += 2; + } + Eigen::Map angles_(x.data()+offset, trajnum-1); + for(int i = 0; i < trajnum - 1; i++){ + angles_[i] = angles[i]; + } + offset += trajnum-1; + std::vector Rds_container; + for(int i = 0; i < trajnum; i++){ + Eigen::Map Vds(x.data()+offset, piecenums[i]); + Eigen::VectorXd Rds(piecenums[i]); + if(ds_container.size() == 0){ + { + Eigen::Vector2d tmpHead, tmpTail; + if(i == 0){ + tmpHead << headState2d.col(0); + } + else{ + tmpHead << gearPos[i-1]; + } + if(i == trajnum - 1){ + tmpTail << tailState2d.col(0); + } + else{ + tmpTail << gearPos[i]; + } + Eigen::MatrixXd tmpPts; tmpPts.resize(2, piecenums[i] + 1); + tmpPts.col(0) << tmpHead; tmpPts.col(piecenums[i]) << tmpTail; + for(int j = 0; j < piecenums[i] - 1; j++){ + tmpPts.col(j+1) = inPs_container[i].col(j); + } + + for(int j = 0; j < piecenums[i]; j++){ + Rds[j] = (tmpPts.col(j) - tmpPts.col(j+1)).norm();//bug hzc hzc + } + } + // Rds.setConstant(rdTs_container[i]); + } + else{ + Rds = ds_container[i]; + } + // std::cout << "trajid: " << i << " Rds: " << Rds.transpose() << std::endl; + + for(int j = 0; j < Rds.size(); j++){ + if(Rds[j] <= gslar_){ + ROS_ERROR("RT[i] <= gslar_"); + Rds[j] = gslar_+0.1; + // return 0;//hzchzc + } + } + Rds_container.push_back(Rds); + RealT2VirtualT(Rds, Vds); + offset += piecenums[i]; + } + //the variables beform optimization + ROS_INFO("The variables beform optimization: "); + for(int i = 0; i < trajnum; i++){ + std::cout << "trajid: "<mem_size;//128 + lbfgs_params.past = config_->past; //3 + lbfgs_params.g_epsilon = config_->g_epsilon; + lbfgs_params.min_step = config_->min_step; + lbfgs_params.delta = config_->delta; + lbfgs_params.max_iterations = config_->max_iterations; + double final_cost; + bool flag_success = true; + + double t1 = ros::Time::now().toSec(); + + int result = lbfgs::lbfgs_optimize( + x, + final_cost, + TrajOpt::PenaltyCostFunctionCallback, + NULL, + NULL, + this, + lbfgs_params); + double t2 = ros::Time::now().toSec(); + + if (result == lbfgs::LBFGS_CONVERGENCE || + result == lbfgs::LBFGS_CANCELED || + result == lbfgs::LBFGS_STOP||result == lbfgs::LBFGSERR_MAXIMUMITERATION) + { + // if(final_cost >= 50000.0){ + // return 0; + // } + // ROS_INFO_STREAM("se2 trajectory generation success! final cost: " << final_cost << " iter: " << iter ); + printf("\033[32mse2 trajectory generation success!,time(ms)=%5.3f, final cost=%5.3f, iter=%d \n\033[0m", (t2-t1) * 1000.0, final_cost, iter); + } + else if (result == lbfgs::LBFGSERR_MAXIMUMLINESEARCH){ + ROS_WARN("Lbfgs: The line-search routine reaches the maximum number of evaluations."); + return 0; + } + else + { + return 0; + ROS_WARN("Solver error. Return = %d, %s. Skip this planning.", result, lbfgs::lbfgs_strerror(result)); + } + + // ROS_INFO_STREAM("solve time: "<<(t2-t1) * 1000.0 << " ms" ); + { + ROS_INFO("Optimized scale s, times, waypoints: "); + for(int i = 0; i < posOpts.size(); i++){ + std::cout << "trajid: " << i << " scales: " << posOpts[i].T1.transpose() << std::endl; + std::cout << "trajid: " << i << " timess: " << tOpts[i].T1.transpose() << std::endl; + PolyTrajOpt::PolyTrajectory<2> traj = posOpts[i].getTraj(); + std::cout << "waypoints: \n" << traj.getWpts() << std::endl; + } + } + debugVis(); + + return flag_success; + } + static inline double PenaltyCostFunctionCallback(void *func_data, const Eigen::VectorXd &x, Eigen::VectorXd &grad){ + double smcost = 0.0, timecost = 0.0, penalty = 0.0; + TrajOpt *opt = reinterpret_cast(func_data); + int offset = 0; + std::vector> P_container; + std::vector> gradP_container;; + for(int trajid = 0; trajid < opt->trajnum; trajid++){ + Eigen::Map P(x.data()+offset, 2, opt->piecenums[trajid] - 1); + Eigen::MapgradP(grad.data()+offset, 2, opt->piecenums[trajid] - 1); + offset += 2 * (opt->piecenums[trajid] - 1); + gradP.setZero(); + P_container.push_back(P); + gradP_container.push_back(gradP); + } + Eigen::Map Vdts(x.data()+offset, opt->trajnum); + Eigen::MapgradVdts(grad.data()+offset, opt->trajnum); + offset += opt -> trajnum; + Eigen::VectorXd dts(opt->trajnum); + Eigen::VectorXd gradDts(opt->trajnum); gradDts.setZero(); + opt->VirtualT2RealT(Vdts, dts); + + std::vector> Gear_container; + std::vector> gradGear_container; + for(int trajid = 0; trajid < opt->trajnum - 1; trajid++){ + Eigen::Map Gear(x.data()+offset, 2); + Eigen::MapgradGear(grad.data()+offset, 2); + offset += 2; + gradGear.setZero(); + Gear_container.push_back(Gear); + gradGear_container.push_back(gradGear); + } + Eigen::Map Angles(x.data()+offset, opt->trajnum-1); + Eigen::MapgradAngles(grad.data()+offset, opt->trajnum-1); + gradAngles.setZero(); + offset += opt->trajnum-1; + + std::vector> Vs_container; + std::vector> gradVs_container;; + std::vector Rs_container; + std::vector gradRs_container;; + for(int trajid = 0; trajid < opt->trajnum; trajid++){ + Eigen::Map Vs(x.data()+offset, opt->piecenums[trajid]); + Eigen::MapgradVs(grad.data()+offset, opt->piecenums[trajid]); + Vs_container.push_back(Vs); + gradVs.setZero(); + gradVs_container.push_back(gradVs); + Eigen::VectorXd Rs(opt->piecenums[trajid]); + Eigen::VectorXd gradRs(opt->piecenums[trajid]); gradRs.setZero(); + opt->VirtualT2RealT(Vs, Rs); + Rs_container.push_back(Rs); + gradRs_container.push_back(gradRs); + offset += opt->piecenums[trajid]; + } + + + + std::vector gdS2c_2d(opt->trajnum), gdS2c_1d(opt->trajnum), gdC2c_2d(opt->trajnum), gdC2c_1d(opt->trajnum), gdTotalc_2d(opt->trajnum), gdTotalc_1d(opt->trajnum); + std::vector gdS2t_2d(opt->trajnum), gdC2t_2d(opt->trajnum), gdTotalt_2d(opt->trajnum),gdS2t_1d(opt->trajnum), gdC2t_1d(opt->trajnum), gdTotalt_1d(opt->trajnum); + + opt->debugEnergy = 0.0; + opt->debugEsdf = 0.0; + opt->debugCur = -INFINITY; + opt->debugDs = 0.0; + opt->debugminVel = 0.0; + opt->debugRhoT = 0.0; + opt->min_dis_ = INFINITY; + + for(int trajid = 0; trajid < opt->trajnum; trajid++){ + double s = 1.0 * opt->singual_[trajid]; + double k; + if(s > 0){ + k= 1.0; + } + else{ + k = opt->backW_; + } + Eigen::Matrix IniState, FinState; + if(trajid == 0){ + IniState = opt->headState2d_; + } + else{ + IniState.col(0) << Gear_container[trajid - 1]; + IniState.col(1) << s * cos(Angles[trajid -1]), s * sin(Angles[trajid -1]); + IniState.col(2) << 0.0, 0.0; + } + if(trajid == opt->trajnum-1){ + FinState = opt->tailState2d_; + } + else{ + FinState.col(0) << Gear_container[trajid]; + FinState.col(1) << s * cos(Angles[trajid]), s * sin(Angles[trajid]); + FinState.col(2) << 0.0, 0.0; + } + // std::cout <<"trajid: " <posOpts[trajid].generate(P_container[trajid],Rs_container[trajid],IniState,FinState); + opt->posOpts[trajid].initSmGradCost(gdS2c_2d[trajid], gdS2t_2d[trajid]); + + + // smcost += k*opt->posOpts[trajid].getTrajJerkCost(); + // gdS2c_2d[trajid] = gdS2c_2d[trajid] * k; + // gdS2t_2d[trajid]= gdS2t_2d[trajid] * k;//hzchzc + gdS2c_2d[trajid].setZero(); + gdS2t_2d[trajid].setZero(); + + { + Eigen::MatrixXd wpTs, IniSt, FinSt; + wpTs.resize(1, opt->piecenums[trajid]-1); IniSt.resize(1,3); FinSt.resize(1,3); + for(int idx = 0; idx < opt->piecenums[trajid]-1; idx++){ + wpTs.col(idx) << Rs_container[trajid].segment(0, idx + 1).sum(); + } + IniSt << 0.0, 0.0, 0.0; + FinSt << Rs_container[trajid].sum(), 0.0,0.0; + Eigen::VectorXd cdts(opt->piecenums[trajid]); + cdts.setConstant(dts[trajid]); + opt->tOpts[trajid].generate(wpTs, cdts,IniSt, FinSt); + opt->tOpts[trajid].initSmGradCost(gdS2c_1d[trajid], gdS2t_1d[trajid]); + // smcost += k*opt->tOpts[trajid].getTrajJerkCost(); + // gdS2c_1d[trajid] = gdS2c_1d[trajid] * k; + // gdS2t_1d[trajid] = gdS2t_1d[trajid] * k; + gdS2c_1d[trajid].setZero(); + gdS2t_1d[trajid].setZero(); + } + + opt->penaltyGradCost2CT(penalty, opt->posOpts[trajid], opt->tOpts[trajid], gdC2c_2d[trajid], gdC2t_2d[trajid], gdC2c_1d[trajid], gdC2t_1d[trajid], trajid); // Time int cost + gdTotalc_2d[trajid] = gdC2c_2d[trajid] + gdS2c_2d[trajid]; + gdTotalt_2d[trajid] = gdC2t_2d[trajid] + gdS2t_2d[trajid]; + gdTotalc_1d[trajid] = gdC2c_1d[trajid] + gdS2c_1d[trajid]; + gdTotalt_1d[trajid] = gdC2t_1d[trajid] + gdS2t_1d[trajid]; + } + //gradient propagation + for(int trajid = 0; trajid < opt->trajnum; trajid++) { + Eigen::MatrixXd propogate_gradp_2d, propogate_gradIni_2d, propogate_gradFin_2d; + opt->posOpts[trajid].calGrads_PT(gdTotalc_2d[trajid], gdTotalt_2d[trajid], propogate_gradp_2d, propogate_gradIni_2d, propogate_gradFin_2d); + double sg = 1.0 * opt->singual_[trajid]; + if(trajid > 0){ + double theta = Angles[trajid-1]; + gradGear_container[trajid-1] += propogate_gradIni_2d.col(0); + gradAngles[trajid-1] += propogate_gradIni_2d.col(1).transpose() * Eigen::Vector2d(-sg * sin(theta), sg*cos(theta)); + } + if(trajid < opt->trajnum-1){ + double theta = Angles[trajid]; + gradGear_container[trajid] += propogate_gradFin_2d.col(0); + gradAngles[trajid] += propogate_gradFin_2d.col(1).transpose() * Eigen::Vector2d(-sg * sin(theta), sg*cos(theta)); + } + gradP_container[trajid] = propogate_gradp_2d; + double k; + if(sg > 0){ + k = 1.0; + } + else{ + k = opt->backW_; + } + // gradArcs[trajid] = gdTotalt_2d[trajid] / opt->piecenums[trajid] + opt->wei_time_ * k; + // timecost += k * opt->wei_time_ * arcs[trajid]; + gradRs_container[trajid] = gdTotalt_2d[trajid]; + + Eigen::MatrixXd propogate_gradp_1d, propogate_gradIni_1d, propogate_gradFin_1d; + opt->tOpts[trajid].calGrads_PT(gdTotalc_1d[trajid], gdTotalt_1d[trajid], propogate_gradp_1d, propogate_gradIni_1d, propogate_gradFin_1d); + for(int p1 = 0; p1 < opt->piecenums[trajid] - 1; p1++){ + gradRs_container[trajid].segment(0, p1 + 1).array() += propogate_gradp_1d.col(p1)[0]; + } + gradRs_container[trajid].array() += propogate_gradFin_1d.col(0)[0]; + + gradDts[trajid] = gdTotalt_1d[trajid].sum(); + gradDts[trajid] += k * opt->wei_time_ * opt->piecenums[trajid]; + timecost += k * opt->wei_time_ * dts[trajid]* opt->piecenums[trajid]; + opt->debugRhoT += k * opt->wei_time_ * dts[trajid]* opt->piecenums[trajid]; + } + opt->Virtual2Grad(Vdts, gradDts, gradVdts); + for(int trajid = 0; trajid < opt->trajnum; trajid++){ + // gradRs_container[trajid].setConstant(gradRs_container[trajid].sum() / opt->piecenums[trajid]); + opt->Virtual2Grad(Vs_container[trajid], gradRs_container[trajid], gradVs_container[trajid]); + // gradVT_container[trajid].setZero(); + // gradP_container[trajid].setZero(); + } + // gradVarcs.setZero(); + // opt->Virtual2Grad(VT, gradRT, gradVT); + if(opt->isfix_){ + for(int trajid = 0; trajid < opt->trajnum - 1; trajid++){ + gradGear_container[trajid].setZero(); + gradAngles[trajid] = 0.0; + } + } + if(opt->isdebug_){ + // std::cout << "------------------------------------------------------------------\n"; + std::cout << "Energycost: "<debugEnergy << std::endl; + std::cout << "EsdfCost: " << opt->debugEsdf << std::endl; + + std::cout << "MinVelCost: " << opt->debugminVel << std::endl; + // std::cout << "dsCur: " << opt->debugDs << std::endl; + // std::cout << "penalty: " << penalty <debugEnergy > 1.0e10){ + std::cout << "cost is too high!"<<"\n"; + } + else{ + opt->debugVis(); + } + } + opt->iter ++; + return smcost + timecost + penalty; + } + template + void VirtualT2RealT(const EIGENVEC &VT, Eigen::VectorXd &RT) + { + for (int i = 0; i < VT.size(); ++i) + { + RT(i) = VT(i) > 0.0 ? ((0.5 * VT(i) + 1.0) * VT(i) + 1.0) + gslar_ + : 1.0 / ((0.5 * VT(i) - 1.0) * VT(i) + 1.0) + gslar_; + } + } + void VirtualT2RealT(const double & VT, double &RT){ + + + RT = VT > 0.0 ? ((0.5 * VT + 1.0) * VT + 1.0) + gslar_ + : 1.0 / ((0.5 * VT - 1.0) * VT + 1.0) + gslar_; + } + template + inline void RealT2VirtualT(const Eigen::VectorXd &RT, EIGENVEC &VT) + { + for (int i = 0; i < RT.size(); ++i) + { + VT(i) = RT(i) > 1.0 + gslar_ + ? (sqrt(2.0 * RT(i) - 1.0 - 2 * gslar_) - 1.0) + : (1.0 - sqrt(2.0 / (RT(i)-gslar_) - 1.0)); + } + } + inline void RealT2VirtualT(const double &RT, double &VT) + { + + VT = RT > 1.0 + gslar_ + ? (sqrt(2.0 * RT - 1.0 - 2 * gslar_) - 1.0) + : (1.0 - sqrt(2.0 / (RT-gslar_) - 1.0)); + } + template + void VirtualTGradCost(const Eigen::VectorXd &RT, const EIGENVEC &VT,const Eigen::VectorXd &gdRT, EIGENVECGD &gdVT,double &costT) + { + for (int i = 0; i < VT.size(); ++i) + { + double gdVT2Rt; + if (VT(i) > 0) + { + gdVT2Rt = VT(i) + 1.0; + } + else + { + double denSqrt = (0.5 * VT(i) - 1.0) * VT(i) + 1.0; + gdVT2Rt = (1.0 - VT(i)) / (denSqrt * denSqrt); + } + + gdVT(i) = (gdRT(i) + wei_time_) * gdVT2Rt; + } + + costT = RT.sum() * wei_time_; + } + void VirtualTGradCost(const double &RT, const double &VT, const double &gdRT, double &gdVT, double& costT){ + double gdVT2Rt; + if (VT > 0) + { + gdVT2Rt = VT + 1.0; + } + else + { + double denSqrt = (0.5 * VT - 1.0) * VT + 1.0; + gdVT2Rt = (1.0 - VT) / (denSqrt * denSqrt); + } + + gdVT = (gdRT + wei_time_) * gdVT2Rt; + costT = RT * wei_time_; + } + void VirtualTGrad2t(const double &VT, const double &gdRT, double &gdVT){ + double gdVT2Rt; + if (VT > 0) + { + gdVT2Rt = VT + 1.0; + } + else + { + double denSqrt = (0.5 * VT - 1.0) * VT + 1.0; + gdVT2Rt = (1.0 - VT) / (denSqrt * denSqrt); + } + gdVT = gdRT * gdVT2Rt; + } + template + void Virtual2Grad(const EIGENVEC &VT, const Eigen::VectorXd &gdRT, EIGENVECGD &gdVT){ + for (int i = 0; i < VT.size(); ++i) + { + double gdVT2Rt; + if (VT(i) > 0) + { + gdVT2Rt = VT(i) + 1.0; + } + else + { + double denSqrt = (0.5 * VT(i) - 1.0) * VT(i) + 1.0; + gdVT2Rt = (1.0 - VT(i)) / (denSqrt * denSqrt); + } + + gdVT(i) = (gdRT(i)) * gdVT2Rt; + } + + } + double expC2(double t) { + return t > 0.0 ? ((0.5 * t + 1.0) * t + 1.0) + : 1.0 / ((0.5 * t - 1.0) * t + 1.0); + } + double logC2(double T) { + return T > 1.0 ? (sqrt(2.0 * T - 1.0) - 1.0) : (1.0 - sqrt(2.0 / T - 1.0)); + } + void forwardT(const Eigen::Ref& t, const double& sT, Eigen::Ref vecT) { + int M = t.size(); + for (int i = 0; i < M; ++i) { + vecT(i) = expC2(t(i)); + } + vecT(M) = 0.0; + vecT /= 1.0 + vecT.sum(); + vecT(M) = 1.0 - vecT.sum(); + vecT *= sT; + return; + } + void backwardT(const Eigen::Ref& vecT, Eigen::Ref t) { + int M = t.size(); + t = vecT.head(M) / vecT(M); + for (int i = 0; i < M; ++i) { + t(i) = logC2(vecT(i)); + } + return; + } + void penaltyGradCost2CT(double &cost,const PolyTrajOpt::MINCO_S3NU<2>& posOpt, const PolyTrajOpt::MINCO_S3NU<1>& tOpt, Eigen::MatrixXd& gdC2c_2d, Eigen::VectorXd& gdC2t_2d, Eigen::MatrixXd& gdC2c_1d, Eigen::VectorXd& gdC2t_1d, int trajid){ + // output gradT gradC + int N = piecenums[trajid]; + double sg = 1.0 * singual_[trajid]; + double s, ds, dds, ddds, dddds, latAcc, lonAcc, vnorm, cur; + Eigen::Vector2d pos, vel, acc, jerk, snap; + Eigen::Vector2d realVel, realAcc, realJerk; + double energy; + double gradS, gradDs, gradDds, gradDdds; + Eigen::Vector2d gradPos, gradVel, gradAcc, gradJerk; + Eigen::Matrix beta0_2d, beta1_2d, beta2_2d, beta3_2d, beta4_2d; + Eigen::Matrix beta0_1d, beta1_1d, beta2_1d, beta3_1d, beta4_1d; + Eigen::Matrix2d rotR, drotR; + Eigen::Vector2d outerNormal; + Eigen::Matrix t_2d, t_1d; + double step, alpha, eqf; + double vioCur, vioVel, vioLonAcc, vioLatAcc, vioAcc, vioYawdot, vioCor, vioDs; + int corId = -1; + double baset = 0.0; + t_2d(0) = 1.0; + t_1d(0) = 1.0; + + gdC2c_2d.resize(6 * N, 2); + gdC2c_2d.setZero(); + gdC2t_2d.resize(N); + gdC2t_2d.setZero(); + gdC2c_1d.resize(6 * N, 1); + gdC2c_1d.setZero(); + gdC2t_1d.resize(N); + gdC2t_1d.setZero(); + double baseS = 0.0; + + + + for (int i = 0; i < N; ++i) + { + const Eigen::Matrix &c_1d = tOpt.getCoeffs().block<6, 1>(i * 6, 0); + const Eigen::Matrix &c_2d = posOpt.getCoeffs().block<6, 2>(i * 6, 0); + + step = tOpt.T1(i) / traj_res; // T_i /k + // innerLoop = traj_res; + for (int j = 0; j <= traj_res; ++j) + { + + /*analyse t*/ + t_1d(1) = step * j; + t_1d(2) = t_1d(1) * t_1d(1); + t_1d(3) = t_1d(2) * t_1d(1); + t_1d(4) = t_1d(2) * t_1d(2); + t_1d(5) = t_1d(4) * t_1d(1); + beta0_1d = t_1d; + beta1_1d << 0.0, 1.0, 2.0 * t_1d(1), 3.0 * t_1d(2), 4.0 * t_1d(3), 5.0 * t_1d(4); + beta2_1d << 0.0, 0.0, 2.0, 6.0 * t_1d(1), 12.0 * t_1d(2), 20.0 * t_1d(3); + beta3_1d << 0.0, 0.0, 0.0, 6.0, 24.0 * t_1d(1), 60.0 * t_1d(2); + beta4_1d << 0.0, 0.0, 0.0, 0.0, 24.0, 120 * t_1d(1); + s = c_1d.transpose() * beta0_1d; + ds = c_1d.transpose() * beta1_1d; + dds = c_1d.transpose() * beta2_1d; + ddds = c_1d.transpose() * beta3_1d; + dddds = c_1d.transpose() * beta4_1d; + gradS = 0.0; + gradDs = 0.0; + gradDds = 0.0; + gradDdds = 0.0; + /*analyse pos*/ + t_2d(1) = s - baseS; + t_2d(2) = t_2d(1) * t_2d(1); + t_2d(3) = t_2d(2) * t_2d(1); + t_2d(4) = t_2d(2) * t_2d(2); + t_2d(5) = t_2d(4) * t_2d(1); + beta0_2d = t_2d; + beta1_2d << 0.0, 1.0, 2.0 * t_2d(1), 3.0 * t_2d(2), 4.0 * t_2d(3), 5.0 * t_2d(4); + beta2_2d << 0.0, 0.0, 2.0, 6.0 * t_2d(1), 12.0 * t_2d(2), 20.0 * t_2d(3); + beta3_2d << 0.0, 0.0, 0.0, 6.0, 24.0 * t_2d(1), 60.0 * t_2d(2); + beta4_2d << 0.0, 0.0, 0.0, 0.0, 24.0, 120 * t_2d(1); + pos = c_2d.transpose() * beta0_2d; + vel = c_2d.transpose() * beta1_2d; + acc = c_2d.transpose() * beta2_2d; + jerk = c_2d.transpose() * beta3_2d; + snap = c_2d.transpose() * beta4_2d; + gradPos.setZero(); + gradVel.setZero(); + gradAcc.setZero(); + gradJerk.setZero(); + alpha = 1.0 / traj_res * j; + cur = (vel[0]*acc[1] - acc[0]*vel[1]); + rotR << vel[0], -vel[1], + vel[1], vel[0]; + rotR = (sg * rotR) / vel.norm(); + realVel = vel * ds; + realAcc = dds * vel + ds*acc*ds; + realJerk = ddds * vel + acc * dds * ds +2.0 * ds * acc * dds + ds * ds * ds * jerk; + + + /*v > 0.9 penalty*/ + { + double vionegV = miniS * miniS - vel.dot(vel); + if(vionegV > 0){ + double pena, penaD; + positiveSmoothedL1(vionegV, pena, penaD); + cost += penaWei * pena; + gradVel += penaWei * penaD * (-2.0) * vel; + debugminVel += penaWei * pena; + } + } + /*v > 1.1 penalty hzc*/ + // { + // double vioposV = vel.dot(vel)-1.1*1.1; + // if(vioposV > 0){ + // double pena, penaD; + // positiveSmoothedL1(vioposV, pena, penaD); + // cost += penaWei * pena; + // gradVel += penaWei * penaD * (2.0) * vel; + // // debugminVel += penaWei * pena; + // } + // } + + + /*curvature constraint penalty*/ + { + cur = (vel[0]*acc[1] - acc[0]*vel[1]) / (vel.norm() * vel.norm() * vel.norm()); + double cross = (vel[0]*acc[1] - acc[0]*vel[1]); + vioCur = (cur*cur - kmax*kmax); + debugCur = std::max(debugCur, fabs(cur)); + if(vioCur > 0.0){ + double pena, penaD; + positiveSmoothedL1(vioCur, pena, penaD); + cost += penaWei * pena; + Eigen::Vector2d gradViolaCv; + Eigen::Vector2d gradViolaCa; + gradViolaCv = ( + 2*cross*Eigen::Vector2d(acc[1], -acc[0])/(vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()) - + 6*Eigen::Vector2d(vel[0], vel[1])*cross*cross/(vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()) + ); + gradViolaCa = 2.0 * Eigen::Vector2d(-vel[1], vel[0]) * cross / (vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()); + + gradVel += penaWei * penaD * gradViolaCv; + + gradAcc += penaWei * penaD * gradViolaCa; + } + } + // { + // double cross = (vel[0]*acc[1] - acc[0]*vel[1]); + // vioCur = cross * cross - kmax * kmax * vel.squaredNorm() * vel.squaredNorm() * vel.squaredNorm(); + // if(vioCur > 0.0){ + // double pena, penaD; + // positiveSmoothedL1(vioCur, pena, penaD); + // cost += penaWei * pena; + // debugCur += penaWei * pena; + // Eigen::Vector2d gradViolaCv; + // Eigen::Vector2d gradViolaCa; + // gradViolaCv = 2.0*cross*Eigen::Vector2d(acc[1], -acc[0]) - 6.0*kmax*kmax*vel.squaredNorm()*vel.squaredNorm()*vel; + // gradViolaCa = 2.0 * Eigen::Vector2d(-vel[1], vel[0]) * cross; + // gradVel += penaWei * penaD * gradViolaCv; + // gradAcc += penaWei * penaD * gradViolaCa; + // } + + // } + + /*s' >=0 penalty*/ + { + + vioDs = -ds; + if(vioDs > 0){ + double pena, penaD; + positiveSmoothedL1(vioDs, pena, penaD); + cost += penaWei * pena; + debugDs += penaWei * pena; + gradDs += penaWei * penaD * -1.0; + } + } + { + //realVel (vel * ds) + vioVel = realVel.squaredNorm() - vmax * vmax; + if(vioVel > 0){ + double pena, penaD; + positiveSmoothedL1(vioVel, pena, penaD); + cost += penaWei * pena; + gradVel += penaWei * penaD * ds * ds * 2.0 * vel; + gradDs += penaWei * penaD * 2.0 * ds * vel.squaredNorm(); + } + } + { + //realAcc = dds * vel + ds*acc*ds; + vioAcc = realAcc.squaredNorm() - accRatemax * accRatemax; + if(vioAcc > 0){ + double pena, penaD; + positiveSmoothedL1(vioAcc, pena, penaD); + cost += penaWei * pena; + Eigen::Vector2d gradViolaAv; + Eigen::Vector2d gradViolaAa; + double gradViolaAds; + double gradViolaAdds; + gradViolaAv = dds * dds * 2.0 * vel + 2.0 * dds * ds * ds * acc; + gradViolaAa = 2.0 * dds * ds * ds * vel + ds * ds * ds * ds * 2.0 * acc; + gradViolaAds = 2.0 * ds * 2.0 * dds * vel.transpose() * acc + 4.0 * ds * ds * ds * acc.squaredNorm(); + gradViolaAdds = 2.0 * dds * vel.squaredNorm() + 2.0 * ds * ds * vel.transpose() * acc; + gradVel += penaWei * penaD * gradViolaAv; + gradAcc += penaWei * penaD * gradViolaAa; + gradDs += penaWei * penaD * gradViolaAds; + gradDds += penaWei * penaD * gradViolaAdds; + + } + + } + /*static collsion avoidance*/ + //full shape model + { + for(const Eigen::Vector2d resPt : conpts){ + Eigen::Vector2d gradViolaSdpos; + Eigen::Vector2d absPt = pos + rotR * resPt; + /* + rotR << vel[0], -vel[1], + vel[1], vel[0]; + rotR = (sg * rotR) / vel.norm(); + */ + Eigen::Matrix2d temp_l_Bl; + temp_l_Bl << resPt(0), resPt(1), + -resPt(1), resPt(0); + double dis = map_itf_->getDistGrad(absPt, gradViolaSdpos); + min_dis_ = std::min(dis, min_dis_); + double vioSdist = (-dis + safeMargin); + if(vioSdist > 0){ + double pena, penaD; + positiveSmoothedL1(vioSdist, pena, penaD); + // positiveSmoothedL3(vioSdist, pena, penaD); + cost += esdfWei * pena; + debugEsdf += esdfWei * pena; + gradPos += esdfWei * penaD * (-1.0) * gradViolaSdpos; + gradVel += esdfWei * penaD * (-1.0) * + (sg * temp_l_Bl / vel.norm() - vel * (rotR * resPt).transpose() / (vel.squaredNorm()) ) + * gradViolaSdpos; + } + + } + } + + //realAcc = dds * vel + ds*acc*ds; + //realJerk = ddds * vel + acc * dds * ds +2.0 * ds * acc * dds + ds * ds * ds * jerk; + //step = tOpt.getDt() / traj_res; + { + double wpw = 1.0; + if(sg > 0){ + wpw = 1.0; + } + else{ + wpw = backW_; + } + + cost += wpw * step * realJerk.squaredNorm(); + gradVel += wpw * step * 2.0 * ddds * realJerk; + gradAcc += wpw * step * 2.0 * 3.0 * ds * dds * realJerk; + gradJerk += wpw * step * 2.0 * ds * ds * ds * realJerk; + + gradDs += wpw * step * 2.0 * realJerk.transpose() * (3*acc*dds + 3*ds*ds*jerk); + gradDds += wpw * step * 2.0 * realJerk.transpose() * (3*acc*ds); + gradDdds += wpw * step * 2.0 * realJerk.transpose() * (vel); + gdC2t_1d[i] += wpw * realJerk.squaredNorm() / traj_res; + + debugEnergy += wpw * step * realJerk.squaredNorm(); + + } + + double gradResS = (gradPos.dot(vel) + + gradVel.dot(acc) + + gradAcc.dot(jerk) + + gradJerk.dot(snap)); + gradS += gradResS; + gdC2c_1d.block<6, 1>(i * 6, 0) += beta0_1d * gradS + + beta1_1d * gradDs + + beta2_1d * gradDds + + beta3_1d * gradDdds; + gdC2t_1d[i] += (gradS * (ds) + + gradDs * (dds) + + gradDds * (ddds) + + gradDdds * (dddds)) * + alpha; + + + gdC2c_2d.block<6, 2>(i * 6, 0) += beta0_2d * gradPos.transpose() + + beta1_2d * gradVel.transpose() + + beta2_2d * gradAcc.transpose() + + beta3_2d * gradJerk.transpose(); + if(i > 0){ + gdC2t_2d.segment(0, i).array() += -gradResS; + } + + } + baseS += posOpt.T1(i) ; + } + } + void positiveSmoothedL1(const double &x, double &f, double &df) + { + const double pe = 1.0e-4; + const double half = 0.5 * pe; + const double f3c = 1.0 / (pe * pe); + const double f4c = -0.5 * f3c / pe; + const double d2c = 3.0 * f3c; + const double d3c = 4.0 * f4c; + + if (x < pe) + { + f = (f4c * x + f3c) * x * x * x; + df = (d3c * x + d2c) * x * x; + } + else + { + f = x - half; + df = 1.0; + } + return; + } + void positiveSmoothedL3(const double &x, double &f, double &df){ + df = x * x; + f = df *x; + df *= 3.0; + + + return ; + } + + + // std::vector> getSe2traj(double dt){ + // std::vector> arrowTraj; + // Se2Trajectory traj; + // traj.posTraj = posJerkOpt.getTraj(); + // traj.angleTraj = yawJerkOpt.getTraj(); + // for(double t = 0.0; t < traj.getTotalDuration()-1.0e-3; t+=dt){ + // Eigen::Vector2d pos= traj.getPos(t); + // double angle = traj.getAngle(t); + // Eigen::Vector3d p1,p2; + // p1 << pos[0], pos[1], 0.0; + // p2 << pos[0] + 1.0 * cos(angle), pos[1] + 1.0 * sin(angle), 0.0; + // arrowTraj.push_back(std::pair(p1,p2)); + // } + // Eigen::Vector2d pos= traj.getPos(traj.getTotalDuration()); + // double angle = traj.getAngle(traj.getTotalDuration()); + // Eigen::Vector3d p1,p2; + // p1 << pos[0], pos[1], 0.0; + // p2 << pos[0] + 1.0 * cos(angle), pos[1] + 1.0 * sin(angle), 0.0; + // arrowTraj.push_back(std::pair(p1,p2)); + // return arrowTraj; + // } + std::vector getTraj(double dt){ + //return {px,py,yaw} + std::vector poseTraj; + // std::cout << "durations: "; + // for(int i = 0; i < trajnum; i++){ + // PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + // PolyTrajOpt::PolyTrajectory<1> ttraj = tOpts[i].getTraj(); + // // std::cout << polytraj.getTotalDuration() << " "; + // for(double t = 0.0; t < polytraj.getTotalDuration()-1.0e-3; t+=dt){ + // Eigen::Vector2d pos = polytraj.getSigma(t); + // poseTraj.push_back(Eigen::Vector3d(pos[0],pos[1],0)); + // Eigen::Vector2d vel = polytraj.getdSigma(t); + // Eigen::Vector2d acc = polytraj.getddSigma(t); + // double curvatue = (vel[0]*acc[1] - acc[0]*vel[1]); + // // std::cout << curvatue << std::endl; + // } + // for(double t = 0.0; t < ttraj.getTotalDuration()-1.0e-3; t+=dt){ + // Eigen::VectorXd ds = ttraj.getdSigma(t); + // // std::cout << ds[0] << std::endl; + // } + // } + for(int i = 0; i < trajnum; i++){ + PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + PolyTrajectory<1> Ttraj = tOpts[i].getTraj(); + for(double t = 0.0; t < Ttraj.getTotalDuration()-1.0e-3; t+=dt){ + double s = Ttraj.getSigma(t)[0]; + double ds = Ttraj.getdSigma(t)[0]; + Eigen::Vector2d pos= polytraj.getSigma(s); + Eigen::Vector2d vel= polytraj.getdSigma(s); + poseTraj.push_back(Eigen::Vector3d(pos[0],pos[1],ds*vel.norm())); + } + } + + // ROS_WARN_STREAM("MAX CUR : " << getMaxCur()); + return poseTraj; + } + + double getMaxCur(){ + double maxcur = 0.0; + for(int i = 0; i < trajnum; i++){ + PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + PolyTrajectory<1> Ttraj = tOpts[i].getTraj(); + for(double t = 0.0; t < Ttraj.getTotalDuration()-1.0e-3; t+=0.01){ + double s = Ttraj.getSigma(t)[0]; + Eigen::Vector2d vel= polytraj.getdSigma(s); + Eigen::Vector2d acc= polytraj.getddSigma(s); + double cur = (vel[0]*acc[1] - acc[0]*vel[1]) / (vel.norm() * vel.norm() * vel.norm()); + if(fabs(cur) > fabs(maxcur)){ + maxcur = cur; + } + } + } + return maxcur; + } + double getLength(int i){ + double length = 0; + PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + PolyTrajectory<1> Ttraj = tOpts[i].getTraj(); + for(double t = 0.0; t < Ttraj.getTotalDuration()-1.0e-3; t+=0.01){ + double s = Ttraj.getSigma(t)[0]; + double ds = Ttraj.getdSigma(t)[0]; + Eigen::Vector2d vel= polytraj.getdSigma(s); + Eigen::Vector2d realV = vel * ds; + length += 0.01 * realV.norm(); + } + return length; + } + double getTotalDuration(int i){ + PolyTrajOpt::PolyTrajectory<1> tTraj = tOpts[i].getTraj(); + return tTraj.getTotalDuration(); + } + // Se2Trajectory getTraj(){ + // Se2Trajectory traj; + // traj.posTraj = posJerkOpt.getTraj(); + // traj.angleTraj = yawJerkOpt.getTraj(); + // return traj; + // } + void debugVis(){ + if(isstart&&isdebug_){ + ROS_WARN("initial Guess"); + } + vis_tool_ ->visualize_path(getTraj(0.01), "/visualization/refinedTraj_"+name_); + std::vector wpts; + for(int i = 0; i < trajnum; i++){ + PolyTrajOpt::PolyTrajectory<2> traj = posOpts[i].getTraj(); + wpts.push_back(traj.getSigma(0.0)); + Eigen::MatrixXd interWpts = traj.getWpts(); + for(int j = 0; j < interWpts.cols(); j++){ + wpts.push_back(interWpts.col(j)); + } + wpts.push_back(traj.getSigma(traj.getTotalDuration())); + } + vis_tool_ ->visualize_pointcloud(wpts, "/visualization/wapoints_"+name_); + + UgvTrajectory optTraj = getOptTraj(); + vis_tool_->visualize_se2traj(optTraj, "/visualization/fullshapeTraj_"+name_); + + + if(isstart&&isdebug_){ + ros::Duration(7.5).sleep(); + isstart = false; + } + } + UgvTrajectory getOptTraj(){ + UgvTrajectory optTraj; + for(int i = 0; i < trajnum; i++){ + PolyTrajOpt::PolyTrajectory<2> polytraj = posOpts[i].getTraj(); + PolyTrajectory<1> Ttraj = tOpts[i].getTraj(); + DpTrajectory dpTraj; + dpTraj.posTraj = polytraj; + dpTraj.tTraj = Ttraj; + optTraj.Traj_container.push_back(dpTraj); + optTraj.etas.push_back(singual_[i]); + } + return optTraj; + } +}; +} +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/arcPlan/geoutils2d.hpp b/trajectoryOpt/src/plan_manage/include/arcPlan/geoutils2d.hpp new file mode 100644 index 0000000..98acd3c --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/arcPlan/geoutils2d.hpp @@ -0,0 +1,129 @@ +#ifndef GEOUTILS_HPP +#define GEOUTILS_HPP + + +#include "sdlp.hpp" +#include "quickhull.hpp" +#include + +#include +#include +#include +#include + +namespace geoutils +{ + +// Each col of hPoly denotes a facet (outter_normal^T,point^T)^T +// The outter_normal is assumed to be NORMALIZED +inline bool findInterior(const Eigen::MatrixXd &hPoly, + Eigen::Vector3d &interior) +{ + int m = hPoly.cols(); + + Eigen::MatrixXd A(m, 4); + Eigen::VectorXd b(m), c(4), x(4); + A.leftCols<3>() = hPoly.topRows<3>().transpose(); + A.rightCols<1>().setConstant(1.0); + b = hPoly.topRows<3>().cwiseProduct(hPoly.bottomRows<3>()).colwise().sum().transpose(); + c.setZero(); + c(3) = -1.0; + + double minmaxsd = sdlp::linprog(c, A, b, x); + interior = x.head<3>(); + + return minmaxsd < 0.0 && !std::isinf(minmaxsd); +} + +struct filterLess +{ + inline bool operator()(const Eigen::Vector3d &l, + const Eigen::Vector3d &r) + { + return l(0) < r(0) || + (l(0) == r(0) && + (l(1) < r(1) || + (l(1) == r(1) && + l(2) < r(2)))); + } +}; + +inline void filterVs(const Eigen::MatrixXd &rV, + const double &epsilon, + Eigen::MatrixXd &fV) +{ + double mag = std::max(fabs(rV.maxCoeff()), fabs(rV.minCoeff())); + double res = mag * std::max(fabs(epsilon) / mag, DBL_EPSILON); + std::set filter; + fV = rV; + int offset = 0; + Eigen::Vector3d quanti; + for (int i = 0; i < rV.cols(); i++) + { + quanti = (rV.col(i) / res).array().round(); + if (filter.find(quanti) == filter.end()) + { + filter.insert(quanti); + fV.col(offset) = rV.col(i); + offset++; + } + } + fV = fV.leftCols(offset).eval(); + return; +} + +// Each col of hPoly denotes a facet (outter_normal^T,point^T)^T +// The outter_normal is assumed to be NORMALIZED +// proposed epsilon is 1.0e-6 +inline void enumerateVs(const Eigen::MatrixXd &hPoly, + const Eigen::Vector3d &inner, + Eigen::MatrixXd &vPoly, + const double epsilon = 1.0e-6) +{ + Eigen::RowVectorXd b = hPoly.topRows<3>().cwiseProduct(hPoly.bottomRows<3>()).colwise().sum() - + inner.transpose() * hPoly.topRows<3>(); + Eigen::MatrixXd A = hPoly.topRows<3>().array().rowwise() / b.array(); + + quickhull::QuickHull qh; + double qhullEps = std::min(epsilon, quickhull::defaultEps()); + // CCW is false because the normal in quickhull towards interior + const auto cvxHull = qh.getConvexHull(A.data(), A.cols(), false, true, qhullEps); + const auto &idBuffer = cvxHull.getIndexBuffer(); + int hNum = idBuffer.size() / 3; + Eigen::MatrixXd rV(3, hNum); + Eigen::Vector3d normal, point, edge0, edge1; + for (int i = 0; i < hNum; i++) + { + point = A.col(idBuffer[3 * i + 1]); + edge0 = point - A.col(idBuffer[3 * i]); + edge1 = A.col(idBuffer[3 * i + 2]) - point; + normal = edge0.cross(edge1); //cross in CW gives an outter normal + rV.col(i) = normal / normal.dot(point); + } + filterVs(rV, epsilon, vPoly); + vPoly = (vPoly.array().colwise() + inner.array()).eval(); + return; +} + +// Each col of hPoly denotes a facet (outter_normal^T,point^T)^T +// The outter_normal is assumed to be NORMALIZED +// proposed epsilon is 1.0e-6 +inline bool enumerateVs(const Eigen::MatrixXd &hPoly, + Eigen::MatrixXd &vPoly, + const double epsilon = 1.0e-6) +{ + Eigen::Vector3d inner; + if (findInterior(hPoly, inner)) + { + enumerateVs(hPoly, inner, vPoly, epsilon); + return true; + } + else + { + return false; + } +} + +} // namespace geoutils + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/arcPlan/lbfgs.hpp b/trajectoryOpt/src/plan_manage/include/arcPlan/lbfgs.hpp new file mode 100644 index 0000000..ce23073 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/arcPlan/lbfgs.hpp @@ -0,0 +1,838 @@ +#ifndef LBFGS_HPP +#define LBFGS_HPP + +#include +#include +#include + +namespace lbfgs +{ + // ----------------------- Data Type Part ----------------------- + + /** + * L-BFGS optimization parameters. + */ + struct lbfgs_parameter_t + { + /** + * The number of corrections to approximate the inverse hessian matrix. + * The L-BFGS routine stores the computation results of previous m + * iterations to approximate the inverse hessian matrix of the current + * iteration. This parameter controls the size of the limited memories + * (corrections). The default value is 8. Values less than 3 are + * not recommended. Large values will result in excessive computing time. + */ + int mem_size = 8; + + /** + * Epsilon for grad convergence test. DO NOT USE IT in nonsmooth cases! + * Set it to 0.0 and use past-delta-based test for nonsmooth functions. + * This parameter determines the accuracy with which the solution is to + * be found. A minimization terminates when + * ||g(x)||_inf / max(1, ||x||_inf) < g_epsilon, + * where ||.||_inf is the infinity norm. The default value is 1.0e-5. + * This should be greater than 1.0e-6 in practice because L-BFGS does + * not directly reduce first-order residual. It still needs the function + * value which can be corrupted by machine_prec when ||g|| is small. + */ + double g_epsilon = 1.0e-5; + + /** + * Distance for delta-based convergence test. + * This parameter determines the distance, in iterations, to compute + * the rate of decrease of the cost function. If the value of this + * parameter is zero, the library does not perform the delta-based + * convergence test. The default value is 3. + */ + int past = 3; + + /** + * Delta for convergence test. + * This parameter determines the minimum rate of decrease of the + * cost function. The library stops iterations when the following + * condition is met: + * |f' - f| / max(1, |f|) < delta, + * where f' is the cost value of past iterations ago, and f is + * the cost value of the current iteration. + * The default value is 1.0e-6. + */ + double delta = 1.0e-6; + + /** + * The maximum number of iterations. + * The lbfgs_optimize() function terminates an minimization process with + * ::LBFGSERR_MAXIMUMITERATION status code when the iteration count + * exceedes this parameter. Setting this parameter to zero continues an + * minimization process until a convergence or error. The default value + * is 0. + */ + int max_iterations = 0; + + /** + * The maximum number of trials for the line search. + * This parameter controls the number of function and gradients evaluations + * per iteration for the line search routine. The default value is 64. + */ + int max_linesearch = 64; + + /** + * The minimum step of the line search routine. + * The default value is 1.0e-20. This value need not be modified unless + * the exponents are too large for the machine being used, or unless the + * problem is extremely badly scaled (in which case the exponents should + * be increased). + */ + double min_step = 1.0e-20; + + /** + * The maximum step of the line search. + * The default value is 1.0e+20. This value need not be modified unless + * the exponents are too large for the machine being used, or unless the + * problem is extremely badly scaled (in which case the exponents should + * be increased). + */ + double max_step = 1.0e+20; + + /** + * A parameter to control the accuracy of the line search routine. + * The default value is 1.0e-4. This parameter should be greater + * than zero and smaller than 1.0. + */ + double f_dec_coeff = 1.0e-4; + + /** + * A parameter to control the accuracy of the line search routine. + * The default value is 0.9. If the function and gradient + * evaluations are inexpensive with respect to the cost of the + * iteration (which is sometimes the case when solving very large + * problems) it may be advantageous to set this parameter to a small + * value. A typical small value is 0.1. This parameter should be + * greater than the f_dec_coeff parameter and smaller than 1.0. + */ + double s_curv_coeff = 0.9; + + /** + * A parameter to ensure the global convergence for nonconvex functions. + * The default value is 1.0e-6. The parameter performs the so called + * cautious update for L-BFGS, especially when the convergence is + * not sufficient. The parameter must be positive but might as well + * be less than 1.0e-3 in practice. + */ + double cautious_factor = 1.0e-6; + + /** + * The machine precision for floating-point values. The default is 1.0e-16. + * This parameter must be a positive value set by a client program to + * estimate the machine precision. + */ + double machine_prec = 1.0e-16; + }; + + /** + * Return values of lbfgs_optimize(). + * Roughly speaking, a negative value indicates an error. + */ + enum + { + /** L-BFGS reaches convergence. */ + LBFGS_CONVERGENCE = 0, + /** L-BFGS satisfies stopping criteria. */ + LBFGS_STOP, + /** The iteration has been canceled by the monitor callback. */ + LBFGS_CANCELED, + + /** Unknown error. */ + LBFGSERR_UNKNOWNERROR = -1024, + /** Invalid number of variables specified. */ + LBFGSERR_INVALID_N, + /** Invalid parameter lbfgs_parameter_t::mem_size specified. */ + LBFGSERR_INVALID_MEMSIZE, + /** Invalid parameter lbfgs_parameter_t::g_epsilon specified. */ + LBFGSERR_INVALID_GEPSILON, + /** Invalid parameter lbfgs_parameter_t::past specified. */ + LBFGSERR_INVALID_TESTPERIOD, + /** Invalid parameter lbfgs_parameter_t::delta specified. */ + LBFGSERR_INVALID_DELTA, + /** Invalid parameter lbfgs_parameter_t::min_step specified. */ + LBFGSERR_INVALID_MINSTEP, + /** Invalid parameter lbfgs_parameter_t::max_step specified. */ + LBFGSERR_INVALID_MAXSTEP, + /** Invalid parameter lbfgs_parameter_t::f_dec_coeff specified. */ + LBFGSERR_INVALID_FDECCOEFF, + /** Invalid parameter lbfgs_parameter_t::s_curv_coeff specified. */ + LBFGSERR_INVALID_SCURVCOEFF, + /** Invalid parameter lbfgs_parameter_t::machine_prec specified. */ + LBFGSERR_INVALID_MACHINEPREC, + /** Invalid parameter lbfgs_parameter_t::max_linesearch specified. */ + LBFGSERR_INVALID_MAXLINESEARCH, + /** The function value became NaN or Inf. */ + LBFGSERR_INVALID_FUNCVAL, + /** The line-search step became smaller than lbfgs_parameter_t::min_step. */ + LBFGSERR_MINIMUMSTEP, + /** The line-search step became larger than lbfgs_parameter_t::max_step. */ + LBFGSERR_MAXIMUMSTEP, + /** Line search reaches the maximum, assumptions not satisfied or precision not achievable.*/ + LBFGSERR_MAXIMUMLINESEARCH, + /** The algorithm routine reaches the maximum number of iterations. */ + LBFGSERR_MAXIMUMITERATION, + /** Relative search interval width is at least lbfgs_parameter_t::machine_prec. */ + LBFGSERR_WIDTHTOOSMALL, + /** A logic error (negative line-search step) occurred. */ + LBFGSERR_INVALIDPARAMETERS, + /** The current search direction increases the cost function value. */ + LBFGSERR_INCREASEGRADIENT, + }; + + /** + * Callback interface to provide cost function and gradient evaluations. + * + * The lbfgs_optimize() function call this function to obtain the values of cost + * function and its gradients when needed. A client program must implement + * this function to evaluate the values of the cost function and its + * gradients, given current values of variables. + * + * @param instance The user data sent for lbfgs_optimize() function by the client. + * @param x The current values of variables. + * @param g The gradient vector. The callback function must compute + * the gradient values for the current variables. + * @retval double The value of the cost function for the current variables. + */ + typedef double (*lbfgs_evaluate_t)(void *instance, + const Eigen::VectorXd &x, + Eigen::VectorXd &g); + + /** + * Callback interface to provide an upper bound at the beginning of the current line search. + * + * The lbfgs_optimize() function call this function to obtain the values of the + * upperbound of the stepsize to search in, provided with the beginning values of + * variables before the line search, and the current step vector (can be descent direction). + * A client program can implement this function for more efficient linesearch. Any step + * larger than this bound should not be considered. For example, it has a very large or even + * inf function value. Note that the function value at the provided bound should be FINITE! + * If it is not used, just set it nullptr. + * + * @param instance The user data sent for lbfgs_optimize() function by the client. + * @param xp The values of variables before current line search. + * @param d The step vector. It can be the descent direction. + * @retval double The upperboud of the step in current line search routine, + * such that (stpbound * d) is the maximum reasonable step. + */ + typedef double (*lbfgs_stepbound_t)(void *instance, + const Eigen::VectorXd &xp, + const Eigen::VectorXd &d); + + /** + * Callback interface to monitor the progress of the minimization process. + * + * The lbfgs_optimize() function call this function for each iteration. Implementing + * this function, a client program can store or display the current progress + * of the minimization process. If it is not used, just set it nullptr. + * + * @param instance The user data sent for lbfgs_optimize() function by the client. + * @param x The current values of variables. + * @param g The current gradient values of variables. + * @param fx The current value of the cost function. + * @param step The line-search step used for this iteration. + * @param k The iteration count. + * @param ls The number of evaluations called for this iteration. + * @retval int Zero to continue the minimization process. Returning a + * non-zero value will cancel the minimization process. + */ + typedef int (*lbfgs_progress_t)(void *instance, + const Eigen::VectorXd &x, + const Eigen::VectorXd &g, + const double fx, + const double step, + const int k, + const int ls); + + /** + * Callback data struct + */ + struct callback_data_t + { + void *instance = nullptr; + lbfgs_evaluate_t proc_evaluate = nullptr; + lbfgs_stepbound_t proc_stepbound = nullptr; + lbfgs_progress_t proc_progress = nullptr; + }; + + // ----------------------- L-BFGS Part ----------------------- + + /** + * Line search method for smooth or nonsmooth functions. + * This function performs line search to find a point that satisfy + * both the Armijo condition and the weak Wolfe condition. It is + * as robust as the backtracking line search but further applies + * to continuous and piecewise smooth functions where the strong + * Wolfe condition usually does not hold. + * + * @see + * Adrian S. Lewis and Michael L. Overton. Nonsmooth optimization + * via quasi-Newton methods. Mathematical Programming, Vol 141, + * No 1, pp. 135-163, 2013. + */ + inline int line_search_lewisoverton(Eigen::VectorXd &x, + double &f, + Eigen::VectorXd &g, + double &stp, + const Eigen::VectorXd &s, + const Eigen::VectorXd &xp, + const Eigen::VectorXd &gp, + const double stpmin, + const double stpmax, + const callback_data_t &cd, + const lbfgs_parameter_t ¶m) + { + int count = 0; + bool brackt = false, touched = false; + double finit, dginit, dgtest, dstest; + double mu = 0.0, nu = stpmax; + + /* Check the input parameters for errors. */ + if (!(stp > 0.0)) + { + return LBFGSERR_INVALIDPARAMETERS; + } + + /* Compute the initial gradient in the search direction. */ + dginit = gp.dot(s); + /* Make sure that s points to a descent direction. */ + if (0.0 < dginit) + { + return LBFGSERR_INCREASEGRADIENT; + } + + /* The initial value of the cost function. */ + finit = f; + dgtest = param.f_dec_coeff * dginit; + dstest = param.s_curv_coeff * dginit; + + while (true) + { + x = xp + stp * s; + + /* Evaluate the function and gradient values. */ + f = cd.proc_evaluate(cd.instance, x, g); + ++count; + + /* Test for errors. */ + if (std::isinf(f) || std::isnan(f)) + { + return LBFGSERR_INVALID_FUNCVAL; + } + + if(param.past > 0 && fabs(finit-f)/(fabs(finit)+1.0) finit + stp * dgtest) + { + nu = stp; + brackt = true; + } + else + { + /* Check the weak Wolfe condition. */ + if (g.dot(s) < dstest) + { + mu = stp; + } + else + { + return count; + } + } + if (param.max_linesearch <= count) + { + // std::cout<< fabs(dginit)/finit< stpmax) + { + if (touched) + { + /* The step is the maximum value. */ + return LBFGSERR_MAXIMUMSTEP; + } + else + { + /* The maximum value should be tried once. */ + touched = true; + stp = stpmax; + } + } + } + } + + /** + * Start a L-BFGS optimization. + * Assumptions: 1. f(x) is either C2 or C0 but piecewise C2; + * 2. f(x) is lower bounded; + * 3. f(x) has bounded level sets; + * 4. g(x) is either the gradient or subgradient; + * 5. The gradient exists at the initial guess x0. + * A user must implement a function compatible with ::lbfgs_evaluate_t (evaluation + * callback) and pass the pointer to the callback function to lbfgs_optimize() + * arguments. Similarly, a user can implement a function compatible with + * ::lbfgs_stepbound_t to provide an external upper bound for stepsize, and + * ::lbfgs_progress_t (progress callback) to obtain the current progress + * (e.g., variables, function, and gradient, etc) and to cancel the iteration + * process if necessary. Implementation of the stepbound and the progress callback + * is optional: a user can pass nullptr if progress notification is not necessary. + * + * + * @param x The vector of decision variables. + * THE INITIAL GUESS x0 SHOULD BE SET BEFORE THE CALL! + * A client program can receive decision variables + * through this vector, at which the cost and its + * gradient are queried during minimization. + * @param f The ref to the variable that receives the final + * value of the cost function for the variables. + * @param proc_evaluate The callback function to provide function f(x) and + * gradient g(x) evaluations given a current values of + * variables x. A client program must implement a + * callback function compatible with lbfgs_evaluate_t + * and pass the pointer to the callback function. + * @param proc_stepbound The callback function to provide values of the + * upperbound of the stepsize to search in, provided + * with the beginning values of variables before the + * line search, and the current step vector (can be + * negative gradient). A client program can implement + * this function for more efficient linesearch. If it is + * not used, just set it nullptr. + * @param proc_progress The callback function to receive the progress + * (the number of iterations, the current value of + * the cost function) of the minimization + * process. This argument can be set to nullptr if + * a progress report is unnecessary. + * @param instance A user data pointer for client programs. The callback + * functions will receive the value of this argument. + * @param param The parameters for L-BFGS optimization. + * @retval int The status code. This function returns a nonnegative + * integer if the minimization process terminates without + * an error. A negative integer indicates an error. + */ + inline int lbfgs_optimize(Eigen::VectorXd &x, + double &f, + lbfgs_evaluate_t proc_evaluate, + lbfgs_stepbound_t proc_stepbound, + lbfgs_progress_t proc_progress, + void *instance, + const lbfgs_parameter_t ¶m) + { + int ret, i, j, k, ls, end, bound; + double step, step_min, step_max, fx, ys, yy; + double gnorm_inf, xnorm_inf, beta, rate, cau; + + const int n = x.size(); + const int m = param.mem_size; + + /* Check the input parameters for errors. */ + if (n <= 0) + { + return LBFGSERR_INVALID_N; + } + if (m <= 0) + { + return LBFGSERR_INVALID_MEMSIZE; + } + if (param.g_epsilon < 0.0) + { + return LBFGSERR_INVALID_GEPSILON; + } + if (param.past < 0) + { + return LBFGSERR_INVALID_TESTPERIOD; + } + if (param.delta < 0.0) + { + return LBFGSERR_INVALID_DELTA; + } + if (param.min_step < 0.0) + { + return LBFGSERR_INVALID_MINSTEP; + } + if (param.max_step < param.min_step) + { + return LBFGSERR_INVALID_MAXSTEP; + } + if (!(param.f_dec_coeff > 0.0 && + param.f_dec_coeff < 1.0)) + { + return LBFGSERR_INVALID_FDECCOEFF; + } + if (!(param.s_curv_coeff < 1.0 && + param.s_curv_coeff > param.f_dec_coeff)) + { + return LBFGSERR_INVALID_SCURVCOEFF; + } + if (!(param.machine_prec > 0.0)) + { + return LBFGSERR_INVALID_MACHINEPREC; + } + if (param.max_linesearch <= 0) + { + return LBFGSERR_INVALID_MAXLINESEARCH; + } + + /* Prepare intermediate variables. */ + Eigen::VectorXd xp(n); + Eigen::VectorXd g(n); + Eigen::VectorXd gp(n); + Eigen::VectorXd d(n); + Eigen::VectorXd pf(std::max(1, param.past)); + + /* Initialize the limited memory. */ + Eigen::VectorXd lm_alpha = Eigen::VectorXd::Zero(m); + Eigen::MatrixXd lm_s = Eigen::MatrixXd::Zero(n, m); + Eigen::MatrixXd lm_y = Eigen::MatrixXd::Zero(n, m); + Eigen::VectorXd lm_ys = Eigen::VectorXd::Zero(m); + + /* Construct a callback data. */ + callback_data_t cd; + cd.instance = instance; + cd.proc_evaluate = proc_evaluate; + cd.proc_stepbound = proc_stepbound; + cd.proc_progress = proc_progress; + + /* Evaluate the function value and its gradient. */ + fx = cd.proc_evaluate(cd.instance, x, g); + + /* Store the initial value of the cost function. */ + pf(0) = fx; + + /* + Compute the direction; + we assume the initial hessian matrix H_0 as the identity matrix. + */ + d = -g; + + /* + Make sure that the initial variables are not a stationary point. + */ + gnorm_inf = g.cwiseAbs().maxCoeff(); + xnorm_inf = x.cwiseAbs().maxCoeff(); + + if (gnorm_inf / std::max(1.0, xnorm_inf) < param.g_epsilon) + { + /* The initial guess is already a stationary point. */ + ret = LBFGS_CONVERGENCE; + } + else + { + /* + Compute the initial step: + */ + step = 1.0 / d.norm(); + + k = 1; + end = 0; + bound = 0; + + while (true) + { + /* Store the current position and gradient vectors. */ + xp = x; + gp = g; + + /* If the step bound can be provied dynamically, then apply it. */ + step_min = param.min_step; + step_max = param.max_step; + if (cd.proc_stepbound) + { + step_max = cd.proc_stepbound(cd.instance, xp, d); + step_max = step_max < param.max_step ? step_max : param.max_step; + step = step < step_max ? step : 0.5 * step_max; + } + + /* Search for an optimal step. */ + ls = line_search_lewisoverton(x, fx, g, step, d, xp, gp, step_min, step_max, cd, param); + + // int idx = 1; + // step = 1.0; + // if(d.norm()>1.0){ + // d = d.normalized().eval()*1.0; + // } + // while(1){ + // // std::cout<<"step * d"<<(step * d).transpose()<1.0){ + // g = g.normalized().eval()*1.0; + // } + // std::cout<<"fx: "< \epsilon * ||g_{k}||^\alpha, + where \epsilon is the cautious factor and a proposed value + for \alpha is 1. + This is not for enforcing the PD of the approxomated Hessian + since ys > 0 is already ensured by the weak Wolfe condition. + This is to ensure the global convergence as described in: + Dong-Hui Li and Masao Fukushima. On the global convergence of + the BFGS method for nonconvex unconstrained optimization problems. + SIAM Journal on Optimization, Vol 11, No 4, pp. 1054-1064, 2011. + */ + cau = lm_s.col(end).squaredNorm() * gp.norm() * param.cautious_factor; + + if (ys > cau) + { + /* + Recursive formula to compute dir = -(H \cdot g). + This is described in page 779 of: + Jorge Nocedal. + Updating Quasi-Newton Matrices with Limited Storage. + Mathematics of Computation, Vol. 35, No. 151, + pp. 773--782, 1980. + */ + ++bound; + bound = m < bound ? m : bound; + end = (end + 1) % m; + + j = end; + for (i = 0; i < bound; ++i) + { + j = (j + m - 1) % m; /* if (--j == -1) j = m-1; */ + /* \alpha_{j} = \rho_{j} s^{t}_{j} \cdot q_{k+1}. */ + lm_alpha(j) = lm_s.col(j).dot(d) / lm_ys(j); + /* q_{i} = q_{i+1} - \alpha_{i} y_{i}. */ + d += (-lm_alpha(j)) * lm_y.col(j); + } + + d *= ys / yy; + + for (i = 0; i < bound; ++i) + { + /* \beta_{j} = \rho_{j} y^t_{j} \cdot \gamm_{i}. */ + beta = lm_y.col(j).dot(d) / lm_ys(j); + /* \gamm_{i+1} = \gamm_{i} + (\alpha_{j} - \beta_{j}) s_{j}. */ + d += (lm_alpha(j) - beta) * lm_s.col(j); + j = (j + 1) % m; /* if (++j == m) j = 0; */ + } + } + + /* The search direction d is ready. We try step = 1 first. */ + step = 1.0; + } + } + + /* Return the final value of the cost function. */ + f = fx; + + return ret; + } + + /** + * Get string description of an lbfgs_optimize() return code. + * + * @param err A value returned by lbfgs_optimize(). + */ + inline const char *lbfgs_strerror(const int err) + { + switch (err) + { + case LBFGS_CONVERGENCE: + return "Success: reached convergence (g_epsilon)."; + + case LBFGS_STOP: + return "Success: met stopping criteria (past f decrease less than delta)."; + + case LBFGS_CANCELED: + return "The iteration has been canceled by the monitor callback."; + + case LBFGSERR_UNKNOWNERROR: + return "Unknown error."; + + case LBFGSERR_INVALID_N: + return "Invalid number of variables specified."; + + case LBFGSERR_INVALID_MEMSIZE: + return "Invalid parameter lbfgs_parameter_t::mem_size specified."; + + case LBFGSERR_INVALID_GEPSILON: + return "Invalid parameter lbfgs_parameter_t::g_epsilon specified."; + + case LBFGSERR_INVALID_TESTPERIOD: + return "Invalid parameter lbfgs_parameter_t::past specified."; + + case LBFGSERR_INVALID_DELTA: + return "Invalid parameter lbfgs_parameter_t::delta specified."; + + case LBFGSERR_INVALID_MINSTEP: + return "Invalid parameter lbfgs_parameter_t::min_step specified."; + + case LBFGSERR_INVALID_MAXSTEP: + return "Invalid parameter lbfgs_parameter_t::max_step specified."; + + case LBFGSERR_INVALID_FDECCOEFF: + return "Invalid parameter lbfgs_parameter_t::f_dec_coeff specified."; + + case LBFGSERR_INVALID_SCURVCOEFF: + return "Invalid parameter lbfgs_parameter_t::s_curv_coeff specified."; + + case LBFGSERR_INVALID_MACHINEPREC: + return "Invalid parameter lbfgs_parameter_t::machine_prec specified."; + + case LBFGSERR_INVALID_MAXLINESEARCH: + return "Invalid parameter lbfgs_parameter_t::max_linesearch specified."; + + case LBFGSERR_INVALID_FUNCVAL: + return "The function value became NaN or Inf."; + + case LBFGSERR_MINIMUMSTEP: + return "The line-search step became smaller than lbfgs_parameter_t::min_step."; + + case LBFGSERR_MAXIMUMSTEP: + return "The line-search step became larger than lbfgs_parameter_t::max_step."; + + case LBFGSERR_MAXIMUMLINESEARCH: + return "Line search reaches the maximum try number, assumptions not satisfied or precision not achievable."; + + case LBFGSERR_MAXIMUMITERATION: + return "The algorithm routine reaches the maximum number of iterations."; + + case LBFGSERR_WIDTHTOOSMALL: + return "Relative search interval width is at least lbfgs_parameter_t::machine_prec."; + + case LBFGSERR_INVALIDPARAMETERS: + return "A logic error (negative line-search step) occurred."; + + case LBFGSERR_INCREASEGRADIENT: + return "The current search direction increases the cost function value."; + + default: + return "(unknown)"; + } + } + +} // namespace lbfgs + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/arcPlan/quickhull.hpp b/trajectoryOpt/src/plan_manage/include/arcPlan/quickhull.hpp new file mode 100644 index 0000000..586d59e --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/arcPlan/quickhull.hpp @@ -0,0 +1,1697 @@ +#ifndef QUICKHULL_HPP +#define QUICKHULL_HPP + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace quickhull +{ + +// ----------------------- BasicData Part ----------------------- + +template +class Vector3 +{ +public: + Vector3() = default; + + Vector3(T x, T y, T z) : x(x), y(y), z(z) {} + + T x, y, z; + + inline T dotProduct(const Vector3 &other) const + { + return x * other.x + y * other.y + z * other.z; + } + + inline void normalize() + { + const T len = getLength(); + x /= len; + y /= len; + z /= len; + } + + inline Vector3 getNormalized() const + { + const T len = getLength(); + return Vector3(x / len, y / len, z / len); + } + + inline T getLength() const + { + return std::sqrt(x * x + y * y + z * z); + } + + inline Vector3 operator-(const Vector3 &other) const + { + return Vector3(x - other.x, y - other.y, z - other.z); + } + + inline Vector3 operator+(const Vector3 &other) const + { + return Vector3(x + other.x, y + other.y, z + other.z); + } + + inline Vector3 &operator+=(const Vector3 &other) + { + x += other.x; + y += other.y; + z += other.z; + return *this; + } + + inline Vector3 &operator-=(const Vector3 &other) + { + x -= other.x; + y -= other.y; + z -= other.z; + return *this; + } + + inline Vector3 &operator*=(T c) + { + x *= c; + y *= c; + z *= c; + return *this; + } + + inline Vector3 &operator/=(T c) + { + x /= c; + y /= c; + z /= c; + return *this; + } + + inline Vector3 operator-() const + { + return Vector3(-x, -y, -z); + } + + template + inline Vector3 operator*(S c) const + { + return Vector3(x * c, y * c, z * c); + } + + template + inline Vector3 operator/(S c) const + { + return Vector3(x / c, y / c, z / c); + } + + inline T getLengthSquared() const + { + return x * x + y * y + z * z; + } + + inline bool operator!=(const Vector3 &o) const + { + return x != o.x || y != o.y || z != o.z; + } + + // Projection onto another vector + inline Vector3 projection(const Vector3 &o) const + { + T C = dotProduct(o) / o.getLengthSquared(); + return o * C; + } + + inline Vector3 crossProduct(const Vector3 &rhs) + { + T a = y * rhs.z - z * rhs.y; + T b = z * rhs.x - x * rhs.z; + T c = x * rhs.y - y * rhs.x; + Vector3 product(a, b, c); + return product; + } + + inline T getDistanceTo(const Vector3 &other) const + { + Vector3 diff = *this - other; + return diff.getLength(); + } + + inline T getSquaredDistanceTo(const Vector3 &other) const + { + const T dx = x - other.x; + const T dy = y - other.y; + const T dz = z - other.z; + return dx * dx + dy * dy + dz * dz; + } +}; + +// Overload also << operator for easy printing of debug data +template +inline std::ostream &operator<<(std::ostream &os, const Vector3 &vec) +{ + os << "(" << vec.x << "," << vec.y << "," << vec.z << ")"; + return os; +} + +template +inline Vector3 operator*(T c, const Vector3 &v) +{ + return Vector3(v.x * c, v.y * c, v.z * c); +} + +template +class Plane +{ +public: + Vector3 m_N; + + // Signed distance (if normal is of length 1) to the plane from origin + T m_D; + + // Normal length squared + T m_sqrNLength; + + inline bool isPointOnPositiveSide(const Vector3 &Q) const + { + T d = m_N.dotProduct(Q) + m_D; + if (d >= 0) + return true; + return false; + } + + Plane() = default; + + // Construct a plane using normal N and any point P on the plane + Plane(const Vector3 &N, const Vector3 &P) + : m_N(N), m_D(-N.dotProduct(P)), + m_sqrNLength(m_N.x * m_N.x + m_N.y * m_N.y + m_N.z * m_N.z) {} +}; + +template +struct Ray +{ + const Vector3 m_S; + const Vector3 m_V; + const T m_VInvLengthSquared; + + Ray(const Vector3 &S, const Vector3 &V) + : m_S(S), m_V(V), m_VInvLengthSquared(1 / m_V.getLengthSquared()) {} +}; + +template +class Pool +{ + std::vector> m_data; + +public: + inline void clear() + { + m_data.clear(); + } + + inline void reclaim(std::unique_ptr &ptr) + { + m_data.push_back(std::move(ptr)); + } + + inline std::unique_ptr get() + { + if (m_data.size() == 0) + { + return std::unique_ptr(new T()); + } + auto it = m_data.end() - 1; + std::unique_ptr r = std::move(*it); + m_data.erase(it); + return r; + } +}; + +template +class VertexDataSource +{ + const Vector3 *m_ptr; + size_t m_count; + +public: + VertexDataSource(const Vector3 *ptr, size_t count) + : m_ptr(ptr), m_count(count) {} + + VertexDataSource(const std::vector> &vec) + : m_ptr(&vec[0]), m_count(vec.size()) {} + + VertexDataSource() + : m_ptr(nullptr), m_count(0) {} + + inline VertexDataSource &operator=(const VertexDataSource &other) = default; + + inline size_t size() const + { + return m_count; + } + + inline const Vector3 &operator[](size_t index) const + { + return m_ptr[index]; + } + + inline const Vector3 *begin() const + { + return m_ptr; + } + + inline const Vector3 *end() const + { + return m_ptr + m_count; + } +}; + +// ----------------------- MeshBuilder Part ----------------------- + +template +class MeshBuilder +{ +public: + struct HalfEdge + { + size_t m_endVertex; + size_t m_opp; + size_t m_face; + size_t m_next; + + inline void disable() + { + m_endVertex = std::numeric_limits::max(); + } + + inline bool isDisabled() const + { + return m_endVertex == std::numeric_limits::max(); + } + }; + + struct Face + { + size_t m_he; + Plane m_P; + T m_mostDistantPointDist; + size_t m_mostDistantPoint; + size_t m_visibilityCheckedOnIteration; + std::uint8_t m_isVisibleFaceOnCurrentIteration : 1; + std::uint8_t m_inFaceStack : 1; + + // Bit for each half edge assigned to this face, + // each being 0 or 1 depending on whether the + // edge belongs to horizon edge + std::uint8_t m_horizonEdgesOnCurrentIteration : 3; + std::unique_ptr> m_pointsOnPositiveSide; + + Face() : m_he(std::numeric_limits::max()), + m_mostDistantPointDist(0), + m_mostDistantPoint(0), + m_visibilityCheckedOnIteration(0), + m_isVisibleFaceOnCurrentIteration(0), + m_inFaceStack(0), + m_horizonEdgesOnCurrentIteration(0) {} + + inline void disable() + { + m_he = std::numeric_limits::max(); + } + + inline bool isDisabled() const + { + return m_he == std::numeric_limits::max(); + } + }; + + // Mesh data + std::vector m_faces; + std::vector m_halfEdges; + + // When the mesh is modified and faces and half edges are + // removed from it, we do not actually remove them from + // the container vectors. Insted, they are marked as disabled + // which means that the indices can be reused when we need to + // add new faces and half edges to the mesh. We store the + // free indices in the following vectors. + std::vector m_disabledFaces, m_disabledHalfEdges; + + inline size_t addFace() + { + if (m_disabledFaces.size()) + { + size_t index = m_disabledFaces.back(); + auto &f = m_faces[index]; + assert(f.isDisabled()); + assert(!f.m_pointsOnPositiveSide); + f.m_mostDistantPointDist = 0; + m_disabledFaces.pop_back(); + return index; + } + m_faces.emplace_back(); + return m_faces.size() - 1; + } + + inline size_t addHalfEdge() + { + if (m_disabledHalfEdges.size()) + { + const size_t index = m_disabledHalfEdges.back(); + m_disabledHalfEdges.pop_back(); + return index; + } + m_halfEdges.emplace_back(); + return m_halfEdges.size() - 1; + } + + // Mark a face as disabled and return a pointer + // to the points that were on the positive of it. + inline std::unique_ptr> disableFace(size_t faceIndex) + { + auto &f = m_faces[faceIndex]; + f.disable(); + m_disabledFaces.push_back(faceIndex); + return std::move(f.m_pointsOnPositiveSide); + } + + inline void disableHalfEdge(size_t heIndex) + { + auto &he = m_halfEdges[heIndex]; + he.disable(); + m_disabledHalfEdges.push_back(heIndex); + } + + MeshBuilder() = default; + + // Create a mesh with initial tetrahedron ABCD. + // Dot product of AB with the normal of triangle + // ABC should be negative. + inline void setup(size_t a, size_t b, size_t c, size_t d) + { + m_faces.clear(); + m_halfEdges.clear(); + m_disabledFaces.clear(); + m_disabledHalfEdges.clear(); + + m_faces.reserve(4); + m_halfEdges.reserve(12); + + // Create halfedges + HalfEdge AB; + AB.m_endVertex = b; + AB.m_opp = 6; + AB.m_face = 0; + AB.m_next = 1; + m_halfEdges.push_back(AB); + + HalfEdge BC; + BC.m_endVertex = c; + BC.m_opp = 9; + BC.m_face = 0; + BC.m_next = 2; + m_halfEdges.push_back(BC); + + HalfEdge CA; + CA.m_endVertex = a; + CA.m_opp = 3; + CA.m_face = 0; + CA.m_next = 0; + m_halfEdges.push_back(CA); + + HalfEdge AC; + AC.m_endVertex = c; + AC.m_opp = 2; + AC.m_face = 1; + AC.m_next = 4; + m_halfEdges.push_back(AC); + + HalfEdge CD; + CD.m_endVertex = d; + CD.m_opp = 11; + CD.m_face = 1; + CD.m_next = 5; + m_halfEdges.push_back(CD); + + HalfEdge DA; + DA.m_endVertex = a; + DA.m_opp = 7; + DA.m_face = 1; + DA.m_next = 3; + m_halfEdges.push_back(DA); + + HalfEdge BA; + BA.m_endVertex = a; + BA.m_opp = 0; + BA.m_face = 2; + BA.m_next = 7; + m_halfEdges.push_back(BA); + + HalfEdge AD; + AD.m_endVertex = d; + AD.m_opp = 5; + AD.m_face = 2; + AD.m_next = 8; + m_halfEdges.push_back(AD); + + HalfEdge DB; + DB.m_endVertex = b; + DB.m_opp = 10; + DB.m_face = 2; + DB.m_next = 6; + m_halfEdges.push_back(DB); + + HalfEdge CB; + CB.m_endVertex = b; + CB.m_opp = 1; + CB.m_face = 3; + CB.m_next = 10; + m_halfEdges.push_back(CB); + + HalfEdge BD; + BD.m_endVertex = d; + BD.m_opp = 8; + BD.m_face = 3; + BD.m_next = 11; + m_halfEdges.push_back(BD); + + HalfEdge DC; + DC.m_endVertex = c; + DC.m_opp = 4; + DC.m_face = 3; + DC.m_next = 9; + m_halfEdges.push_back(DC); + + // Create faces + Face ABC; + ABC.m_he = 0; + m_faces.push_back(std::move(ABC)); + + Face ACD; + ACD.m_he = 3; + m_faces.push_back(std::move(ACD)); + + Face BAD; + BAD.m_he = 6; + m_faces.push_back(std::move(BAD)); + + Face CBD; + CBD.m_he = 9; + m_faces.push_back(std::move(CBD)); + } + + inline std::array getVertexIndicesOfFace(const Face &f) const + { + std::array v; + const HalfEdge *he = &m_halfEdges[f.m_he]; + v[0] = he->m_endVertex; + he = &m_halfEdges[he->m_next]; + v[1] = he->m_endVertex; + he = &m_halfEdges[he->m_next]; + v[2] = he->m_endVertex; + return v; + } + + inline std::array getVertexIndicesOfHalfEdge(const HalfEdge &he) const + { + return {m_halfEdges[he.m_opp].m_endVertex, he.m_endVertex}; + } + + inline std::array getHalfEdgeIndicesOfFace(const Face &f) const + { + return {f.m_he, m_halfEdges[f.m_he].m_next, m_halfEdges[m_halfEdges[f.m_he].m_next].m_next}; + } +}; + +// ----------------------- MathUtils Part ----------------------- + +namespace mathutils +{ + +template +inline T getSquaredDistanceBetweenPointAndRay(const Vector3 &p, const Ray &r) +{ + const Vector3 s = p - r.m_S; + T t = s.dotProduct(r.m_V); + return s.getLengthSquared() - t * t * r.m_VInvLengthSquared; +} + +// Note that the unit of distance returned is relative +// to plane's normal's length (divide by N.getNormalized() +// if needed to get the "real" distance). +template +inline T getSignedDistanceToPlane(const Vector3 &v, const Plane &p) +{ + return p.m_N.dotProduct(v) + p.m_D; +} + +template +inline Vector3 getTriangleNormal(const Vector3 &a, + const Vector3 &b, + const Vector3 &c) +{ + // We want to get (a-c).crossProduct(b-c) + // without constructing temp vectors + T x = a.x - c.x; + T y = a.y - c.y; + T z = a.z - c.z; + T rhsx = b.x - c.x; + T rhsy = b.y - c.y; + T rhsz = b.z - c.z; + T px = y * rhsz - z * rhsy; + T py = z * rhsx - x * rhsz; + T pz = x * rhsy - y * rhsx; + return Vector3(px, py, pz); +} + +} // namespace mathutils + +// ----------------------- HalfEdgeMesh Part ----------------------- + +template +class HalfEdgeMesh +{ +public: + struct HalfEdge + { + IndexType m_endVertex; + IndexType m_opp; + IndexType m_face; + IndexType m_next; + }; + + struct Face + { + // Index of one of the half edges of this face + IndexType m_halfEdgeIndex; + }; + + std::vector> m_vertices; + std::vector m_faces; + std::vector m_halfEdges; + + HalfEdgeMesh(const MeshBuilder &builderObject, + const VertexDataSource &vertexData) + { + std::unordered_map faceMapping; + std::unordered_map halfEdgeMapping; + std::unordered_map vertexMapping; + + size_t i = 0; + for (const auto &face : builderObject.m_faces) + { + if (!face.isDisabled()) + { + m_faces.push_back({static_cast(face.m_he)}); + faceMapping[i] = m_faces.size() - 1; + + const auto heIndices = builderObject.getHalfEdgeIndicesOfFace(face); + for (const auto heIndex : heIndices) + { + const IndexType vertexIndex = builderObject.m_halfEdges[heIndex].m_endVertex; + if (vertexMapping.count(vertexIndex) == 0) + { + m_vertices.push_back(vertexData[vertexIndex]); + vertexMapping[vertexIndex] = m_vertices.size() - 1; + } + } + } + i++; + } + + i = 0; + for (const auto &halfEdge : builderObject.m_halfEdges) + { + if (!halfEdge.isDisabled()) + { + m_halfEdges.push_back({static_cast(halfEdge.m_endVertex), + static_cast(halfEdge.m_opp), + static_cast(halfEdge.m_face), + static_cast(halfEdge.m_next)}); + halfEdgeMapping[i] = m_halfEdges.size() - 1; + } + i++; + } + + for (auto &face : m_faces) + { + assert(halfEdgeMapping.count(face.m_halfEdgeIndex) == 1); + face.m_halfEdgeIndex = halfEdgeMapping[face.m_halfEdgeIndex]; + } + + for (auto &he : m_halfEdges) + { + he.m_face = faceMapping[he.m_face]; + he.m_opp = halfEdgeMapping[he.m_opp]; + he.m_next = halfEdgeMapping[he.m_next]; + he.m_endVertex = vertexMapping[he.m_endVertex]; + } + } +}; + +// ----------------------- Convex Hull Part ----------------------- + +template +class ConvexHull +{ + std::unique_ptr>> m_optimizedVertexBuffer; + VertexDataSource m_vertices; + std::vector m_indices; + +public: + ConvexHull() {} + + // Copy constructor + ConvexHull(const ConvexHull &o) + { + m_indices = o.m_indices; + if (o.m_optimizedVertexBuffer) + { + m_optimizedVertexBuffer.reset(new std::vector>(*o.m_optimizedVertexBuffer)); + m_vertices = VertexDataSource(*m_optimizedVertexBuffer); + } + else + { + m_vertices = o.m_vertices; + } + } + + inline ConvexHull &operator=(const ConvexHull &o) + { + if (&o == this) + { + return *this; + } + m_indices = o.m_indices; + if (o.m_optimizedVertexBuffer) + { + m_optimizedVertexBuffer.reset(new std::vector>(*o.m_optimizedVertexBuffer)); + m_vertices = VertexDataSource(*m_optimizedVertexBuffer); + } + else + { + m_vertices = o.m_vertices; + } + return *this; + } + + ConvexHull(ConvexHull &&o) + { + m_indices = std::move(o.m_indices); + if (o.m_optimizedVertexBuffer) + { + m_optimizedVertexBuffer = std::move(o.m_optimizedVertexBuffer); + o.m_vertices = VertexDataSource(); + m_vertices = VertexDataSource(*m_optimizedVertexBuffer); + } + else + { + m_vertices = o.m_vertices; + } + } + + inline ConvexHull &operator=(ConvexHull &&o) + { + if (&o == this) + { + return *this; + } + m_indices = std::move(o.m_indices); + if (o.m_optimizedVertexBuffer) + { + m_optimizedVertexBuffer = std::move(o.m_optimizedVertexBuffer); + o.m_vertices = VertexDataSource(); + m_vertices = VertexDataSource(*m_optimizedVertexBuffer); + } + else + { + m_vertices = o.m_vertices; + } + return *this; + } + + // Construct vertex and index buffers from + // half edge mesh and pointcloud + ConvexHull(const MeshBuilder &mesh, + const VertexDataSource &pointCloud, + bool CCW, + bool useOriginalIndices) + { + if (!useOriginalIndices) + { + m_optimizedVertexBuffer.reset(new std::vector>()); + } + + std::vector faceProcessed(mesh.m_faces.size(), false); + std::vector faceStack; + // Map vertex indices from original point cloud + // to the new mesh vertex indices + std::unordered_map vertexIndexMapping; + for (size_t i = 0; i < mesh.m_faces.size(); i++) + { + if (!mesh.m_faces[i].isDisabled()) + { + faceStack.push_back(i); + break; + } + } + if (faceStack.size() == 0) + { + return; + } + + const size_t iCCW = CCW ? 1 : 0; + const size_t finalMeshFaceCount = mesh.m_faces.size() - mesh.m_disabledFaces.size(); + m_indices.reserve(finalMeshFaceCount * 3); + + while (faceStack.size()) + { + auto it = faceStack.end() - 1; + size_t top = *it; + assert(!mesh.m_faces[top].isDisabled()); + faceStack.erase(it); + if (faceProcessed[top]) + { + continue; + } + else + { + faceProcessed[top] = true; + auto halfEdges = mesh.getHalfEdgeIndicesOfFace(mesh.m_faces[top]); + size_t adjacent[] = {mesh.m_halfEdges[mesh.m_halfEdges[halfEdges[0]].m_opp].m_face, + mesh.m_halfEdges[mesh.m_halfEdges[halfEdges[1]].m_opp].m_face, + mesh.m_halfEdges[mesh.m_halfEdges[halfEdges[2]].m_opp].m_face}; + for (auto a : adjacent) + { + if (!faceProcessed[a] && !mesh.m_faces[a].isDisabled()) + { + faceStack.push_back(a); + } + } + auto vertices = mesh.getVertexIndicesOfFace(mesh.m_faces[top]); + if (!useOriginalIndices) + { + for (auto &v : vertices) + { + auto itV = vertexIndexMapping.find(v); + if (itV == vertexIndexMapping.end()) + { + m_optimizedVertexBuffer->push_back(pointCloud[v]); + vertexIndexMapping[v] = m_optimizedVertexBuffer->size() - 1; + v = m_optimizedVertexBuffer->size() - 1; + } + else + { + v = itV->second; + } + } + } + m_indices.push_back(vertices[0]); + m_indices.push_back(vertices[1 + iCCW]); + m_indices.push_back(vertices[2 - iCCW]); + } + } + + if (!useOriginalIndices) + { + m_vertices = VertexDataSource(*m_optimizedVertexBuffer); + } + else + { + m_vertices = pointCloud; + } + } + + inline std::vector &getIndexBuffer() + { + return m_indices; + } + + inline const std::vector &getIndexBuffer() const + { + return m_indices; + } + + inline VertexDataSource &getVertexBuffer() + { + return m_vertices; + } + + inline const VertexDataSource &getVertexBuffer() const + { + return m_vertices; + } + + // Export the mesh to a Waveform OBJ file + inline void writeWaveformOBJ(const std::string &filename, + const std::string &objectName = "quickhull") const + { + std::ofstream objFile; + objFile.open(filename); + objFile << "o " << objectName << "\n"; + for (const auto &v : getVertexBuffer()) + { + objFile << "v " << v.x << " " << v.y << " " << v.z << "\n"; + } + const auto &indBuf = getIndexBuffer(); + size_t triangleCount = indBuf.size() / 3; + for (size_t i = 0; i < triangleCount; i++) + { + objFile << "f " << indBuf[i * 3] + 1 << " " + << indBuf[i * 3 + 1] + 1 << " " + << indBuf[i * 3 + 2] + 1 << "\n"; + } + objFile.close(); + } +}; + +// ----------------------- Quick Hull Part ----------------------- + +/* + * Implementation of the 3D QuickHull algorithm by Antti Kuukka + * + * No copyrights. What follows is 100% Public Domain. + * + * + * + * INPUT: a list of points in 3D space (for example, vertices of a 3D mesh) + * + * OUTPUT: a ConvexHull object which provides vertex and index buffers of + * the generated convex hull as a triangle mesh. + * + * + * + * The implementation is thread-safe if each thread is using its own + * QuickHull object. + * + * + * SUMMARY OF THE ALGORITHM: + * - Create initial simplex (tetrahedron) using extreme points. + * We have four faces now and they form a convex mesh M. + * - For each point, assign them to the first face for which they + * are on the positive side of (so each point is assigned to at + * most one face). Points inside the initial tetrahedron are left + * behind now and no longer affect the calculations. + * - Add all faces that have points assigned to them to Face Stack. + * - Iterate until Face Stack is empty: + * - Pop topmost face F from the stack + * - From the points assigned to F, pick the point P that is + * farthest away from the plane defined by F. + * - Find all faces of M that have P on their positive side. + * Let us call these the "visible faces". + * - Because of the way M is constructed, these faces are connected. + * Solve their horizon edge loop. + * - "Extrude to P": Create new faces by connecting P with the points + * belonging to the horizon edge. Add the new faces to M and remove + * the visible faces from M. + * - Each point that was assigned to visible faces is now assigned + * to at most one of the newly created faces. + * - Those new faces that have points assigned to them are added + * to the top of Face Stack. + * - M is now the convex hull. + * + * TO DO: + * - Implement a proper 2D QuickHull and use that to solve the degenerate 2D case + * (when all the points lie on the same plane in 3D space). + * */ + +struct DiagnosticsData +{ + // How many times QuickHull failed to solve the horizon edge. Failures lead to + // degenerated convex hulls. + size_t m_failedHorizonEdges; + + DiagnosticsData() : m_failedHorizonEdges(0) {} +}; + +template +inline T defaultEps() +{ + return 0.0000001; +} + +template +class QuickHull +{ + using vec3 = Vector3; + + T m_epsilon, m_epsilonSquared, m_scale; + bool m_planar; + std::vector m_planarPointCloudTemp; + VertexDataSource m_vertexData; + MeshBuilder m_mesh; + std::array m_extremeValues; + DiagnosticsData m_diagnostics; + + // Temporary variables used during iteration process + std::vector m_newFaceIndices; + std::vector m_newHalfEdgeIndices; + std::vector>> m_disabledFacePointVectors; + std::vector m_visibleFaces; + std::vector m_horizonEdges; + struct FaceData + { + size_t m_faceIndex; + // If the face turns out not to be visible, this half edge will be marked as horizon edge + size_t m_enteredFromHalfEdge; + FaceData(size_t fi, size_t he) : m_faceIndex(fi), m_enteredFromHalfEdge(he) {} + }; + std::vector m_possiblyVisibleFaces; + std::deque m_faceList; + + // Create a half edge mesh representing the base tetrahedron from which the QuickHull + // iteration proceeds. m_extremeValues must be properly set up when this is called. + inline void setupInitialTetrahedron() + { + const size_t vertexCount = m_vertexData.size(); + + // If we have at most 4 points, just return a degenerate tetrahedron: + if (vertexCount <= 4) + { + size_t v[4] = {0, + std::min((size_t)1, vertexCount - 1), + std::min((size_t)2, vertexCount - 1), + std::min((size_t)3, vertexCount - 1)}; + const Vector3 N = mathutils::getTriangleNormal(m_vertexData[v[0]], + m_vertexData[v[1]], + m_vertexData[v[2]]); + const Plane trianglePlane(N, m_vertexData[v[0]]); + if (trianglePlane.isPointOnPositiveSide(m_vertexData[v[3]])) + { + std::swap(v[0], v[1]); + } + return m_mesh.setup(v[0], v[1], v[2], v[3]); + } + + // Find two most distant extreme points. + T maxD = m_epsilonSquared; + std::pair selectedPoints; + for (size_t i = 0; i < 6; i++) + { + for (size_t j = i + 1; j < 6; j++) + { + const T d = m_vertexData[m_extremeValues[i]].getSquaredDistanceTo(m_vertexData[m_extremeValues[j]]); + if (d > maxD) + { + maxD = d; + selectedPoints = {m_extremeValues[i], m_extremeValues[j]}; + } + } + } + if (maxD == m_epsilonSquared) + { + // A degenerate case: the point cloud seems to consists of a single point + return m_mesh.setup(0, + std::min((size_t)1, vertexCount - 1), + std::min((size_t)2, vertexCount - 1), + std::min((size_t)3, vertexCount - 1)); + } + assert(selectedPoints.first != selectedPoints.second); + + // Find the most distant point to the line between the two chosen extreme points. + const Ray r(m_vertexData[selectedPoints.first], + (m_vertexData[selectedPoints.second] - m_vertexData[selectedPoints.first])); + maxD = m_epsilonSquared; + size_t maxI = std::numeric_limits::max(); + const size_t vCount = m_vertexData.size(); + for (size_t i = 0; i < vCount; i++) + { + const T distToRay = mathutils::getSquaredDistanceBetweenPointAndRay(m_vertexData[i], r); + if (distToRay > maxD) + { + maxD = distToRay; + maxI = i; + } + } + if (maxD == m_epsilonSquared) + { + // It appears that the point cloud belongs to a 1 dimensional + // subspace of R^3: convex hull has no volume => return a thin + // triangle. Pick any point other than selectedPoints.first and + // selectedPoints.second as the third point of the triangle + auto it = std::find_if(m_vertexData.begin(), m_vertexData.end(), [&](const vec3 &ve) { + return ve != m_vertexData[selectedPoints.first] && ve != m_vertexData[selectedPoints.second]; + }); + const size_t thirdPoint = (it == m_vertexData.end()) ? selectedPoints.first : std::distance(m_vertexData.begin(), it); + it = std::find_if(m_vertexData.begin(), m_vertexData.end(), [&](const vec3 &ve) { + return ve != m_vertexData[selectedPoints.first] && ve != m_vertexData[selectedPoints.second] && ve != m_vertexData[thirdPoint]; + }); + const size_t fourthPoint = (it == m_vertexData.end()) ? selectedPoints.first : std::distance(m_vertexData.begin(), it); + return m_mesh.setup(selectedPoints.first, selectedPoints.second, thirdPoint, fourthPoint); + } + + // These three points form the base triangle for our tetrahedron. + assert(selectedPoints.first != maxI && selectedPoints.second != maxI); + std::array baseTriangle{selectedPoints.first, selectedPoints.second, maxI}; + const Vector3 baseTriangleVertices[] = {m_vertexData[baseTriangle[0]], + m_vertexData[baseTriangle[1]], + m_vertexData[baseTriangle[2]]}; + + // Next step is to find the 4th vertex of the tetrahedron. We naturally + // choose the point farthest away from the triangle plane. + maxD = m_epsilon; + maxI = 0; + const Vector3 N = mathutils::getTriangleNormal(baseTriangleVertices[0], + baseTriangleVertices[1], + baseTriangleVertices[2]); + Plane trianglePlane(N, baseTriangleVertices[0]); + for (size_t i = 0; i < vCount; i++) + { + const T d = std::abs(mathutils::getSignedDistanceToPlane(m_vertexData[i], trianglePlane)); + if (d > maxD) + { + maxD = d; + maxI = i; + } + } + if (maxD == m_epsilon) + { + // All the points seem to lie on a 2D subspace of R^3. How to handle this? Well, let's add + // one extra point to the point cloud so that the convex hull will have volume. + m_planar = true; + const vec3 N1 = mathutils::getTriangleNormal(baseTriangleVertices[1], + baseTriangleVertices[2], + baseTriangleVertices[0]); + m_planarPointCloudTemp.clear(); + m_planarPointCloudTemp.insert(m_planarPointCloudTemp.begin(), + m_vertexData.begin(), + m_vertexData.end()); + const vec3 extraPoint = N1 + m_vertexData[0]; + m_planarPointCloudTemp.push_back(extraPoint); + maxI = m_planarPointCloudTemp.size() - 1; + m_vertexData = VertexDataSource(m_planarPointCloudTemp); + } + + // Enforce CCW orientation (if user prefers clockwise orientation, + // swap two vertices in each triangle when final mesh is created) + const Plane triPlane(N, baseTriangleVertices[0]); + if (triPlane.isPointOnPositiveSide(m_vertexData[maxI])) + { + std::swap(baseTriangle[0], baseTriangle[1]); + } + + // Create a tetrahedron half edge mesh and compute planes defined by each triangle + m_mesh.setup(baseTriangle[0], baseTriangle[1], baseTriangle[2], maxI); + for (auto &f : m_mesh.m_faces) + { + auto v = m_mesh.getVertexIndicesOfFace(f); + const Vector3 &va = m_vertexData[v[0]]; + const Vector3 &vb = m_vertexData[v[1]]; + const Vector3 &vc = m_vertexData[v[2]]; + const Vector3 N1 = mathutils::getTriangleNormal(va, vb, vc); + const Plane plane(N1, va); + f.m_P = plane; + } + + // Finally we assign a face for each vertex outside the tetrahedron + // (vertices inside the tetrahedron have no role anymore) + for (size_t i = 0; i < vCount; i++) + { + for (auto &face : m_mesh.m_faces) + { + if (addPointToFace(face, i)) + { + break; + } + } + } + } + + // Given a list of half edges, try to rearrange them so + // that they form a loop. Return true on success. + inline bool reorderHorizonEdges(std::vector &horizonEdges) + { + const size_t horizonEdgeCount = horizonEdges.size(); + for (size_t i = 0; i < horizonEdgeCount - 1; i++) + { + const size_t endVertex = m_mesh.m_halfEdges[horizonEdges[i]].m_endVertex; + bool foundNext = false; + for (size_t j = i + 1; j < horizonEdgeCount; j++) + { + const size_t beginVertex = m_mesh.m_halfEdges[m_mesh.m_halfEdges[horizonEdges[j]].m_opp].m_endVertex; + if (beginVertex == endVertex) + { + std::swap(horizonEdges[i + 1], horizonEdges[j]); + foundNext = true; + break; + } + } + if (!foundNext) + { + return false; + } + } + assert(m_mesh.m_halfEdges[horizonEdges[horizonEdges.size() - 1]].m_endVertex == m_mesh.m_halfEdges[m_mesh.m_halfEdges[horizonEdges[0]].m_opp].m_endVertex); + return true; + } + + // Find indices of extreme values (max x, min x, max y, min y, max z, min z) for the given point cloud + inline std::array getExtremeValues() + { + std::array outIndices{0, 0, 0, 0, 0, 0}; + T extremeVals[6] = {m_vertexData[0].x, + m_vertexData[0].x, + m_vertexData[0].y, + m_vertexData[0].y, + m_vertexData[0].z, + m_vertexData[0].z}; + const size_t vCount = m_vertexData.size(); + for (size_t i = 1; i < vCount; i++) + { + const Vector3 &pos = m_vertexData[i]; + if (pos.x > extremeVals[0]) + { + extremeVals[0] = pos.x; + outIndices[0] = i; + } + else if (pos.x < extremeVals[1]) + { + extremeVals[1] = pos.x; + outIndices[1] = i; + } + if (pos.y > extremeVals[2]) + { + extremeVals[2] = pos.y; + outIndices[2] = i; + } + else if (pos.y < extremeVals[3]) + { + extremeVals[3] = pos.y; + outIndices[3] = i; + } + if (pos.z > extremeVals[4]) + { + extremeVals[4] = pos.z; + outIndices[4] = i; + } + else if (pos.z < extremeVals[5]) + { + extremeVals[5] = pos.z; + outIndices[5] = i; + } + } + return outIndices; + } + + // Compute scale of the vertex data. + inline T getScale(const std::array &extremeValues) + { + { + T s = 0; + for (size_t i = 0; i < 6; i++) + { + const T *v = (const T *)(&m_vertexData[extremeValues[i]]); + v += i / 2; + auto a = std::abs(*v); + if (a > s) + { + s = a; + } + } + return s; + } + } + + // Each face contains a unique pointer to a vector of indices. + // However, many - often most - faces do not have any points + // on the positive side of them especially at the the end of + // the iteration. When a face is removed from the mesh, its + // associated point vector, if such exists, is moved to the + // index vector pool, and when we need to add new faces with + // points on the positive side to the mesh, we reuse these + // vectors. This reduces the amount of std::vectors we have + // to deal with, and impact on performance is remarkable. + Pool> m_indexVectorPool; + inline std::unique_ptr> getIndexVectorFromPool(); + inline void reclaimToIndexVectorPool(std::unique_ptr> &ptr); + + // Associates a point with a face if the point resides on the positive + // side of the plane. Returns true if the points was on the positive side. + inline bool addPointToFace(typename MeshBuilder::Face &f, size_t pointIndex); + + // This will update m_mesh from which we create the ConvexHull + // object that getConvexHull function returns + inline void createConvexHalfEdgeMesh() + { + m_visibleFaces.clear(); + m_horizonEdges.clear(); + m_possiblyVisibleFaces.clear(); + + // Compute base tetrahedron + setupInitialTetrahedron(); + assert(m_mesh.m_faces.size() == 4); + + // Init face stack with those faces that have points assigned to them + m_faceList.clear(); + for (size_t i = 0; i < 4; i++) + { + auto &f = m_mesh.m_faces[i]; + if (f.m_pointsOnPositiveSide && f.m_pointsOnPositiveSide->size() > 0) + { + m_faceList.push_back(i); + f.m_inFaceStack = 1; + } + } + + // Process faces until the face list is empty. + size_t iter = 0; + while (!m_faceList.empty()) + { + iter++; + if (iter == std::numeric_limits::max()) + { + // Visible face traversal marks visited faces with iteration counter + //(to mark that the face has been visited on this iteration) and the + // max value represents unvisited faces. At this point we have to reset + // iteration counter. This shouldn't be an issue on 64 bit machines. + iter = 0; + } + + const size_t topFaceIndex = m_faceList.front(); + m_faceList.pop_front(); + + auto &tf = m_mesh.m_faces[topFaceIndex]; + tf.m_inFaceStack = 0; + + assert(!tf.m_pointsOnPositiveSide || tf.m_pointsOnPositiveSide->size() > 0); + if (!tf.m_pointsOnPositiveSide || tf.isDisabled()) + { + continue; + } + + // Pick the most distant point to this triangle plane + // as the point to which we extrude + const vec3 &activePoint = m_vertexData[tf.m_mostDistantPoint]; + const size_t activePointIndex = tf.m_mostDistantPoint; + + // Find out the faces that have our active point on their positive side + // (these are the "visible faces"). The face on top of the stack of course + // is one of them. At the same time, we create a list of horizon edges. + m_horizonEdges.clear(); + m_possiblyVisibleFaces.clear(); + m_visibleFaces.clear(); + m_possiblyVisibleFaces.emplace_back(topFaceIndex, std::numeric_limits::max()); + while (m_possiblyVisibleFaces.size()) + { + const auto faceData = m_possiblyVisibleFaces.back(); + m_possiblyVisibleFaces.pop_back(); + auto &pvf = m_mesh.m_faces[faceData.m_faceIndex]; + assert(!pvf.isDisabled()); + + if (pvf.m_visibilityCheckedOnIteration == iter) + { + if (pvf.m_isVisibleFaceOnCurrentIteration) + { + continue; + } + } + else + { + const Plane &P = pvf.m_P; + pvf.m_visibilityCheckedOnIteration = iter; + const T d = P.m_N.dotProduct(activePoint) + P.m_D; + if (d > 0) + { + pvf.m_isVisibleFaceOnCurrentIteration = 1; + pvf.m_horizonEdgesOnCurrentIteration = 0; + m_visibleFaces.push_back(faceData.m_faceIndex); + for (auto heIndex : m_mesh.getHalfEdgeIndicesOfFace(pvf)) + { + if (m_mesh.m_halfEdges[heIndex].m_opp != faceData.m_enteredFromHalfEdge) + { + m_possiblyVisibleFaces.emplace_back(m_mesh.m_halfEdges[m_mesh.m_halfEdges[heIndex].m_opp].m_face, heIndex); + } + } + continue; + } + assert(faceData.m_faceIndex != topFaceIndex); + } + + // The face is not visible. Therefore, the halfedge + // we came from is part of the horizon edge. + pvf.m_isVisibleFaceOnCurrentIteration = 0; + m_horizonEdges.push_back(faceData.m_enteredFromHalfEdge); + // Store which half edge is the horizon edge. The other half edges of + // the face will not be part of the final mesh so their data slots can by recycled. + const auto halfEdges = m_mesh.getHalfEdgeIndicesOfFace(m_mesh.m_faces[m_mesh.m_halfEdges[faceData.m_enteredFromHalfEdge].m_face]); + const std::int8_t ind = (halfEdges[0] == faceData.m_enteredFromHalfEdge) ? 0 : (halfEdges[1] == faceData.m_enteredFromHalfEdge ? 1 : 2); + m_mesh.m_faces[m_mesh.m_halfEdges[faceData.m_enteredFromHalfEdge].m_face].m_horizonEdgesOnCurrentIteration |= (1 << ind); + } + const size_t horizonEdgeCount = m_horizonEdges.size(); + + // Order horizon edges so that they form a loop. This may fail due to numerical + // instability in which case we give up trying to solve horizon edge for this + // point and accept a minor degeneration in the convex hull. + if (!reorderHorizonEdges(m_horizonEdges)) + { + m_diagnostics.m_failedHorizonEdges++; + std::cerr << "Failed to solve horizon edge." << std::endl; + auto it = std::find(tf.m_pointsOnPositiveSide->begin(), tf.m_pointsOnPositiveSide->end(), activePointIndex); + tf.m_pointsOnPositiveSide->erase(it); + if (tf.m_pointsOnPositiveSide->size() == 0) + { + reclaimToIndexVectorPool(tf.m_pointsOnPositiveSide); + } + continue; + } + + // Except for the horizon edges, all half edges of the visible faces + // can be marked as disabled. Their data slots will be reused. + // The faces will be disabled as well, but we need to remember the + // points that were on the positive side of them - therefore we + // save pointers to them. + m_newFaceIndices.clear(); + m_newHalfEdgeIndices.clear(); + m_disabledFacePointVectors.clear(); + size_t disableCounter = 0; + for (auto faceIndex : m_visibleFaces) + { + auto &disabledFace = m_mesh.m_faces[faceIndex]; + auto halfEdges = m_mesh.getHalfEdgeIndicesOfFace(disabledFace); + for (size_t j = 0; j < 3; j++) + { + if ((disabledFace.m_horizonEdgesOnCurrentIteration & (1 << j)) == 0) + { + if (disableCounter < horizonEdgeCount * 2) + { + // Use on this iteration + m_newHalfEdgeIndices.push_back(halfEdges[j]); + disableCounter++; + } + else + { + // Mark for reusal on later iteration step + m_mesh.disableHalfEdge(halfEdges[j]); + } + } + } + // Disable the face, but retain pointer to the points that were + // on the positive side of it. We need to assign those points to + // the new faces we create shortly. + auto t = std::move(m_mesh.disableFace(faceIndex)); + if (t) + { + // Because we should not assign point vectors to faces unless needed... + assert(t->size()); + m_disabledFacePointVectors.push_back(std::move(t)); + } + } + if (disableCounter < horizonEdgeCount * 2) + { + const size_t newHalfEdgesNeeded = horizonEdgeCount * 2 - disableCounter; + for (size_t i = 0; i < newHalfEdgesNeeded; i++) + { + m_newHalfEdgeIndices.push_back(m_mesh.addHalfEdge()); + } + } + + // Create new faces using the edgeloop + for (size_t i = 0; i < horizonEdgeCount; i++) + { + const size_t AB = m_horizonEdges[i]; + + auto horizonEdgeVertexIndices = m_mesh.getVertexIndicesOfHalfEdge(m_mesh.m_halfEdges[AB]); + size_t A, B, C; + A = horizonEdgeVertexIndices[0]; + B = horizonEdgeVertexIndices[1]; + C = activePointIndex; + + const size_t newFaceIndex = m_mesh.addFace(); + m_newFaceIndices.push_back(newFaceIndex); + + const size_t CA = m_newHalfEdgeIndices[2 * i + 0]; + const size_t BC = m_newHalfEdgeIndices[2 * i + 1]; + + m_mesh.m_halfEdges[AB].m_next = BC; + m_mesh.m_halfEdges[BC].m_next = CA; + m_mesh.m_halfEdges[CA].m_next = AB; + + m_mesh.m_halfEdges[BC].m_face = newFaceIndex; + m_mesh.m_halfEdges[CA].m_face = newFaceIndex; + m_mesh.m_halfEdges[AB].m_face = newFaceIndex; + + m_mesh.m_halfEdges[CA].m_endVertex = A; + m_mesh.m_halfEdges[BC].m_endVertex = C; + + auto &newFace = m_mesh.m_faces[newFaceIndex]; + + const Vector3 planeNormal = mathutils::getTriangleNormal(m_vertexData[A], m_vertexData[B], activePoint); + newFace.m_P = Plane(planeNormal, activePoint); + newFace.m_he = AB; + + m_mesh.m_halfEdges[CA].m_opp = m_newHalfEdgeIndices[i > 0 ? i * 2 - 1 : 2 * horizonEdgeCount - 1]; + m_mesh.m_halfEdges[BC].m_opp = m_newHalfEdgeIndices[((i + 1) * 2) % (horizonEdgeCount * 2)]; + } + + // Assign points that were on the positive side + // of the disabled faces to the new faces. + for (auto &disabledPoints : m_disabledFacePointVectors) + { + assert(disabledPoints); + for (const auto &point : *(disabledPoints)) + { + if (point == activePointIndex) + { + continue; + } + for (size_t j = 0; j < horizonEdgeCount; j++) + { + if (addPointToFace(m_mesh.m_faces[m_newFaceIndices[j]], point)) + { + break; + } + } + } + // The points are no longer needed: we can move them to the vector pool for reuse. + reclaimToIndexVectorPool(disabledPoints); + } + + // Increase face stack size if needed + for (const auto newFaceIndex : m_newFaceIndices) + { + auto &newFace = m_mesh.m_faces[newFaceIndex]; + if (newFace.m_pointsOnPositiveSide) + { + assert(newFace.m_pointsOnPositiveSide->size() > 0); + if (!newFace.m_inFaceStack) + { + m_faceList.push_back(newFaceIndex); + newFace.m_inFaceStack = 1; + } + } + } + } + + // Cleanup + m_indexVectorPool.clear(); + } + + // Constructs the convex hull into a MeshBuilder object + // which can be converted to a ConvexHull or Mesh object + inline void buildMesh(const VertexDataSource &pointCloud, bool CCW, bool useOriginalIndices, T eps) + { + // CCW is unused for now + (void)CCW; + // useOriginalIndices is unused for now + (void)useOriginalIndices; + + if (pointCloud.size() == 0) + { + m_mesh = MeshBuilder(); + return; + } + m_vertexData = pointCloud; + + // Very first: find extreme values and use them + // to compute the scale of the point cloud. + m_extremeValues = getExtremeValues(); + m_scale = getScale(m_extremeValues); + + // Epsilon we use depends on the scale + m_epsilon = eps * m_scale; + m_epsilonSquared = m_epsilon * m_epsilon; + + // Reset diagnostics + m_diagnostics = DiagnosticsData(); + + // The planar case happens when all the points + // appear to lie on a two dimensional subspace of R^3. + m_planar = false; + createConvexHalfEdgeMesh(); + if (m_planar) + { + const size_t extraPointIndex = m_planarPointCloudTemp.size() - 1; + for (auto &he : m_mesh.m_halfEdges) + { + if (he.m_endVertex == extraPointIndex) + { + he.m_endVertex = 0; + } + } + m_vertexData = pointCloud; + m_planarPointCloudTemp.clear(); + } + } + + // The public getConvexHull functions will + // setup a VertexDataSource object and call this + inline ConvexHull getConvexHull(const VertexDataSource &pointCloud, bool CCW, bool useOriginalIndices, T eps) + { + buildMesh(pointCloud, CCW, useOriginalIndices, eps); + return ConvexHull(m_mesh, m_vertexData, CCW, useOriginalIndices); + } + +public: + // Computes convex hull for a given point cloud. + // Params: + // pointCloud: a vector of of 3D points + // CCW: whether the output mesh triangles should have CCW orientation + // useOriginalIndices: should the output mesh use same vertex indices + // as the original point cloud. If this is false, + // then we generate a new vertex buffer which contains + // only the vertices that are part of the convex hull. + // eps: minimum distance to a plane to consider a point being on + // positive of it (for a point cloud with scale 1) + inline ConvexHull getConvexHull(const std::vector> &pointCloud, + bool CCW, + bool useOriginalIndices, + T eps = defaultEps()) + { + { + VertexDataSource vertexDataSource(pointCloud); + return getConvexHull(vertexDataSource, CCW, useOriginalIndices, eps); + } + } + + // Computes convex hull for a given point cloud. + // Params: + // vertexData: pointer to the first 3D point of the point cloud + // vertexCount: number of vertices in the point cloud + // CCW: whether the output mesh triangles should have CCW orientation + // useOriginalIndices: should the output mesh use same vertex indices + // as the original point cloud. If this is false, + // then we generate a new vertex buffer which contains + // only the vertices that are part of the convex hull. + // eps: minimum distance to a plane to consider a point being on positive + // side of it (for a point cloud with scale 1) + inline ConvexHull getConvexHull(const Vector3 *vertexData, + size_t vertexCount, + bool CCW, + bool useOriginalIndices, + T eps = defaultEps()) + { + { + VertexDataSource vertexDataSource(vertexData, vertexCount); + return getConvexHull(vertexDataSource, CCW, useOriginalIndices, eps); + } + } + + // Computes convex hull for a given point cloud. This function + // assumes that the vertex data resides in memory + // in the following format: x_0,y_0,z_0,x_1,y_1,z_1,... + // Params: + // vertexData: pointer to the X component of the first point of the point cloud. + // vertexCount: number of vertices in the point cloud + // CCW: whether the output mesh triangles should have CCW orientation + // useOriginalIndices: should the output mesh use same vertex indices as the + // original point cloud. If this is false, then we generate + // a new vertex buffer which contains only the vertices that + // are part of the convex hull. + // eps: minimum distance to a plane to consider a point being on positive side + // of it (for a point cloud with scale 1) + inline ConvexHull getConvexHull(const T *vertexData, + size_t vertexCount, + bool CCW, + bool useOriginalIndices, + T eps = defaultEps()) + { + VertexDataSource vertexDataSource((const vec3 *)vertexData, vertexCount); + return getConvexHull(vertexDataSource, CCW, useOriginalIndices, eps); + } + + // Computes convex hull for a given point cloud. This function assumes + // that the vertex data resides in memory + // in the following format: x_0,y_0,z_0,x_1,y_1,z_1,... + // Params: + // vertexData: pointer to the X component of the first point of the point cloud. + // vertexCount: number of vertices in the point cloud + // CCW: whether the output mesh triangles should have CCW orientation + // eps: minimum distance to a plane to consider a point being on positive side + // of it (for a point cloud with scale 1) + // Returns: + // Convex hull of the point cloud as a mesh object with half edge structure. + inline HalfEdgeMesh getConvexHullAsMesh(const T *vertexData, + size_t vertexCount, + bool CCW, + T eps = defaultEps()) + { + VertexDataSource vertexDataSource((const vec3 *)vertexData, vertexCount); + buildMesh(vertexDataSource, CCW, false, eps); + return HalfEdgeMesh(m_mesh, m_vertexData); + } + + // Get diagnostics about last generated convex hull + inline const DiagnosticsData &getDiagnostics() + { + return m_diagnostics; + } +}; + +/* + * Inline function definitions + */ + +template +inline std::unique_ptr> QuickHull::getIndexVectorFromPool() +{ + auto r = std::move(m_indexVectorPool.get()); + r->clear(); + return r; +} + +template +inline void QuickHull::reclaimToIndexVectorPool(std::unique_ptr> &ptr) +{ + const size_t oldSize = ptr->size(); + if ((oldSize + 1) * 128 < ptr->capacity()) + { + // Reduce memory usage! Huge vectors are needed at the beginning of iteration + // when faces have many points on their positive side. Later on, smaller vectors + // will suffice. + ptr.reset(nullptr); + return; + } + m_indexVectorPool.reclaim(ptr); +} + +template +inline bool QuickHull::addPointToFace(typename MeshBuilder::Face &f, size_t pointIndex) +{ + const T D = mathutils::getSignedDistanceToPlane(m_vertexData[pointIndex], f.m_P); + if (D > 0 && D * D > m_epsilonSquared * f.m_P.m_sqrNLength) + { + if (!f.m_pointsOnPositiveSide) + { + f.m_pointsOnPositiveSide = std::move(getIndexVectorFromPool()); + } + f.m_pointsOnPositiveSide->push_back(pointIndex); + if (D > f.m_mostDistantPointDist) + { + f.m_mostDistantPointDist = D; + f.m_mostDistantPoint = pointIndex; + } + return true; + } + return false; +} + +} // namespace quickhull + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/arcPlan/root_finder.hpp b/trajectoryOpt/src/plan_manage/include/arcPlan/root_finder.hpp new file mode 100755 index 0000000..9b6babb --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/arcPlan/root_finder.hpp @@ -0,0 +1,1114 @@ +/* + MIT License + + Copyright (c) 2020 Zhepei Wang (wangzhepei@live.com) + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all + copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. +*/ + +#ifndef ROOT_FINDER_HPP +#define ROOT_FINDER_HPP + +#define _USE_MATH_DEFINES +#include +#include +#include +#include + +namespace RootFinderParam +{ +constexpr size_t highestOrder = 64; +} + +namespace RootFinderPriv +{ + +inline int polyMod(double *u, double *v, double *r, int lu, int lv) +// Modulus of u(x)/v(x) +// The leading coefficient of v, i.e., v[0], must be 1.0 or -1.0 +// The length of u, v, and r are lu, lv, and lu, respectively +{ + int orderu = lu - 1; + int orderv = lv - 1; + + memcpy(r, u, lu * sizeof(double)); + + if (v[0] < 0.0) + { + for (int i = orderv + 1; i <= orderu; i += 2) + { + r[i] = -r[i]; + } + for (int i = 0; i <= orderu - orderv; i++) + { + for (int j = i + 1; j <= orderv + i; j++) + { + r[j] = -r[j] - r[i] * v[j - i]; + } + } + } + else + { + for (int i = 0; i <= orderu - orderv; i++) + { + for (int j = i + 1; j <= orderv + i; j++) + { + r[j] = r[j] - r[i] * v[j - i]; + } + } + } + + int k = orderv - 1; + while (k >= 0 && fabs(r[orderu - k]) < DBL_EPSILON) + { + r[orderu - k] = 0.0; + k--; + } + + return (k <= 0) ? 1 : (k + 1); +} + +inline double polyEval(double *p, int len, double x) +// Evaluate the polynomial p(x), which has len coefficients +// Note: Horner scheme should not be employed here !!! +// Horner scheme has bad numerical stability despite of its efficiency. +// These errors are particularly troublesome for root-finding algorithms. +// When the polynomial is evaluated near a zero, catastrophic +// cancellation (subtracting two nearby numbers) is guaranteed to occur. +// Therefore, Horner scheme may slow down some root-finding algorithms. +{ + double retVal = 0.0; + + if (len > 0) + { + if (fabs(x) < DBL_EPSILON) + { + retVal = p[len - 1]; + } + else if (x == 1.0) + { + for (int i = len - 1; i >= 0; i--) + { + retVal += p[i]; + } + } + else + { + double xn = 1.0; + + for (int i = len - 1; i >= 0; i--) + { + retVal += p[i] * xn; + xn *= x; + } + } + } + + return retVal; +} + +inline std::set solveCub(double a, double b, double c, double d) +// Calculate all roots of a*x^3 + b*x^2 + c*x + d = 0 +{ + std::set roots; + + constexpr double cos120 = -0.50; + constexpr double sin120 = 0.866025403784438646764; + + if (fabs(d) < DBL_EPSILON) + { + // First solution is x = 0 + roots.insert(0.0); + + // Converting to a quadratic equation + d = c; + c = b; + b = a; + a = 0.0; + } + + if (fabs(a) < DBL_EPSILON) + { + if (fabs(b) < DBL_EPSILON) + { + // Linear equation + if (fabs(c) > DBL_EPSILON) + roots.insert(-d / c); + } + else + { + // Quadratic equation + double discriminant = c * c - 4.0 * b * d; + if (discriminant >= 0) + { + double inv2b = 1.0 / (2.0 * b); + double y = sqrt(discriminant); + roots.insert((-c + y) * inv2b); + roots.insert((-c - y) * inv2b); + } + } + } + else + { + // Cubic equation + double inva = 1.0 / a; + double invaa = inva * inva; + double bb = b * b; + double bover3a = b * (1.0 / 3.0) * inva; + double p = (3.0 * a * c - bb) * (1.0 / 3.0) * invaa; + double halfq = (2.0 * bb * b - 9.0 * a * b * c + 27.0 * a * a * d) * (0.5 / 27.0) * invaa * inva; + double yy = p * p * p / 27.0 + halfq * halfq; + + if (yy > DBL_EPSILON) + { + // Sqrt is positive: one real solution + double y = sqrt(yy); + double uuu = -halfq + y; + double vvv = -halfq - y; + double www = fabs(uuu) > fabs(vvv) ? uuu : vvv; + double w = (www < 0) ? -pow(fabs(www), 1.0 / 3.0) : pow(www, 1.0 / 3.0); + roots.insert(w - p / (3.0 * w) - bover3a); + } + else if (yy < -DBL_EPSILON) + { + // Sqrt is negative: three real solutions + double x = -halfq; + double y = sqrt(-yy); + double theta; + double r; + double ux; + double uyi; + // Convert to polar form + if (fabs(x) > DBL_EPSILON) + { + theta = (x > 0.0) ? atan(y / x) : (atan(y / x) + M_PI); + r = sqrt(x * x - yy); + } + else + { + // Vertical line + theta = M_PI / 2.0; + r = y; + } + // Calculate cube root + theta /= 3.0; + r = pow(r, 1.0 / 3.0); + // Convert to complex coordinate + ux = cos(theta) * r; + uyi = sin(theta) * r; + // First solution + roots.insert(ux + ux - bover3a); + // Second solution, rotate +120 degrees + roots.insert(2.0 * (ux * cos120 - uyi * sin120) - bover3a); + // Third solution, rotate -120 degrees + roots.insert(2.0 * (ux * cos120 + uyi * sin120) - bover3a); + } + else + { + // Sqrt is zero: two real solutions + double www = -halfq; + double w = (www < 0.0) ? -pow(fabs(www), 1.0 / 3.0) : pow(www, 1.0 / 3.0); + // First solution + roots.insert(w + w - bover3a); + // Second solution, rotate +120 degrees + roots.insert(2.0 * w * cos120 - bover3a); + } + } + return roots; +} + +inline int solveResolvent(double *x, double a, double b, double c) +// Solve resolvent eqaution of corresponding Quartic equation +// The input x must be of length 3 +// Number of zeros are returned +{ + double a2 = a * a; + double q = (a2 - 3.0 * b) / 9.0; + double r = (a * (2.0 * a2 - 9.0 * b) + 27.0 * c) / 54.0; + double r2 = r * r; + double q3 = q * q * q; + double A, B; + if (r2 < q3) + { + double t = r / sqrt(q3); + if (t < -1.0) + { + t = -1.0; + } + if (t > 1.0) + { + t = 1.0; + } + t = acos(t); + a /= 3.0; + q = -2.0 * sqrt(q); + x[0] = q * cos(t / 3.0) - a; + x[1] = q * cos((t + M_PI * 2.0) / 3.0) - a; + x[2] = q * cos((t - M_PI * 2.0) / 3.0) - a; + return 3; + } + else + { + A = -pow(fabs(r) + sqrt(r2 - q3), 1.0 / 3.0); + if (r < 0.0) + { + A = -A; + } + B = (0.0 == A ? 0.0 : q / A); + + a /= 3.0; + x[0] = (A + B) - a; + x[1] = -0.5 * (A + B) - a; + x[2] = 0.5 * sqrt(3.0) * (A - B); + if (fabs(x[2]) < DBL_EPSILON) + { + x[2] = x[1]; + return 2; + } + + return 1; + } +} + +inline std::set solveQuartMonic(double a, double b, double c, double d) +// Calculate all roots of the monic quartic equation: +// x^4 + a*x^3 + b*x^2 + c*x +d = 0 +{ + std::set roots; + + double a3 = -b; + double b3 = a * c - 4.0 * d; + double c3 = -a * a * d - c * c + 4.0 * b * d; + + // Solve the resolvent: y^3 - b*y^2 + (ac - 4*d)*y - a^2*d - c^2 + 4*b*d = 0 + double x3[3]; + int iZeroes = solveResolvent(x3, a3, b3, c3); + + double q1, q2, p1, p2, D, sqrtD, y; + + y = x3[0]; + // Choosing Y with maximal absolute value. + if (iZeroes != 1) + { + if (fabs(x3[1]) > fabs(y)) + { + y = x3[1]; + } + if (fabs(x3[2]) > fabs(y)) + { + y = x3[2]; + } + } + + // h1 + h2 = y && h1*h2 = d <=> h^2 - y*h + d = 0 (h === q) + + D = y * y - 4.0 * d; + if (fabs(D) < DBL_EPSILON) //In other words: D == 0 + { + q1 = q2 = y * 0.5; + // g1 + g2 = a && g1 + g2 = b - y <=> g^2 - a*g + b - y = 0 (p === g) + D = a * a - 4.0 * (b - y); + if (fabs(D) < DBL_EPSILON) //In other words: D == 0 + { + p1 = p2 = a * 0.5; + } + else + { + sqrtD = sqrt(D); + p1 = (a + sqrtD) * 0.5; + p2 = (a - sqrtD) * 0.5; + } + } + else + { + sqrtD = sqrt(D); + q1 = (y + sqrtD) * 0.5; + q2 = (y - sqrtD) * 0.5; + // g1 + g2 = a && g1*h2 + g2*h1 = c ( && g === p ) Krammer + p1 = (a * q1 - c) / (q1 - q2); + p2 = (c - a * q2) / (q1 - q2); + } + + // Solve the quadratic equation: x^2 + p1*x + q1 = 0 + D = p1 * p1 - 4.0 * q1; + if (fabs(D) < DBL_EPSILON) + { + roots.insert(-p1 * 0.5); + } + else if (D > 0.0) + { + sqrtD = sqrt(D); + roots.insert((-p1 + sqrtD) * 0.5); + roots.insert((-p1 - sqrtD) * 0.5); + } + + // Solve the quadratic equation: x^2 + p2*x + q2 = 0 + D = p2 * p2 - 4.0 * q2; + if (fabs(D) < DBL_EPSILON) + { + roots.insert(-p2 * 0.5); + } + else if (D > 0.0) + { + sqrtD = sqrt(D); + roots.insert((-p2 + sqrtD) * 0.5); + roots.insert((-p2 - sqrtD) * 0.5); + } + + return roots; +} + +inline std::set solveQuart(double a, double b, double c, double d, double e) +// Calculate the quartic equation: a*x^4 + b*x^3 + c*x^2 + d*x + e = 0 +// All coefficients can be zero +{ + if (fabs(a) < DBL_EPSILON) + { + return solveCub(b, c, d, e); + } + else + { + return solveQuartMonic(b / a, c / a, d / a, e / a); + } +} + +inline std::set eigenSolveRealRoots(const Eigen::VectorXd &coeffs, double lbound, double ubound, double tol) +// Calculate roots of coeffs(x) inside (lbound, rbound) by computing eigen values of its companion matrix +// Complex roots with magnitude of imaginary part less than tol are considered real +{ + std::set rts; + + int order = (int)coeffs.size() - 1; + Eigen::VectorXd monicCoeffs(order + 1); + monicCoeffs << 1.0, coeffs.tail(order) / coeffs(0); + + Eigen::MatrixXd companionMat(order, order); + companionMat.setZero(); + companionMat(0, order - 1) = -monicCoeffs(order); + for (int i = 1; i < order; i++) + { + companionMat(i, i - 1) = 1.0; + companionMat(i, order - 1) = -monicCoeffs(order - i); + } + Eigen::VectorXcd eivals = companionMat.eigenvalues(); + double real; + int eivalsNum = eivals.size(); + for (int i = 0; i < eivalsNum; i++) + { + real = eivals(i).real(); + if (eivals(i).imag() < tol && real > lbound && real < ubound) + rts.insert(real); + } + + return rts; +} + +inline double numSignVar(double x, double **sturmSeqs, int *szSeq, int len) +// Calculate the number of sign variations of the Sturm sequences at x +// The i-th sequence with size szSeq[i] stored in sturmSeqs[i][], 0 <= i < len +{ + double y, lasty; + int signVar = 0; + lasty = polyEval(sturmSeqs[0], szSeq[0], x); + for (int i = 1; i < len; i++) + { + y = polyEval(sturmSeqs[i], szSeq[i], x); + if (lasty == 0.0 || lasty * y < 0.0) + { + ++signVar; + } + lasty = y; + } + + return signVar; +}; + +inline void polyDeri(double *coeffs, double *dcoeffs, int len) +// Calculate the derivative poly coefficients of a given poly +{ + int horder = len - 1; + for (int i = 0; i < horder; i++) + { + dcoeffs[i] = (horder - i) * coeffs[i]; + } + return; +} + +template +inline double safeNewton(const F &func, const DF &dfunc, + const double &l, const double &h, + const double &tol, const int &maxIts) +// Safe Newton Method +// Requirements: f(l)*f(h)<=0 +{ + double xh, xl; + double fl = func(l); + double fh = func(h); + if (fl == 0.0) + { + return l; + } + if (fh == 0.0) + { + return h; + } + if (fl < 0.0) + { + xl = l; + xh = h; + } + else + { + xh = l; + xl = h; + } + + double rts = 0.5 * (xl + xh); + double dxold = fabs(xh - xl); + double dx = dxold; + double f = func(rts); + double df = dfunc(rts); + double temp; + for (int j = 0; j < maxIts; j++) + { + if ((((rts - xh) * df - f) * ((rts - xl) * df - f) > 0.0) || + (fabs(2.0 * f) > fabs(dxold * df))) + { + dxold = dx; + dx = 0.5 * (xh - xl); + rts = xl + dx; + if (xl == rts) + { + break; + } + } + else + { + dxold = dx; + dx = f / df; + temp = rts; + rts -= dx; + if (temp == rts) + { + break; + } + } + + if (fabs(dx) < tol) + { + break; + } + + f = func(rts); + df = dfunc(rts); + if (f < 0.0) + { + xl = rts; + } + else + { + xh = rts; + } + } + + return rts; +} + +inline double shrinkInterval(double *coeffs, int numCoeffs, double lbound, double ubound, double tol) +// Calculate a single zero of poly coeffs(x) inside [lbound, ubound] +// Requirements: coeffs(lbound)*coeffs(ubound) < 0, lbound < ubound +{ + double *dcoeffs = new double[numCoeffs - 1]; + polyDeri(coeffs, dcoeffs, numCoeffs); + auto func = [&coeffs, &numCoeffs](double x) { return polyEval(coeffs, numCoeffs, x); }; + auto dfunc = [&dcoeffs, &numCoeffs](double x) { return polyEval(dcoeffs, numCoeffs - 1, x); }; + constexpr int maxDblIts = 128; + double rts = safeNewton(func, dfunc, lbound, ubound, tol, maxDblIts); + delete[] dcoeffs; + return rts; +} + +inline void recurIsolate(double l, double r, double fl, double fr, int lnv, int rnv, + double tol, double **sturmSeqs, int *szSeq, int len, + std::set &rts) +// Isolate all roots of sturmSeqs[0](x) inside interval (l, r) recursively and store them in rts +// Requirements: fl := sturmSeqs[0](l) != 0, fr := sturmSeqs[0](r) != 0, l < r, +// lnv != rnv, lnv = numSignVar(l), rnv = numSignVar(r) +// sturmSeqs[0](x) must have at least one root inside (l, r) +{ + int nrts = lnv - rnv; + double fm; + double m; + + if (nrts == 0) + { + return; + } + else if (nrts == 1) + { + if (fl * fr < 0) + { + rts.insert(shrinkInterval(sturmSeqs[0], szSeq[0], l, r, tol)); + return; + } + else + { + // Bisect when non of above works + int maxDblIts = 128; + + for (int i = 0; i < maxDblIts; i++) + { + // Calculate the root with even multiplicity + if (fl * fr < 0) + { + rts.insert(shrinkInterval(sturmSeqs[1], szSeq[1], l, r, tol)); + return; + } + + m = (l + r) / 2.0; + fm = polyEval(sturmSeqs[0], szSeq[0], m); + + if (fm == 0 || fabs(r - l) < tol) + { + rts.insert(m); + return; + } + else + { + if (lnv == numSignVar(m, sturmSeqs, szSeq, len)) + { + l = m; + fl = fm; + } + else + { + r = m; + fr = fm; + } + } + } + + rts.insert(m); + return; + } + } + else if (nrts > 1) + { + // More than one root exists in the interval + int maxDblIts = 128; + + int mnv; + int bias = 0; + bool biased = false; + for (int i = 0; i < maxDblIts; i++) + { + bias = biased ? bias : 0; + if (!biased) + { + m = (l + r) / 2.0; + } + else + { + m = (r - l) / pow(2.0, bias + 1.0) + l; + biased = false; + } + mnv = numSignVar(m, sturmSeqs, szSeq, len); + + if (fabs(r - l) < tol) + { + rts.insert(m); + return; + } + else + { + fm = polyEval(sturmSeqs[0], szSeq[0], m); + if (fm == 0) + { + bias++; + biased = true; + } + else if (lnv != mnv && rnv != mnv) + { + recurIsolate(l, m, fl, fm, lnv, mnv, tol, sturmSeqs, szSeq, len, rts); + recurIsolate(m, r, fm, fr, mnv, rnv, tol, sturmSeqs, szSeq, len, rts); + return; + } + else if (lnv == mnv) + { + l = m; + fl = fm; + } + else + { + r = m; + fr = fm; + } + } + } + + rts.insert(m); + return; + } +}; + +inline std::set isolateRealRoots(const Eigen::VectorXd &coeffs, double lbound, double ubound, double tol) +// Calculate roots of coeffs(x) inside (lbound, rbound) leveraging Sturm theory +// Requirement: leading coefficient must be nonzero +// coeffs(lbound) != 0, coeffs(rbound) != 0, lbound < rbound +{ + std::set rts; + + // Calculate monic coefficients + int order = (int)coeffs.size() - 1; + Eigen::VectorXd monicCoeffs(order + 1); + monicCoeffs << 1.0, coeffs.tail(order) / coeffs(0); + + // Calculate Cauchy’s bound for the roots of a polynomial + double rho_c = 1 + monicCoeffs.tail(order).cwiseAbs().maxCoeff(); + + // Calculate Kojima’s bound for the roots of a polynomial + Eigen::VectorXd nonzeroCoeffs(order + 1); + nonzeroCoeffs.setZero(); + int nonzeros = 0; + double tempEle; + for (int i = 0; i < order + 1; i++) + { + tempEle = monicCoeffs(i); + if (fabs(tempEle) >= DBL_EPSILON) + { + nonzeroCoeffs(nonzeros++) = tempEle; + } + } + nonzeroCoeffs = nonzeroCoeffs.head(nonzeros).eval(); + Eigen::VectorXd kojimaVec = nonzeroCoeffs.tail(nonzeros - 1).cwiseQuotient(nonzeroCoeffs.head(nonzeros - 1)).cwiseAbs(); + kojimaVec.tail(1) /= 2.0; + double rho_k = 2.0 * kojimaVec.maxCoeff(); + + // Choose a sharper one then loosen it by 1.0 to get an open interval + double rho = std::min(rho_c, rho_k) + 1.0; + + // Tighten the bound to search in + lbound = std::max(lbound, -rho); + ubound = std::min(ubound, rho); + + // Build Sturm sequence + int len = monicCoeffs.size(); + double sturmSeqs[(RootFinderParam::highestOrder + 1) * (RootFinderParam::highestOrder + 1)]; + int szSeq[RootFinderParam::highestOrder + 1] = {0}; // Explicit ini as zero (gcc may neglect this in -O3) + double *offsetSeq[RootFinderParam::highestOrder + 1]; + int num = 0; + + for (int i = 0; i < len; i++) + { + sturmSeqs[i] = monicCoeffs(i); + sturmSeqs[i + 1 + len] = (order - i) * sturmSeqs[i] / order; + } + szSeq[0] = len; + szSeq[1] = len - 1; + offsetSeq[0] = sturmSeqs + len - szSeq[0]; + offsetSeq[1] = sturmSeqs + 2 * len - szSeq[1]; + + num += 2; + + bool remainderConstant = false; + int idx = 0; + while (!remainderConstant) + { + szSeq[idx + 2] = polyMod(offsetSeq[idx], + offsetSeq[idx + 1], + &(sturmSeqs[(idx + 3) * len - szSeq[idx]]), + szSeq[idx], szSeq[idx + 1]); + offsetSeq[idx + 2] = sturmSeqs + (idx + 3) * len - szSeq[idx + 2]; + + remainderConstant = szSeq[idx + 2] == 1; + for (int i = 1; i < szSeq[idx + 2]; i++) + { + offsetSeq[idx + 2][i] /= -fabs(offsetSeq[idx + 2][0]); + } + offsetSeq[idx + 2][0] = offsetSeq[idx + 2][0] > 0.0 ? -1.0 : 1.0; + num++; + idx++; + } + + // Isolate all distinct roots inside the open interval recursively + recurIsolate(lbound, ubound, + polyEval(offsetSeq[0], szSeq[0], lbound), + polyEval(offsetSeq[0], szSeq[0], ubound), + numSignVar(lbound, offsetSeq, szSeq, len), + numSignVar(ubound, offsetSeq, szSeq, len), + tol, offsetSeq, szSeq, len, rts); + + return rts; +} + +} // namespace RootFinderPriv + +namespace RootFinder +{ + +inline Eigen::VectorXd polyConv(const Eigen::VectorXd &lCoef, const Eigen::VectorXd &rCoef) +// Calculate the convolution of lCoef(x) and rCoef(x) +{ + Eigen::VectorXd result(lCoef.size() + rCoef.size() - 1); + result.setZero(); + for (int i = 0; i < result.size(); i++) + { + for (int j = 0; j <= i; j++) + { + result(i) += (j < lCoef.size() && (i - j) < rCoef.size()) ? (lCoef(j) * rCoef(i - j)) : 0; + } + } + + return result; +} + +// // This function needs FFTW 3 and only performs better when the scale is large +// inline Eigen::VectorXd polyConvFFT(const Eigen::VectorXd &lCoef, const Eigen::VectorXd &rCoef) +// // Calculate the convolution of lCoef(x) and rCoef(x) using FFT +// // This function is fast when orders of both poly are larger than 100 +// { +// int paddedLen = lCoef.size() + rCoef.size() - 1; +// int complexLen = paddedLen / 2 + 1; +// Eigen::VectorXd result(paddedLen); +// double *rBuffer = fftw_alloc_real(paddedLen); +// // Construct FFT plan and buffers +// fftw_complex *cForwardBuffer = fftw_alloc_complex(complexLen); +// fftw_complex *cBackwardBuffer = fftw_alloc_complex(complexLen); +// fftw_plan forwardPlan = fftw_plan_dft_r2c_1d(paddedLen, rBuffer, cForwardBuffer, +// FFTW_ESTIMATE | FFTW_DESTROY_INPUT); +// fftw_plan backwardPlan = fftw_plan_dft_c2r_1d(paddedLen, cBackwardBuffer, rBuffer, +// FFTW_ESTIMATE | FFTW_DESTROY_INPUT); +// // Pad lCoef by zeros +// int len = lCoef.size(); +// for (int i = 0; i < len; i++) +// { +// rBuffer[i] = lCoef(i); +// } +// for (int i = len; i < paddedLen; i++) +// { +// rBuffer[i] = 0.0; +// } +// // Compute fft(pad(lCoef(x)) and back it up +// fftw_execute(forwardPlan); +// memcpy(cBackwardBuffer, cForwardBuffer, sizeof(fftw_complex) * complexLen); +// // Pad rCoef by zeros +// len = rCoef.size(); +// for (int i = 0; i < len; i++) +// { +// rBuffer[i] = rCoef(i); +// } +// for (int i = len; i < paddedLen; i++) +// { +// rBuffer[i] = 0.0; +// } +// // Compute fft(pad(rCoef(x)) +// fftw_execute(forwardPlan); +// // Compute fft(pad(lCoef(x)).fft(pad(rCoef(x)) +// double real, imag; +// for (int i = 0; i < complexLen; i++) +// { +// real = cBackwardBuffer[i][0]; +// imag = cBackwardBuffer[i][1]; +// cBackwardBuffer[i][0] = real * cForwardBuffer[i][0] - +// imag * cForwardBuffer[i][1]; +// cBackwardBuffer[i][1] = imag * cForwardBuffer[i][0] + +// real * cForwardBuffer[i][1]; +// } +// // Compute ifft(fft(pad(lCoef(x)).fft(pad(rCoef(x))) +// fftw_execute(backwardPlan); +// // Recover the original intensity +// double intensity = 1.0 / paddedLen; +// for (int i = 0; i < paddedLen; i++) +// { +// result(i) = rBuffer[i] * intensity; +// } +// // Destruct FFT plan and buffers +// fftw_destroy_plan(forwardPlan); +// fftw_destroy_plan(backwardPlan); +// fftw_free(rBuffer); +// fftw_free(cForwardBuffer); +// fftw_free(cBackwardBuffer); +// return result; +// } + +inline Eigen::VectorXd polySqr(const Eigen::VectorXd &coef) +// Calculate self-convolution of coef(x) +{ + int coefSize = coef.size(); + int resultSize = coefSize * 2 - 1; + int lbound, rbound; + Eigen::VectorXd result(resultSize); + double temp; + for (int i = 0; i < resultSize; i++) + { + temp = 0; + lbound = i - coefSize + 1; + lbound = lbound > 0 ? lbound : 0; + rbound = coefSize < (i + 1) ? coefSize : (i + 1); + rbound += lbound; + if (rbound & 1) //faster than rbound % 2 == 1 + { + rbound >>= 1; //faster than rbound /= 2 + temp += coef(rbound) * coef(rbound); + } + else + { + rbound >>= 1; //faster than rbound /= 2 + } + + for (int j = lbound; j < rbound; j++) + { + temp += 2.0 * coef(j) * coef(i - j); + } + result(i) = temp; + } + + return result; +} + +inline double polyVal(const Eigen::VectorXd &coeffs, double x, + bool numericalStability = true) +// Evaluate the polynomial at x, i.e., coeffs(x) +// Horner scheme is faster yet less stable +// Stable one should be used when coeffs(x) is close to 0.0 +{ + double retVal = 0.0; + int order = (int)coeffs.size() - 1; + + if (order >= 0) + { + if (fabs(x) < DBL_EPSILON) + { + retVal = coeffs(order); + } + else if (x == 1.0) + { + retVal = coeffs.sum(); + } + else + { + if (numericalStability) + { + double xn = 1.0; + + for (int i = order; i >= 0; i--) + { + retVal += coeffs(i) * xn; + xn *= x; + } + } + else + { + int len = coeffs.size(); + + for (int i = 0; i < len; i++) + { + retVal = retVal * x + coeffs(i); + } + } + } + } + + return retVal; +} + +inline int countRoots(const Eigen::VectorXd &coeffs, double l, double r) +// Count the number of distinct roots of coeffs(x) inside (l, r), leveraging Sturm theory +// Boundary values, i.e., coeffs(l) and coeffs(r), must be nonzero +{ + int nRoots = 0; + + int originalSize = coeffs.size(); + int valid = originalSize; + for (int i = 0; i < originalSize; i++) + { + if (fabs(coeffs(i)) < DBL_EPSILON) + { + valid--; + } + else + { + break; + } + } + + if (valid > 0 && fabs(coeffs(originalSize - 1)) > DBL_EPSILON) + { + Eigen::VectorXd monicCoeffs(valid); + monicCoeffs << 1.0, coeffs.segment(originalSize - valid + 1, valid - 1) / coeffs(originalSize - valid); + + // Build the Sturm sequence + int len = monicCoeffs.size(); + int order = len - 1; + double sturmSeqs[(RootFinderParam::highestOrder + 1) * (RootFinderParam::highestOrder + 1)]; + int szSeq[RootFinderParam::highestOrder + 1] = {0}; // Explicit ini as zero (gcc may neglect this in -O3) + int num = 0; + + for (int i = 0; i < len; i++) + { + sturmSeqs[i] = monicCoeffs(i); + sturmSeqs[i + 1 + len] = (order - i) * sturmSeqs[i] / order; + } + szSeq[0] = len; + szSeq[1] = len - 1; + num += 2; + + bool remainderConstant = false; + int idx = 0; + while (!remainderConstant) + { + szSeq[idx + 2] = RootFinderPriv::polyMod(&(sturmSeqs[(idx + 1) * len - szSeq[idx]]), + &(sturmSeqs[(idx + 2) * len - szSeq[idx + 1]]), + &(sturmSeqs[(idx + 3) * len - szSeq[idx]]), + szSeq[idx], szSeq[idx + 1]); + remainderConstant = szSeq[idx + 2] == 1; + for (int i = 1; i < szSeq[idx + 2]; i++) + { + sturmSeqs[(idx + 3) * len - szSeq[idx + 2] + i] /= -fabs(sturmSeqs[(idx + 3) * len - szSeq[idx + 2]]); + } + sturmSeqs[(idx + 3) * len - szSeq[idx + 2]] /= -fabs(sturmSeqs[(idx + 3) * len - szSeq[idx + 2]]); + num++; + idx++; + } + + // Count numbers of sign variations at two boundaries + double yl, lastyl, yr, lastyr; + lastyl = RootFinderPriv::polyEval(&(sturmSeqs[len - szSeq[0]]), szSeq[0], l); + lastyr = RootFinderPriv::polyEval(&(sturmSeqs[len - szSeq[0]]), szSeq[0], r); + for (int i = 1; i < num; i++) + { + yl = RootFinderPriv::polyEval(&(sturmSeqs[(i + 1) * len - szSeq[i]]), szSeq[i], l); + yr = RootFinderPriv::polyEval(&(sturmSeqs[(i + 1) * len - szSeq[i]]), szSeq[i], r); + if (lastyl == 0.0 || lastyl * yl < 0.0) + { + ++nRoots; + } + if (lastyr == 0.0 || lastyr * yr < 0.0) + { + --nRoots; + } + lastyl = yl; + lastyr = yr; + } + } + + return nRoots; +} + +inline std::set solvePolynomial(const Eigen::VectorXd &coeffs, double lbound, double ubound, double tol, bool isolation = true) +// Calculate roots of coeffs(x) inside (lbound, rbound) +// +// Closed-form solutions are employed for reduced_order < 5 +// isolation = true: +// Sturm' theory and some geometrical property are employed to bracket each root +// Safe-Newton is employed to shrink the interval efficiently +// isolation = false: +// Eigen values of polynomial companion matrix are calculated +// +// Requirement: leading coefficient must be nonzero +// coeffs(lbound) != 0, coeffs(rbound) != 0, lbound < rbound +{ + std::set rts; + + int valid = coeffs.size(); + for (int i = 0; i < coeffs.size(); i++) + { + if (fabs(coeffs(i)) < DBL_EPSILON) + { + valid--; + } + else + { + break; + } + } + + int offset = 0; + int nonzeros = valid; + if (valid > 0) + { + for (int i = 0; i < valid; i++) + { + if (fabs(coeffs(coeffs.size() - i - 1)) < DBL_EPSILON) + { + nonzeros--; + offset++; + } + else + { + break; + } + } + } + + if (nonzeros == 0) + { + rts.insert(INFINITY); + rts.insert(-INFINITY); + } + else if (nonzeros == 1 && offset == 0) + { + rts.clear(); + } + else + { + Eigen::VectorXd ncoeffs(std::max(5, nonzeros)); + ncoeffs.setZero(); + ncoeffs.tail(nonzeros) << coeffs.segment(coeffs.size() - valid, nonzeros); + + if (nonzeros <= 5) + { + rts = RootFinderPriv::solveQuart(ncoeffs(0), ncoeffs(1), ncoeffs(2), ncoeffs(3), ncoeffs(4)); + } + else + { + if (isolation) + { + rts = RootFinderPriv::isolateRealRoots(ncoeffs, lbound, ubound, tol); + } + else + { + rts = RootFinderPriv::eigenSolveRealRoots(ncoeffs, lbound, ubound, tol); + } + } + + if (offset > 0) + { + rts.insert(0.0); + } + } + + for (auto it = rts.begin(); it != rts.end();) + { + if (*it > lbound && *it < ubound) + { + it++; + } + else + { + it = rts.erase(it); + } + } + + return rts; +} + +} // namespace RootFinder + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/arcPlan/sdlp.hpp b/trajectoryOpt/src/plan_manage/include/arcPlan/sdlp.hpp new file mode 100644 index 0000000..aef1e1b --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/arcPlan/sdlp.hpp @@ -0,0 +1,801 @@ +/* + * Copyright (c) 1990 Michael E. Hohmeyer, + * hohmeyer@icemcfd.com + * Permission is granted to modify and re-distribute this code in any manner + * as long as this notice is preserved. All standard disclaimers apply. + * + * R. Seidel's algorithm for solving LPs (linear programs.) + */ + +/* + * Copyright (c) 2021 Zhepei Wang, + * wangzhepei@live.com + * 1. Bug fix in "move_to_front" function that "prev[m]" is illegally accessed + * while "prev" originally has only m ints. It is fixed by allocating a + * "prev" with m + 1 ints. + * 2. Add Eigen interface. + * Permission is granted to modify and re-distribute this code in any manner + * as long as this notice is preserved. All standard disclaimers apply. + * + * Reference: Seidel, R. (1991), "Small-dimensional linear programming and convex hulls made easy", + * Discrete & Computational Geometry 6 (1): 423–434, doi:10.1007/BF02574699 + */ + +#ifndef SDLP_HPP +#define SDLP_HPP + +#include + +#include +#include + +namespace sdlp +{ +constexpr double prog_epsilon = 2.0e-16; + +enum PROG_STATE +{ + /* minimum attained */ + MINIMUM = 0, + /* no feasible region */ + INFEASIBLE, + /* unbounded solution */ + UNBOUNDED, + /* only a vertex in the solution set */ + AMBIGUOUS, +}; + +inline double dot2(const double a[2], const double b[2]) +{ + return a[0] * b[0] + a[1] * b[1]; +} + +inline double cross2(const double a[2], const double b[2]) +{ + return a[0] * b[1] - a[1] * b[0]; +} + +inline bool unit2(const double a[2], double b[2], double eps) +{ + double size; + size = sqrt(a[0] * a[0] + a[1] * a[1]); + if (size < 2 * eps) + { + return true; + } + b[0] = a[0] / size; + b[1] = a[1] / size; + return false; +} + +/* unitize a d+1 dimensional point */ +inline bool lp_d_unit(int d, const double *a, double *b) +{ + int i; + double size; + + size = 0.0; + for (i = 0; i <= d; i++) + { + size += a[i] * a[i]; + } + if (size < (d + 1) * prog_epsilon * prog_epsilon) + { + return true; + } + size = 1.0 / sqrt(size); + for (i = 0; i <= d; i++) + { + b[i] = a[i] * size; + } + return false; +} + +/* optimize the objective function when there are no contraints */ +inline int lp_no_constraints(int d, const double *n_vec, const double *d_vec, double *opt) +{ + int i; + double n_dot_d, d_dot_d; + + n_dot_d = 0.0; + d_dot_d = 0.0; + for (i = 0; i <= d; i++) + { + n_dot_d += n_vec[i] * d_vec[i]; + d_dot_d += d_vec[i] * d_vec[i]; + } + if (d_dot_d < prog_epsilon * prog_epsilon) + { + d_dot_d = 1.0; + n_dot_d = 0.0; + } + for (i = 0; i <= d; i++) + { + opt[i] = -n_vec[i] + d_vec[i] * n_dot_d / d_dot_d; + } + /* normalize the optimal point */ + if (lp_d_unit(d, opt, opt)) + { + opt[d] = 1.0; + return AMBIGUOUS; + } + else + { + return MINIMUM; + } +} + +/* returns the index of the plane that is in i's place */ +inline int move_to_front(int i, int *next, int *prev) +{ + int previ; + if (i == 0 || i == next[0]) + { + return i; + } + previ = prev[i]; + /* remove i from it's current position */ + next[prev[i]] = next[i]; + prev[next[i]] = prev[i]; + /* put i at the front */ + next[i] = next[0]; + prev[i] = 0; + prev[next[i]] = i; + next[0] = i; + return previ; +} + +inline void lp_min_lin_rat(int degen, + const double cw_vec[2], + const double ccw_vec[2], + const double n_vec[2], + const double d_vec[2], + double opt[2]) +{ + double d_cw, d_ccw, n_cw, n_ccw; + + /* linear rational function case */ + d_cw = dot2(cw_vec, d_vec); + d_ccw = dot2(ccw_vec, d_vec); + n_cw = dot2(cw_vec, n_vec); + n_ccw = dot2(ccw_vec, n_vec); + if (degen) + { + /* if degenerate simply compare values */ + if (n_cw / d_cw < n_ccw / d_ccw) + { + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + else + { + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + /* check that the clock-wise and counter clockwise bounds are not near a poles */ + } + else if (fabs(d_cw) > 2.0 * prog_epsilon && + fabs(d_ccw) > 2.0 * prog_epsilon) + { + /* the valid region does not contain a poles */ + if (d_cw * d_ccw > 0.0) + { + /* find which end has the minimum value */ + if (n_cw / d_cw < n_ccw / d_ccw) + { + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + else + { + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + } + else + { + /* the valid region does contain a poles */ + if (d_cw > 0.0) + { + opt[0] = -d_vec[1]; + opt[1] = d_vec[0]; + } + else + { + opt[0] = d_vec[1]; + opt[1] = -d_vec[0]; + } + } + } + else if (fabs(d_cw) > 2.0 * prog_epsilon) + { + /* the counter clockwise bound is near a pole */ + if (n_ccw * d_cw > 0.0) + { + /* counter clockwise bound is a positive pole */ + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + else + { + /* counter clockwise bound is a negative pole */ + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + } + else if (fabs(d_ccw) > 2.0 * prog_epsilon) + { + /* the clockwise bound is near a pole */ + if (n_cw * d_ccw > 2 * prog_epsilon) + { + /* clockwise bound is at a positive pole */ + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + else + { + /* clockwise bound is at a negative pole */ + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + } + else + { + /* both bounds are near poles */ + if (cross2(d_vec, n_vec) > 0.0) + { + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + else + { + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + } +} + +inline int wedge(const double (*halves)[2], + int m, + int *next, + int *prev, + double cw_vec[2], + double ccw_vec[2], + int *degen) +{ + int i; + double d_cw, d_ccw; + int offensive; + + *degen = 0; + for (i = 0; i != m; i = next[i]) + { + if (!unit2(halves[i], ccw_vec, prog_epsilon)) + { + /* clock-wise */ + cw_vec[0] = ccw_vec[1]; + cw_vec[1] = -ccw_vec[0]; + /* counter-clockwise */ + ccw_vec[0] = -cw_vec[0]; + ccw_vec[1] = -cw_vec[1]; + break; + } + } + if (i == m) + { + return UNBOUNDED; + } + i = 0; + while (i != m) + { + offensive = 0; + d_cw = dot2(cw_vec, halves[i]); + d_ccw = dot2(ccw_vec, halves[i]); + if (d_ccw >= 2 * prog_epsilon) + { + if (d_cw <= -2 * prog_epsilon) + { + cw_vec[0] = halves[i][1]; + cw_vec[1] = -halves[i][0]; + unit2(cw_vec, cw_vec, prog_epsilon); + offensive = 1; + } + } + else if (d_cw >= 2 * prog_epsilon) + { + if (d_ccw <= -2 * prog_epsilon) + { + ccw_vec[0] = -halves[i][1]; + ccw_vec[1] = halves[i][0]; + unit2(ccw_vec, ccw_vec, prog_epsilon); + offensive = 1; + } + } + else if (d_ccw <= -2 * prog_epsilon && d_cw <= -2 * prog_epsilon) + { + return INFEASIBLE; + } + else if ((d_cw <= -2 * prog_epsilon) || + (d_ccw <= -2 * prog_epsilon) || + (cross2(cw_vec, halves[i]) < 0.0)) + { + /* degenerate */ + if (d_cw <= -2 * prog_epsilon) + { + unit2(ccw_vec, cw_vec, prog_epsilon); + } + else if (d_ccw <= -2 * prog_epsilon) + { + unit2(cw_vec, ccw_vec, prog_epsilon); + } + *degen = 1; + offensive = 1; + } + /* place this offensive plane in second place */ + if (offensive) + { + i = move_to_front(i, next, prev); + } + i = next[i]; + if (*degen) + { + break; + } + } + if (*degen) + { + while (i != m) + { + d_cw = dot2(cw_vec, halves[i]); + d_ccw = dot2(ccw_vec, halves[i]); + if (d_cw < -2 * prog_epsilon) + { + if (d_ccw < -2 * prog_epsilon) + { + return INFEASIBLE; + } + else + { + cw_vec[0] = ccw_vec[0]; + cw_vec[1] = ccw_vec[1]; + } + } + else if (d_ccw < -2 * prog_epsilon) + { + ccw_vec[0] = cw_vec[0]; + ccw_vec[1] = cw_vec[1]; + } + i = next[i]; + } + } + return MINIMUM; +} + +/* +* return the minimum on the projective line +*/ +inline int lp_base_case(const double (*halves)[2], /* halves --- half lines */ + int m, /* m --- terminal marker */ + const double n_vec[2], /* n_vec --- numerator funciton */ + const double d_vec[2], /* d_vec --- denominator function */ + double opt[2], /* opt --- optimum */ + int *next, /* next, prev --- double linked list of indices */ + int *prev) +{ + double cw_vec[2], ccw_vec[2]; + int degen; + int status; + double ab; + + /* find the feasible region of the line */ + status = wedge(halves, m, next, prev, cw_vec, ccw_vec, °en); + + if (status == INFEASIBLE) + { + return status; + } + /* no non-trivial constraints one the plane: return the unconstrained optimum */ + if (status == UNBOUNDED) + { + return lp_no_constraints(1, n_vec, d_vec, opt); + } + ab = fabs(cross2(n_vec, d_vec)); + if (ab < 2 * prog_epsilon * prog_epsilon) + { + if (dot2(n_vec, n_vec) < 2 * prog_epsilon * prog_epsilon || + dot2(d_vec, d_vec) > 2 * prog_epsilon * prog_epsilon) + { + /* numerator is zero or numerator and denominator are linearly dependent */ + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + status = AMBIGUOUS; + } + else + { + /* numerator is non-zero and denominator is zero minimize linear functional on circle */ + if (!degen && cross2(cw_vec, n_vec) <= 0.0 && + cross2(n_vec, ccw_vec) <= 0.0) + { + /* optimum is in interior of feasible region */ + opt[0] = -n_vec[0]; + opt[1] = -n_vec[1]; + } + else if (dot2(n_vec, cw_vec) > dot2(n_vec, ccw_vec)) + { + /* optimum is at counter-clockwise boundary */ + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + else + { + /* optimum is at clockwise boundary */ + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + status = MINIMUM; + } + } + else + { + /* niether numerator nor denominator is zero */ + lp_min_lin_rat(degen, cw_vec, ccw_vec, n_vec, d_vec, opt); + status = MINIMUM; + } + return status; +} + +/* find the largest coefficient in a plane */ +inline void findimax(const double *pln, int idim, int *imax) +{ + double rmax; + int i; + + *imax = 0; + rmax = fabs(pln[0]); + for (i = 1; i <= idim; i++) + { + double ab; + ab = fabs(pln[i]); + if (ab > rmax) + { + *imax = i; + rmax = ab; + } + } +} + +inline void vector_up(const double *equation, int ivar, int idim, + const double *low_vector, double *vector) +{ + int i; + + vector[ivar] = 0.0; + for (i = 0; i < ivar; i++) + { + vector[i] = low_vector[i]; + vector[ivar] -= equation[i] * low_vector[i]; + } + for (i = ivar + 1; i <= idim; i++) + { + vector[i] = low_vector[i - 1]; + vector[ivar] -= equation[i] * low_vector[i - 1]; + } + vector[ivar] /= equation[ivar]; +} + +inline void vector_down(const double *elim_eqn, int ivar, int idim, + const double *old_vec, double *new_vec) +{ + int i; + double fac, ve, ee; + ve = 0.0; + ee = 0.0; + for (i = 0; i <= idim; i++) + { + ve += old_vec[i] * elim_eqn[i]; + ee += elim_eqn[i] * elim_eqn[i]; + } + fac = ve / ee; + for (i = 0; i < ivar; i++) + { + new_vec[i] = old_vec[i] - elim_eqn[i] * fac; + } + for (i = ivar + 1; i <= idim; i++) + { + new_vec[i - 1] = old_vec[i] - elim_eqn[i] * fac; + } +} + +inline void plane_down(const double *elim_eqn, int ivar, int idim, + const double *old_plane, double *new_plane) +{ + double crit; + int i; + + crit = old_plane[ivar] / elim_eqn[ivar]; + for (i = 0; i < ivar; i++) + { + new_plane[i] = old_plane[i] - elim_eqn[i] * crit; + } + for (i = ivar + 1; i <= idim; i++) + { + new_plane[i - 1] = old_plane[i] - elim_eqn[i] * crit; + } +} + +inline int linfracprog(const double *halves, /* halves --- half spaces */ + int istart, /* istart --- should be zero unless doing incremental algorithm */ + int m, /* m --- terminal marker */ + const double *n_vec, /* n_vec --- numerator vector */ + const double *d_vec, /* d_vec --- denominator vector */ + int d, /* d --- projective dimension */ + double *opt, /* opt --- optimum */ + double *work, /* work --- work space (see below) */ + int *next, /* next --- array of indices into halves */ + int *prev, /* prev --- array of indices into halves */ + int max_size) /* max_size --- size of halves array */ +/* +** +** half-spaces are in the form +** halves[i][0]*x[0] + halves[i][1]*x[1] + +** ... + halves[i][d-1]*x[d-1] + halves[i][d]*x[d] >= 0 +** +** coefficients should be normalized +** half-spaces should be in random order +** the order of the half spaces is 0, next[0] next[next[0]] ... +** and prev[next[i]] = i +** +** halves: (max_size)x(d+1) +** +** the optimum has been computed for the half spaces +** 0 , next[0], next[next[0]] , ... , prev[istart] +** the next plane that needs to be tested is istart +** +** m is the index of the first plane that is NOT on the list +** i.e. m is the terminal marker for the linked list. +** +** the objective function is dot(x,nvec)/dot(x,dvec) +** if you want the program to solve standard d dimensional linear programming +** problems then n_vec = ( x0, x1, x2, ..., xd-1, 0) +** and d_vec = ( 0, 0, 0, ..., 0, 1) +** and halves[0] = (0, 0, ... , 1) +** +** work points to (max_size+3)*(d+2)*(d-1)/2 double space +*/ +{ + int status; + int i, j, imax; + double *new_opt, *new_n_vec, *new_d_vec, *new_halves, *new_work; + const double *plane_i; + double val; + + if (d == 1 && m != 0) + { + return lp_base_case((const double(*)[2])halves, m, n_vec, + d_vec, opt, next, prev); + } + else + { + int d_vec_zero; + val = 0.0; + for (j = 0; j <= d; j++) + { + val += d_vec[j] * d_vec[j]; + } + d_vec_zero = (val < (d + 1) * prog_epsilon * prog_epsilon); + + /* find the unconstrained minimum */ + if (!istart) + { + status = lp_no_constraints(d, n_vec, d_vec, opt); + } + else + { + status = MINIMUM; + } + if (m == 0) + { + return status; + } + + /* allocate memory for next level of recursion */ + new_opt = work; + new_n_vec = new_opt + d; + new_d_vec = new_n_vec + d; + new_halves = new_d_vec + d; + new_work = new_halves + max_size * d; + for (i = istart; i != m; i = next[i]) + { + /* if the optimum is not in half space i then project the problem onto that plane */ + plane_i = halves + i * (d + 1); + /* determine if the optimum is on the correct side of plane_i */ + val = 0.0; + for (j = 0; j <= d; j++) + { + val += opt[j] * plane_i[j]; + } + if (val < -(d + 1) * prog_epsilon) + { + /* find the largest of the coefficients to eliminate */ + findimax(plane_i, d, &imax); + /* eliminate that variable */ + if (i != 0) + { + double fac; + fac = 1.0 / plane_i[imax]; + for (j = 0; j != i; j = next[j]) + { + const double *old_plane; + double *new_plane; + int k; + double crit; + + old_plane = halves + j * (d + 1); + new_plane = new_halves + j * d; + crit = old_plane[imax] * fac; + for (k = 0; k < imax; k++) + { + new_plane[k] = old_plane[k] - plane_i[k] * crit; + } + for (k = imax + 1; k <= d; k++) + { + new_plane[k - 1] = old_plane[k] - plane_i[k] * crit; + } + } + } + /* project the objective function to lower dimension */ + if (d_vec_zero) + { + vector_down(plane_i, imax, d, n_vec, new_n_vec); + for (j = 0; j < d; j++) + { + new_d_vec[j] = 0.0; + } + } + else + { + plane_down(plane_i, imax, d, n_vec, new_n_vec); + plane_down(plane_i, imax, d, d_vec, new_d_vec); + } + /* solve sub problem */ + status = linfracprog(new_halves, 0, i, new_n_vec, + new_d_vec, d - 1, new_opt, new_work, next, prev, max_size); + /* back substitution */ + if (status != INFEASIBLE) + { + vector_up(plane_i, imax, d, new_opt, opt); + + /* in line code for unit */ + double size; + size = 0.0; + for (j = 0; j <= d; j++) + size += opt[j] * opt[j]; + size = 1.0 / sqrt(size); + for (j = 0; j <= d; j++) + opt[j] *= size; + } + else + { + return status; + } + /* place this offensive plane in second place */ + i = move_to_front(i, next, prev); + } + } + return status; + } +} + +inline void rand_permutation(int n, int *p) +{ + typedef std::uniform_int_distribution rand_int; + typedef rand_int::param_type rand_range; + static std::mt19937_64 gen; + static rand_int rdi(0, 1); + int i, j, t; + for (i = 0; i < n; i++) + { + p[i] = i; + } + for (i = 0; i < n; i++) + { + rdi.param(rand_range(0, n - i - 1)); + j = rdi(gen) + i; + t = p[j]; + p[j] = p[i]; + p[i] = t; + } +} + +inline double linprog(const Eigen::VectorXd &c, + const Eigen::MatrixXd &A, + const Eigen::VectorXd &b, + Eigen::VectorXd &x) +/* +** min cTx, s.t. Ax<=b +** dim(x) << dim(b) +*/ +{ + int d = c.size(); + int m = b.size() + 1; + x = Eigen::VectorXd::Zero(d); + double minimum = INFINITY; + + int *perm, *next, *prev; + double *halves, *n_vec, *d_vec, *work, *opt; + int i, status = sdlp::AMBIGUOUS; + + perm = (int *)malloc((m - 1) * sizeof(int)); + next = (int *)malloc(m * sizeof(int)); + /* original allocated size is m, here changed by m + 1 for legal tail accessing */ + prev = (int *)malloc((m + 1) * sizeof(int)); + halves = (double *)malloc(m * (d + 1) * sizeof(double)); + n_vec = (double *)malloc((d + 1) * sizeof(double)); + d_vec = (double *)malloc((d + 1) * sizeof(double)); + work = (double *)malloc((m + 3) * (d + 2) * (d - 1) / 2 * sizeof(double)); + opt = (double *)malloc((d + 1) * sizeof(double)); + + Eigen::Map Af(halves, d + 1, m); + Eigen::Map nv(n_vec, d + 1); + Eigen::Map dv(d_vec, d + 1); + Eigen::Map xf(opt, d + 1); + + Af.col(0).setZero(); + Af(d, 0) = 1.0; + Af.topRightCorner(d, m - 1) = -A.transpose(); + Af.bottomRightCorner(1, m - 1) = b.transpose(); + nv.head(d) = c; + nv(d) = 0.0; + dv.setZero(); + dv(d) = 1.0; + + /* randomize the input planes */ + rand_permutation(m - 1, perm); + /* previous to 0 is actually never used */ + prev[0] = 0; + /* link the zero position in at the beginning */ + next[0] = perm[0] + 1; + prev[perm[0] + 1] = 0; + /* link the other planes */ + for (i = 0; i < m - 2; i++) + { + next[perm[i] + 1] = perm[i + 1] + 1; + prev[perm[i + 1] + 1] = perm[i] + 1; + } + /* flag the last plane */ + next[perm[m - 2] + 1] = m; + + status = sdlp::linfracprog(halves, 0, m, n_vec, d_vec, + d, opt, work, next, prev, m); + + /* handle states for linprog whose definitions differ from linfracprog */ + if (status != sdlp::INFEASIBLE) + { + if (xf(d) != 0.0 && status != sdlp::UNBOUNDED) + { + x = xf.head(d) / xf(d); + minimum = c.dot(x); + } + + if (xf(d) == 0.0 || status == sdlp::UNBOUNDED) + { + x = xf.head(d); + minimum = -INFINITY; + } + } + + free(perm); + free(next); + free(prev); + free(halves); + free(n_vec); + free(d_vec); + free(work); + free(opt); + + return minimum; +} + +} // namespace sdlp + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/difPlan/geoutils2d.hpp b/trajectoryOpt/src/plan_manage/include/difPlan/geoutils2d.hpp new file mode 100644 index 0000000..98acd3c --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/difPlan/geoutils2d.hpp @@ -0,0 +1,129 @@ +#ifndef GEOUTILS_HPP +#define GEOUTILS_HPP + + +#include "sdlp.hpp" +#include "quickhull.hpp" +#include + +#include +#include +#include +#include + +namespace geoutils +{ + +// Each col of hPoly denotes a facet (outter_normal^T,point^T)^T +// The outter_normal is assumed to be NORMALIZED +inline bool findInterior(const Eigen::MatrixXd &hPoly, + Eigen::Vector3d &interior) +{ + int m = hPoly.cols(); + + Eigen::MatrixXd A(m, 4); + Eigen::VectorXd b(m), c(4), x(4); + A.leftCols<3>() = hPoly.topRows<3>().transpose(); + A.rightCols<1>().setConstant(1.0); + b = hPoly.topRows<3>().cwiseProduct(hPoly.bottomRows<3>()).colwise().sum().transpose(); + c.setZero(); + c(3) = -1.0; + + double minmaxsd = sdlp::linprog(c, A, b, x); + interior = x.head<3>(); + + return minmaxsd < 0.0 && !std::isinf(minmaxsd); +} + +struct filterLess +{ + inline bool operator()(const Eigen::Vector3d &l, + const Eigen::Vector3d &r) + { + return l(0) < r(0) || + (l(0) == r(0) && + (l(1) < r(1) || + (l(1) == r(1) && + l(2) < r(2)))); + } +}; + +inline void filterVs(const Eigen::MatrixXd &rV, + const double &epsilon, + Eigen::MatrixXd &fV) +{ + double mag = std::max(fabs(rV.maxCoeff()), fabs(rV.minCoeff())); + double res = mag * std::max(fabs(epsilon) / mag, DBL_EPSILON); + std::set filter; + fV = rV; + int offset = 0; + Eigen::Vector3d quanti; + for (int i = 0; i < rV.cols(); i++) + { + quanti = (rV.col(i) / res).array().round(); + if (filter.find(quanti) == filter.end()) + { + filter.insert(quanti); + fV.col(offset) = rV.col(i); + offset++; + } + } + fV = fV.leftCols(offset).eval(); + return; +} + +// Each col of hPoly denotes a facet (outter_normal^T,point^T)^T +// The outter_normal is assumed to be NORMALIZED +// proposed epsilon is 1.0e-6 +inline void enumerateVs(const Eigen::MatrixXd &hPoly, + const Eigen::Vector3d &inner, + Eigen::MatrixXd &vPoly, + const double epsilon = 1.0e-6) +{ + Eigen::RowVectorXd b = hPoly.topRows<3>().cwiseProduct(hPoly.bottomRows<3>()).colwise().sum() - + inner.transpose() * hPoly.topRows<3>(); + Eigen::MatrixXd A = hPoly.topRows<3>().array().rowwise() / b.array(); + + quickhull::QuickHull qh; + double qhullEps = std::min(epsilon, quickhull::defaultEps()); + // CCW is false because the normal in quickhull towards interior + const auto cvxHull = qh.getConvexHull(A.data(), A.cols(), false, true, qhullEps); + const auto &idBuffer = cvxHull.getIndexBuffer(); + int hNum = idBuffer.size() / 3; + Eigen::MatrixXd rV(3, hNum); + Eigen::Vector3d normal, point, edge0, edge1; + for (int i = 0; i < hNum; i++) + { + point = A.col(idBuffer[3 * i + 1]); + edge0 = point - A.col(idBuffer[3 * i]); + edge1 = A.col(idBuffer[3 * i + 2]) - point; + normal = edge0.cross(edge1); //cross in CW gives an outter normal + rV.col(i) = normal / normal.dot(point); + } + filterVs(rV, epsilon, vPoly); + vPoly = (vPoly.array().colwise() + inner.array()).eval(); + return; +} + +// Each col of hPoly denotes a facet (outter_normal^T,point^T)^T +// The outter_normal is assumed to be NORMALIZED +// proposed epsilon is 1.0e-6 +inline bool enumerateVs(const Eigen::MatrixXd &hPoly, + Eigen::MatrixXd &vPoly, + const double epsilon = 1.0e-6) +{ + Eigen::Vector3d inner; + if (findInterior(hPoly, inner)) + { + enumerateVs(hPoly, inner, vPoly, epsilon); + return true; + } + else + { + return false; + } +} + +} // namespace geoutils + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/difPlan/lbfgs.hpp b/trajectoryOpt/src/plan_manage/include/difPlan/lbfgs.hpp new file mode 100644 index 0000000..ce23073 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/difPlan/lbfgs.hpp @@ -0,0 +1,838 @@ +#ifndef LBFGS_HPP +#define LBFGS_HPP + +#include +#include +#include + +namespace lbfgs +{ + // ----------------------- Data Type Part ----------------------- + + /** + * L-BFGS optimization parameters. + */ + struct lbfgs_parameter_t + { + /** + * The number of corrections to approximate the inverse hessian matrix. + * The L-BFGS routine stores the computation results of previous m + * iterations to approximate the inverse hessian matrix of the current + * iteration. This parameter controls the size of the limited memories + * (corrections). The default value is 8. Values less than 3 are + * not recommended. Large values will result in excessive computing time. + */ + int mem_size = 8; + + /** + * Epsilon for grad convergence test. DO NOT USE IT in nonsmooth cases! + * Set it to 0.0 and use past-delta-based test for nonsmooth functions. + * This parameter determines the accuracy with which the solution is to + * be found. A minimization terminates when + * ||g(x)||_inf / max(1, ||x||_inf) < g_epsilon, + * where ||.||_inf is the infinity norm. The default value is 1.0e-5. + * This should be greater than 1.0e-6 in practice because L-BFGS does + * not directly reduce first-order residual. It still needs the function + * value which can be corrupted by machine_prec when ||g|| is small. + */ + double g_epsilon = 1.0e-5; + + /** + * Distance for delta-based convergence test. + * This parameter determines the distance, in iterations, to compute + * the rate of decrease of the cost function. If the value of this + * parameter is zero, the library does not perform the delta-based + * convergence test. The default value is 3. + */ + int past = 3; + + /** + * Delta for convergence test. + * This parameter determines the minimum rate of decrease of the + * cost function. The library stops iterations when the following + * condition is met: + * |f' - f| / max(1, |f|) < delta, + * where f' is the cost value of past iterations ago, and f is + * the cost value of the current iteration. + * The default value is 1.0e-6. + */ + double delta = 1.0e-6; + + /** + * The maximum number of iterations. + * The lbfgs_optimize() function terminates an minimization process with + * ::LBFGSERR_MAXIMUMITERATION status code when the iteration count + * exceedes this parameter. Setting this parameter to zero continues an + * minimization process until a convergence or error. The default value + * is 0. + */ + int max_iterations = 0; + + /** + * The maximum number of trials for the line search. + * This parameter controls the number of function and gradients evaluations + * per iteration for the line search routine. The default value is 64. + */ + int max_linesearch = 64; + + /** + * The minimum step of the line search routine. + * The default value is 1.0e-20. This value need not be modified unless + * the exponents are too large for the machine being used, or unless the + * problem is extremely badly scaled (in which case the exponents should + * be increased). + */ + double min_step = 1.0e-20; + + /** + * The maximum step of the line search. + * The default value is 1.0e+20. This value need not be modified unless + * the exponents are too large for the machine being used, or unless the + * problem is extremely badly scaled (in which case the exponents should + * be increased). + */ + double max_step = 1.0e+20; + + /** + * A parameter to control the accuracy of the line search routine. + * The default value is 1.0e-4. This parameter should be greater + * than zero and smaller than 1.0. + */ + double f_dec_coeff = 1.0e-4; + + /** + * A parameter to control the accuracy of the line search routine. + * The default value is 0.9. If the function and gradient + * evaluations are inexpensive with respect to the cost of the + * iteration (which is sometimes the case when solving very large + * problems) it may be advantageous to set this parameter to a small + * value. A typical small value is 0.1. This parameter should be + * greater than the f_dec_coeff parameter and smaller than 1.0. + */ + double s_curv_coeff = 0.9; + + /** + * A parameter to ensure the global convergence for nonconvex functions. + * The default value is 1.0e-6. The parameter performs the so called + * cautious update for L-BFGS, especially when the convergence is + * not sufficient. The parameter must be positive but might as well + * be less than 1.0e-3 in practice. + */ + double cautious_factor = 1.0e-6; + + /** + * The machine precision for floating-point values. The default is 1.0e-16. + * This parameter must be a positive value set by a client program to + * estimate the machine precision. + */ + double machine_prec = 1.0e-16; + }; + + /** + * Return values of lbfgs_optimize(). + * Roughly speaking, a negative value indicates an error. + */ + enum + { + /** L-BFGS reaches convergence. */ + LBFGS_CONVERGENCE = 0, + /** L-BFGS satisfies stopping criteria. */ + LBFGS_STOP, + /** The iteration has been canceled by the monitor callback. */ + LBFGS_CANCELED, + + /** Unknown error. */ + LBFGSERR_UNKNOWNERROR = -1024, + /** Invalid number of variables specified. */ + LBFGSERR_INVALID_N, + /** Invalid parameter lbfgs_parameter_t::mem_size specified. */ + LBFGSERR_INVALID_MEMSIZE, + /** Invalid parameter lbfgs_parameter_t::g_epsilon specified. */ + LBFGSERR_INVALID_GEPSILON, + /** Invalid parameter lbfgs_parameter_t::past specified. */ + LBFGSERR_INVALID_TESTPERIOD, + /** Invalid parameter lbfgs_parameter_t::delta specified. */ + LBFGSERR_INVALID_DELTA, + /** Invalid parameter lbfgs_parameter_t::min_step specified. */ + LBFGSERR_INVALID_MINSTEP, + /** Invalid parameter lbfgs_parameter_t::max_step specified. */ + LBFGSERR_INVALID_MAXSTEP, + /** Invalid parameter lbfgs_parameter_t::f_dec_coeff specified. */ + LBFGSERR_INVALID_FDECCOEFF, + /** Invalid parameter lbfgs_parameter_t::s_curv_coeff specified. */ + LBFGSERR_INVALID_SCURVCOEFF, + /** Invalid parameter lbfgs_parameter_t::machine_prec specified. */ + LBFGSERR_INVALID_MACHINEPREC, + /** Invalid parameter lbfgs_parameter_t::max_linesearch specified. */ + LBFGSERR_INVALID_MAXLINESEARCH, + /** The function value became NaN or Inf. */ + LBFGSERR_INVALID_FUNCVAL, + /** The line-search step became smaller than lbfgs_parameter_t::min_step. */ + LBFGSERR_MINIMUMSTEP, + /** The line-search step became larger than lbfgs_parameter_t::max_step. */ + LBFGSERR_MAXIMUMSTEP, + /** Line search reaches the maximum, assumptions not satisfied or precision not achievable.*/ + LBFGSERR_MAXIMUMLINESEARCH, + /** The algorithm routine reaches the maximum number of iterations. */ + LBFGSERR_MAXIMUMITERATION, + /** Relative search interval width is at least lbfgs_parameter_t::machine_prec. */ + LBFGSERR_WIDTHTOOSMALL, + /** A logic error (negative line-search step) occurred. */ + LBFGSERR_INVALIDPARAMETERS, + /** The current search direction increases the cost function value. */ + LBFGSERR_INCREASEGRADIENT, + }; + + /** + * Callback interface to provide cost function and gradient evaluations. + * + * The lbfgs_optimize() function call this function to obtain the values of cost + * function and its gradients when needed. A client program must implement + * this function to evaluate the values of the cost function and its + * gradients, given current values of variables. + * + * @param instance The user data sent for lbfgs_optimize() function by the client. + * @param x The current values of variables. + * @param g The gradient vector. The callback function must compute + * the gradient values for the current variables. + * @retval double The value of the cost function for the current variables. + */ + typedef double (*lbfgs_evaluate_t)(void *instance, + const Eigen::VectorXd &x, + Eigen::VectorXd &g); + + /** + * Callback interface to provide an upper bound at the beginning of the current line search. + * + * The lbfgs_optimize() function call this function to obtain the values of the + * upperbound of the stepsize to search in, provided with the beginning values of + * variables before the line search, and the current step vector (can be descent direction). + * A client program can implement this function for more efficient linesearch. Any step + * larger than this bound should not be considered. For example, it has a very large or even + * inf function value. Note that the function value at the provided bound should be FINITE! + * If it is not used, just set it nullptr. + * + * @param instance The user data sent for lbfgs_optimize() function by the client. + * @param xp The values of variables before current line search. + * @param d The step vector. It can be the descent direction. + * @retval double The upperboud of the step in current line search routine, + * such that (stpbound * d) is the maximum reasonable step. + */ + typedef double (*lbfgs_stepbound_t)(void *instance, + const Eigen::VectorXd &xp, + const Eigen::VectorXd &d); + + /** + * Callback interface to monitor the progress of the minimization process. + * + * The lbfgs_optimize() function call this function for each iteration. Implementing + * this function, a client program can store or display the current progress + * of the minimization process. If it is not used, just set it nullptr. + * + * @param instance The user data sent for lbfgs_optimize() function by the client. + * @param x The current values of variables. + * @param g The current gradient values of variables. + * @param fx The current value of the cost function. + * @param step The line-search step used for this iteration. + * @param k The iteration count. + * @param ls The number of evaluations called for this iteration. + * @retval int Zero to continue the minimization process. Returning a + * non-zero value will cancel the minimization process. + */ + typedef int (*lbfgs_progress_t)(void *instance, + const Eigen::VectorXd &x, + const Eigen::VectorXd &g, + const double fx, + const double step, + const int k, + const int ls); + + /** + * Callback data struct + */ + struct callback_data_t + { + void *instance = nullptr; + lbfgs_evaluate_t proc_evaluate = nullptr; + lbfgs_stepbound_t proc_stepbound = nullptr; + lbfgs_progress_t proc_progress = nullptr; + }; + + // ----------------------- L-BFGS Part ----------------------- + + /** + * Line search method for smooth or nonsmooth functions. + * This function performs line search to find a point that satisfy + * both the Armijo condition and the weak Wolfe condition. It is + * as robust as the backtracking line search but further applies + * to continuous and piecewise smooth functions where the strong + * Wolfe condition usually does not hold. + * + * @see + * Adrian S. Lewis and Michael L. Overton. Nonsmooth optimization + * via quasi-Newton methods. Mathematical Programming, Vol 141, + * No 1, pp. 135-163, 2013. + */ + inline int line_search_lewisoverton(Eigen::VectorXd &x, + double &f, + Eigen::VectorXd &g, + double &stp, + const Eigen::VectorXd &s, + const Eigen::VectorXd &xp, + const Eigen::VectorXd &gp, + const double stpmin, + const double stpmax, + const callback_data_t &cd, + const lbfgs_parameter_t ¶m) + { + int count = 0; + bool brackt = false, touched = false; + double finit, dginit, dgtest, dstest; + double mu = 0.0, nu = stpmax; + + /* Check the input parameters for errors. */ + if (!(stp > 0.0)) + { + return LBFGSERR_INVALIDPARAMETERS; + } + + /* Compute the initial gradient in the search direction. */ + dginit = gp.dot(s); + /* Make sure that s points to a descent direction. */ + if (0.0 < dginit) + { + return LBFGSERR_INCREASEGRADIENT; + } + + /* The initial value of the cost function. */ + finit = f; + dgtest = param.f_dec_coeff * dginit; + dstest = param.s_curv_coeff * dginit; + + while (true) + { + x = xp + stp * s; + + /* Evaluate the function and gradient values. */ + f = cd.proc_evaluate(cd.instance, x, g); + ++count; + + /* Test for errors. */ + if (std::isinf(f) || std::isnan(f)) + { + return LBFGSERR_INVALID_FUNCVAL; + } + + if(param.past > 0 && fabs(finit-f)/(fabs(finit)+1.0) finit + stp * dgtest) + { + nu = stp; + brackt = true; + } + else + { + /* Check the weak Wolfe condition. */ + if (g.dot(s) < dstest) + { + mu = stp; + } + else + { + return count; + } + } + if (param.max_linesearch <= count) + { + // std::cout<< fabs(dginit)/finit< stpmax) + { + if (touched) + { + /* The step is the maximum value. */ + return LBFGSERR_MAXIMUMSTEP; + } + else + { + /* The maximum value should be tried once. */ + touched = true; + stp = stpmax; + } + } + } + } + + /** + * Start a L-BFGS optimization. + * Assumptions: 1. f(x) is either C2 or C0 but piecewise C2; + * 2. f(x) is lower bounded; + * 3. f(x) has bounded level sets; + * 4. g(x) is either the gradient or subgradient; + * 5. The gradient exists at the initial guess x0. + * A user must implement a function compatible with ::lbfgs_evaluate_t (evaluation + * callback) and pass the pointer to the callback function to lbfgs_optimize() + * arguments. Similarly, a user can implement a function compatible with + * ::lbfgs_stepbound_t to provide an external upper bound for stepsize, and + * ::lbfgs_progress_t (progress callback) to obtain the current progress + * (e.g., variables, function, and gradient, etc) and to cancel the iteration + * process if necessary. Implementation of the stepbound and the progress callback + * is optional: a user can pass nullptr if progress notification is not necessary. + * + * + * @param x The vector of decision variables. + * THE INITIAL GUESS x0 SHOULD BE SET BEFORE THE CALL! + * A client program can receive decision variables + * through this vector, at which the cost and its + * gradient are queried during minimization. + * @param f The ref to the variable that receives the final + * value of the cost function for the variables. + * @param proc_evaluate The callback function to provide function f(x) and + * gradient g(x) evaluations given a current values of + * variables x. A client program must implement a + * callback function compatible with lbfgs_evaluate_t + * and pass the pointer to the callback function. + * @param proc_stepbound The callback function to provide values of the + * upperbound of the stepsize to search in, provided + * with the beginning values of variables before the + * line search, and the current step vector (can be + * negative gradient). A client program can implement + * this function for more efficient linesearch. If it is + * not used, just set it nullptr. + * @param proc_progress The callback function to receive the progress + * (the number of iterations, the current value of + * the cost function) of the minimization + * process. This argument can be set to nullptr if + * a progress report is unnecessary. + * @param instance A user data pointer for client programs. The callback + * functions will receive the value of this argument. + * @param param The parameters for L-BFGS optimization. + * @retval int The status code. This function returns a nonnegative + * integer if the minimization process terminates without + * an error. A negative integer indicates an error. + */ + inline int lbfgs_optimize(Eigen::VectorXd &x, + double &f, + lbfgs_evaluate_t proc_evaluate, + lbfgs_stepbound_t proc_stepbound, + lbfgs_progress_t proc_progress, + void *instance, + const lbfgs_parameter_t ¶m) + { + int ret, i, j, k, ls, end, bound; + double step, step_min, step_max, fx, ys, yy; + double gnorm_inf, xnorm_inf, beta, rate, cau; + + const int n = x.size(); + const int m = param.mem_size; + + /* Check the input parameters for errors. */ + if (n <= 0) + { + return LBFGSERR_INVALID_N; + } + if (m <= 0) + { + return LBFGSERR_INVALID_MEMSIZE; + } + if (param.g_epsilon < 0.0) + { + return LBFGSERR_INVALID_GEPSILON; + } + if (param.past < 0) + { + return LBFGSERR_INVALID_TESTPERIOD; + } + if (param.delta < 0.0) + { + return LBFGSERR_INVALID_DELTA; + } + if (param.min_step < 0.0) + { + return LBFGSERR_INVALID_MINSTEP; + } + if (param.max_step < param.min_step) + { + return LBFGSERR_INVALID_MAXSTEP; + } + if (!(param.f_dec_coeff > 0.0 && + param.f_dec_coeff < 1.0)) + { + return LBFGSERR_INVALID_FDECCOEFF; + } + if (!(param.s_curv_coeff < 1.0 && + param.s_curv_coeff > param.f_dec_coeff)) + { + return LBFGSERR_INVALID_SCURVCOEFF; + } + if (!(param.machine_prec > 0.0)) + { + return LBFGSERR_INVALID_MACHINEPREC; + } + if (param.max_linesearch <= 0) + { + return LBFGSERR_INVALID_MAXLINESEARCH; + } + + /* Prepare intermediate variables. */ + Eigen::VectorXd xp(n); + Eigen::VectorXd g(n); + Eigen::VectorXd gp(n); + Eigen::VectorXd d(n); + Eigen::VectorXd pf(std::max(1, param.past)); + + /* Initialize the limited memory. */ + Eigen::VectorXd lm_alpha = Eigen::VectorXd::Zero(m); + Eigen::MatrixXd lm_s = Eigen::MatrixXd::Zero(n, m); + Eigen::MatrixXd lm_y = Eigen::MatrixXd::Zero(n, m); + Eigen::VectorXd lm_ys = Eigen::VectorXd::Zero(m); + + /* Construct a callback data. */ + callback_data_t cd; + cd.instance = instance; + cd.proc_evaluate = proc_evaluate; + cd.proc_stepbound = proc_stepbound; + cd.proc_progress = proc_progress; + + /* Evaluate the function value and its gradient. */ + fx = cd.proc_evaluate(cd.instance, x, g); + + /* Store the initial value of the cost function. */ + pf(0) = fx; + + /* + Compute the direction; + we assume the initial hessian matrix H_0 as the identity matrix. + */ + d = -g; + + /* + Make sure that the initial variables are not a stationary point. + */ + gnorm_inf = g.cwiseAbs().maxCoeff(); + xnorm_inf = x.cwiseAbs().maxCoeff(); + + if (gnorm_inf / std::max(1.0, xnorm_inf) < param.g_epsilon) + { + /* The initial guess is already a stationary point. */ + ret = LBFGS_CONVERGENCE; + } + else + { + /* + Compute the initial step: + */ + step = 1.0 / d.norm(); + + k = 1; + end = 0; + bound = 0; + + while (true) + { + /* Store the current position and gradient vectors. */ + xp = x; + gp = g; + + /* If the step bound can be provied dynamically, then apply it. */ + step_min = param.min_step; + step_max = param.max_step; + if (cd.proc_stepbound) + { + step_max = cd.proc_stepbound(cd.instance, xp, d); + step_max = step_max < param.max_step ? step_max : param.max_step; + step = step < step_max ? step : 0.5 * step_max; + } + + /* Search for an optimal step. */ + ls = line_search_lewisoverton(x, fx, g, step, d, xp, gp, step_min, step_max, cd, param); + + // int idx = 1; + // step = 1.0; + // if(d.norm()>1.0){ + // d = d.normalized().eval()*1.0; + // } + // while(1){ + // // std::cout<<"step * d"<<(step * d).transpose()<1.0){ + // g = g.normalized().eval()*1.0; + // } + // std::cout<<"fx: "< \epsilon * ||g_{k}||^\alpha, + where \epsilon is the cautious factor and a proposed value + for \alpha is 1. + This is not for enforcing the PD of the approxomated Hessian + since ys > 0 is already ensured by the weak Wolfe condition. + This is to ensure the global convergence as described in: + Dong-Hui Li and Masao Fukushima. On the global convergence of + the BFGS method for nonconvex unconstrained optimization problems. + SIAM Journal on Optimization, Vol 11, No 4, pp. 1054-1064, 2011. + */ + cau = lm_s.col(end).squaredNorm() * gp.norm() * param.cautious_factor; + + if (ys > cau) + { + /* + Recursive formula to compute dir = -(H \cdot g). + This is described in page 779 of: + Jorge Nocedal. + Updating Quasi-Newton Matrices with Limited Storage. + Mathematics of Computation, Vol. 35, No. 151, + pp. 773--782, 1980. + */ + ++bound; + bound = m < bound ? m : bound; + end = (end + 1) % m; + + j = end; + for (i = 0; i < bound; ++i) + { + j = (j + m - 1) % m; /* if (--j == -1) j = m-1; */ + /* \alpha_{j} = \rho_{j} s^{t}_{j} \cdot q_{k+1}. */ + lm_alpha(j) = lm_s.col(j).dot(d) / lm_ys(j); + /* q_{i} = q_{i+1} - \alpha_{i} y_{i}. */ + d += (-lm_alpha(j)) * lm_y.col(j); + } + + d *= ys / yy; + + for (i = 0; i < bound; ++i) + { + /* \beta_{j} = \rho_{j} y^t_{j} \cdot \gamm_{i}. */ + beta = lm_y.col(j).dot(d) / lm_ys(j); + /* \gamm_{i+1} = \gamm_{i} + (\alpha_{j} - \beta_{j}) s_{j}. */ + d += (lm_alpha(j) - beta) * lm_s.col(j); + j = (j + 1) % m; /* if (++j == m) j = 0; */ + } + } + + /* The search direction d is ready. We try step = 1 first. */ + step = 1.0; + } + } + + /* Return the final value of the cost function. */ + f = fx; + + return ret; + } + + /** + * Get string description of an lbfgs_optimize() return code. + * + * @param err A value returned by lbfgs_optimize(). + */ + inline const char *lbfgs_strerror(const int err) + { + switch (err) + { + case LBFGS_CONVERGENCE: + return "Success: reached convergence (g_epsilon)."; + + case LBFGS_STOP: + return "Success: met stopping criteria (past f decrease less than delta)."; + + case LBFGS_CANCELED: + return "The iteration has been canceled by the monitor callback."; + + case LBFGSERR_UNKNOWNERROR: + return "Unknown error."; + + case LBFGSERR_INVALID_N: + return "Invalid number of variables specified."; + + case LBFGSERR_INVALID_MEMSIZE: + return "Invalid parameter lbfgs_parameter_t::mem_size specified."; + + case LBFGSERR_INVALID_GEPSILON: + return "Invalid parameter lbfgs_parameter_t::g_epsilon specified."; + + case LBFGSERR_INVALID_TESTPERIOD: + return "Invalid parameter lbfgs_parameter_t::past specified."; + + case LBFGSERR_INVALID_DELTA: + return "Invalid parameter lbfgs_parameter_t::delta specified."; + + case LBFGSERR_INVALID_MINSTEP: + return "Invalid parameter lbfgs_parameter_t::min_step specified."; + + case LBFGSERR_INVALID_MAXSTEP: + return "Invalid parameter lbfgs_parameter_t::max_step specified."; + + case LBFGSERR_INVALID_FDECCOEFF: + return "Invalid parameter lbfgs_parameter_t::f_dec_coeff specified."; + + case LBFGSERR_INVALID_SCURVCOEFF: + return "Invalid parameter lbfgs_parameter_t::s_curv_coeff specified."; + + case LBFGSERR_INVALID_MACHINEPREC: + return "Invalid parameter lbfgs_parameter_t::machine_prec specified."; + + case LBFGSERR_INVALID_MAXLINESEARCH: + return "Invalid parameter lbfgs_parameter_t::max_linesearch specified."; + + case LBFGSERR_INVALID_FUNCVAL: + return "The function value became NaN or Inf."; + + case LBFGSERR_MINIMUMSTEP: + return "The line-search step became smaller than lbfgs_parameter_t::min_step."; + + case LBFGSERR_MAXIMUMSTEP: + return "The line-search step became larger than lbfgs_parameter_t::max_step."; + + case LBFGSERR_MAXIMUMLINESEARCH: + return "Line search reaches the maximum try number, assumptions not satisfied or precision not achievable."; + + case LBFGSERR_MAXIMUMITERATION: + return "The algorithm routine reaches the maximum number of iterations."; + + case LBFGSERR_WIDTHTOOSMALL: + return "Relative search interval width is at least lbfgs_parameter_t::machine_prec."; + + case LBFGSERR_INVALIDPARAMETERS: + return "A logic error (negative line-search step) occurred."; + + case LBFGSERR_INCREASEGRADIENT: + return "The current search direction increases the cost function value."; + + default: + return "(unknown)"; + } + } + +} // namespace lbfgs + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/difPlan/poly_traj_utils.hpp b/trajectoryOpt/src/plan_manage/include/difPlan/poly_traj_utils.hpp new file mode 100755 index 0000000..c30fd45 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/difPlan/poly_traj_utils.hpp @@ -0,0 +1,941 @@ +#pragma once + +#include +#include +#include +#include +#include + +#include + + +#include "root_finder.hpp" + +namespace dftpav +{ + constexpr double PI = 3.1415926; + typedef Eigen::Matrix CoefficientMat; + typedef Eigen::Matrix VelCoefficientMat; + typedef Eigen::Matrix AccCoefficientMat; + + + class Piece // component from poly + { + private: // duration + coeffMat + double duration; + CoefficientMat coeffMat; + + int dim = 2; + int order = 5; + int singul; + + public: + Piece() = default; + + Piece(double dur, const CoefficientMat &cMat, int s) + : duration(dur), coeffMat(cMat), singul(s) {} + //@yuwei + inline int getDim() const + { + return dim; + } + //@yuwei + inline int getOrder() const + { + return order; + } + + inline double getDuration() const + { + return duration; + } + + inline const CoefficientMat &getCoeffMat() const + { + return coeffMat; + } + + inline VelCoefficientMat getVelCoeffMat() const + { + VelCoefficientMat velCoeffMat; + int n = 1; + for (int i = 4; i >= 0; i--) + { + velCoeffMat.col(i) = n * coeffMat.col(i); + n++; + } + return velCoeffMat; + } + + + // the point in the rear axle center + inline Eigen::Vector2d getSigma(const double &t) const + { + Eigen::Vector2d pos(0.0, 0.0); + double tn = 1.0; + for (int i = order; i >= 0; i--) + { + pos += tn * coeffMat.col(i); + tn *= t; + } + return pos; + } + + inline Eigen::Matrix2d getR(const double &t) const + { + Eigen::Vector2d current_v = getdSigma(t); + Eigen::Matrix2d rotation_matrix; + rotation_matrix << current_v(0), -current_v(1), + current_v(1), current_v(0); + rotation_matrix = singul * rotation_matrix / current_v.norm(); + + return rotation_matrix; + } + + inline Eigen::Matrix2d getRdot(const double &t) const + { + Eigen::Vector2d current_v = getdSigma(t); + Eigen::Vector2d current_a = getddSigma(t); + Eigen::Matrix2d temp_a_ba, temp_v_bv; + temp_a_ba << current_a(0), -current_a(1), + current_a(1), current_a(0); + temp_v_bv << current_v(0), -current_v(1), + current_v(1), current_v(0); + Eigen::Matrix2d R_dot = singul * (temp_a_ba / current_v.norm() - temp_v_bv / pow(current_v.norm(), 3) * (current_v.transpose() * current_a)); + + return R_dot; + } + + + + + inline Eigen::Vector2d getdSigma(const double &t) const + { + + + Eigen::Vector2d dsigma(0.0, 0.0); + double tn = 1.0; + int n = 1; + + for (int i = order-1; i >= 0; i--) + { + dsigma += n * tn * coeffMat.col(i); + tn *= t; + n++; + } + return dsigma; + } + + inline Eigen::Vector2d getddSigma(const double &t) const + { + Eigen::Vector2d ddsigma(0.0, 0.0); + double tn = 1.0; + int m = 1; + int n = 2; + + for (int i = order-2; i >= 0; i--) + { + ddsigma += m * n * tn * coeffMat.col(i); + tn *= t; + m++; + n++; + } + return ddsigma; + } + + inline Eigen::Vector2d getdddSigma(const double &t) const + { + Eigen::Vector2d dddsigma(0.0, 0.0); + double tn = 1.0; + int l = 1; + int m = 2; + int n = 3; + + for (int i = order-3; i >= 0; i--) + { + dddsigma += l * m * n * tn * coeffMat.col(i); + + tn *= t; + l++; + m++; + n++; + } + return dddsigma; + } + + + inline CoefficientMat normalizePosCoeffMat() const + { + CoefficientMat nPosCoeffsMat; + double t = 1.0; + for (int i = order; i >= 0; i--) + { + nPosCoeffsMat.col(i) = coeffMat.col(i) * t; + t *= duration; + } + return nPosCoeffsMat; + } + + }; + + + class Trajectory + { + private: + typedef std::vector Pieces; + Pieces pieces; + + public: + Trajectory() = default; + + Trajectory(const std::vector &durs, + const std::vector &cMats, int s) + { + int N = std::min(durs.size(), cMats.size()); + pieces.reserve(N); + for (int i = 0; i < N; i++) + { + pieces.emplace_back(durs[i], cMats[i], s); + } + } + + + + + inline int getPieceNum() const + { + return pieces.size(); + } + + inline Eigen::VectorXd getDurations() const + { + int N = getPieceNum(); + Eigen::VectorXd durations(N); + for (int i = 0; i < N; i++) + { + durations(i) = pieces[i].getDuration(); + } + return durations; + } + + inline double getTotalDuration() const + { + int N = getPieceNum(); + double totalDuration = 0.0; + for (int i = 0; i < N; i++) + { + totalDuration += pieces[i].getDuration(); + } + return totalDuration; + } + + + + inline const Piece &operator[](int i) const + { + return pieces[i]; + } + + inline Piece &operator[](int i) + { + return pieces[i]; + } + + inline void clear(void) + { + pieces.clear(); + return; + } + + inline Pieces::const_iterator begin() const + { + return pieces.begin(); + } + + inline Pieces::const_iterator end() const + { + return pieces.end(); + } + + inline Pieces::iterator begin() + { + return pieces.begin(); + } + + inline Pieces::iterator end() + { + return pieces.end(); + } + + inline void reserve(const int &n) + { + pieces.reserve(n); + return; + } + + inline void emplace_back(const Piece &piece) + { + pieces.emplace_back(piece); + return; + } + + inline void emplace_back(const double &dur, + const CoefficientMat &cMat, int s) + { + pieces.emplace_back(dur, cMat, s); + return; + } + + inline void append(const Trajectory &traj) + { + pieces.insert(pieces.end(), traj.begin(), traj.end()); + return; + } + + inline int locatePieceIdx(double &t) const + { + int N = getPieceNum(); + int idx; + double dur; + for (idx = 0; + idx < N && + t > (dur = pieces[idx].getDuration()); + idx++) + { + t -= dur; + } + if (idx == N) + { + idx--; + t += pieces[idx].getDuration(); + } + return idx; + } + + + inline int locatePieceIdx2(double t) const + { + int N = getPieceNum(); + std::cout << "N = getPieceNum() is"<< N << std::endl; + int idx; + double dur; + for (idx = 0; + idx < N && + t > (dur = pieces[idx].getDuration()); + idx++) + { + t -= dur; + } + if (idx == N) + { + idx--; + t += pieces[idx].getDuration(); + } + return idx; + } + + + inline Eigen::Vector2d getSigma(double t) const + { + int pieceIdx = locatePieceIdx(t); + return pieces[pieceIdx].getSigma(t); + } + + + + inline Eigen::Vector2d getdSigma(double t) const + { + int pieceIdx = locatePieceIdx(t); + return pieces[pieceIdx].getdSigma(t); + } + + double getVelNorm(double t) const{ + return getdSigma(t).norm(); + } + inline Eigen::Vector2d getddSigma(double t) const + { + int pieceIdx = locatePieceIdx(t); + // std::cout << "pieceIdx is"<< pieceIdx << std::endl; + // std::cout << "t is"<< t << std::endl; + return pieces[pieceIdx].getddSigma(t); + } + + inline Eigen::Vector2d getdddSigma(double t) const + { + int pieceIdx = locatePieceIdx(t); + return pieces[pieceIdx].getdddSigma(t); + } + + // hzc + inline std::pair locatePieceIdxWithRatio(double &t) const + { + int N = getPieceNum(); + int idx; + double dur; + for (idx = 0; + idx < N && + t > (dur = pieces[idx].getDuration()); + idx++) + { + t -= dur; + } + if (idx == N) + { + idx--; + t += pieces[idx].getDuration(); + } + std::pair idx_ratio; + idx_ratio.first = idx; + idx_ratio.second = t / dur; + return idx_ratio; + } + }; + + class DifTrajectory{ + private: + + public: + DifTrajectory() = default; + std::vector Traj_container; + std::vector etas; + inline int getSegNum() const { return etas.size(); } + inline int locateTrajIdx(double &t) const + { + int N = etas.size(); + int idx; + double dur; + for (idx = 0; + idx < N && + t > (dur = Traj_container[idx].getTotalDuration()+1.0e-6); + idx++) + { + t -= dur; + } + if (idx == N) + { + idx--; + t += Traj_container[idx].getTotalDuration(); + } + return idx; + } + inline int getDirection(double t) const{ + int idx = locateTrajIdx(t); + if(etas[idx] > 0){ + return 1; + } + else{ + return -1; + } + } + inline double getTotalDuration() const + { + double totalT = 0.0; + for(const auto traj : Traj_container){ + totalT += traj.getTotalDuration(); + } + return totalT; + } + double getVelItem(double t) const{ + int idx = locateTrajIdx(t); + int eta = etas[idx]; + return Traj_container[idx].getVelNorm(t) * eta; + } + inline double getTotalArc() const{ + double length = 0.0; + for(double t = 0.0; t < getTotalDuration()-1.0e-3; t+=0.01){ + length += 0.01 * fabs(getVelItem(t)); + } + return length; + } + + + + + + inline Eigen::Vector2d getPos(double t) const + { + int idx = locateTrajIdx(t); + return Traj_container[idx].getSigma(t); + } + double getCur(double t) const{ + int idx = locateTrajIdx(t); + int eta = etas[idx]; + Eigen::Vector2d vel = Traj_container[idx].getdSigma(t); + Eigen::Vector2d acc = Traj_container[idx].getddSigma(t); + return eta*(vel[0]*acc[1]-vel[1]*acc[0])/(vel.norm()*vel.norm()*vel.norm()); + } + double getCurDot(double t) const{ + int idx = locateTrajIdx(t); + int eta = etas[idx]; + + Eigen::Vector2d vel = Traj_container[idx].getdSigma(t); + Eigen::Vector2d acc = Traj_container[idx].getddSigma(t); + Eigen::Vector2d jerk = Traj_container[idx].getdddSigma(t); + + Eigen::Matrix2d B; + B << 0,-1, + 1, 0; + double tp1 = jerk.transpose()*B*vel; + double v3 = pow(vel.norm(),3); + double tp2 = acc.transpose()*B*vel; + double tp3 = acc.dot(vel); + double v1 = vel.norm(); + double v6 = pow(vel.norm(),6); + double denor = tp1*v3-3.0*tp2*tp3*v1; + double kdot = denor / v6; + return kdot * eta; + + } + double getPhi(double t, double wheelbase = 0.6){ + double c = getCur(t); + return atan(c * wheelbase); + } + double getOmega(double t, double wheelbase = 0.6) const{ + int idx = locateTrajIdx(t); + int eta = etas[idx]; + + + + + Eigen::Vector2d vel = Traj_container[idx].getdSigma(t); + Eigen::Vector2d acc = Traj_container[idx].getddSigma(t); + Eigen::Vector2d jerk = Traj_container[idx].getdddSigma(t); + + Eigen::Matrix2d B; + B << 0,-1, + 1, 0; + double tp1 = jerk.transpose()*B*vel; + double v3 = pow(vel.norm(),3); + double tp2 = acc.transpose()*B*vel; + double tp3 = acc.dot(vel); + double v1 = vel.norm(); + double v6 = pow(vel.norm(),6); + double denor = tp1*v3-3.0*tp2*tp3*v1; + double nor = v6 + pow(tp2*wheelbase,2); + double omega = wheelbase * denor / nor; + + return omega * eta; + + } + + inline double getYaw(double t) const{ + int idx = locateTrajIdx(t); + Eigen::Vector2d vel = Traj_container[idx].getdSigma(t); + double yaw = atan2(etas[idx] * vel[1], etas[idx] * vel[0]); + return yaw; + } + + + inline Eigen::VectorXd getDurations() const{ + std::vector stdDurations; + for(const auto traj : Traj_container){ + Eigen::VectorXd tmpDurations = traj.getDurations(); + for(int i = 0; i < tmpDurations.size(); i++){ + stdDurations.push_back(tmpDurations[i]); + } + } + Eigen::VectorXd durations; + durations.resize(stdDurations.size()); + for(int i = 0; i < stdDurations.size(); i++){ + durations[i] = stdDurations[i]; + } + return durations; + } + inline int getTotalPieceNum() const{ + int pieceNum = 0; + for(const auto traj : Traj_container){ + pieceNum += traj.getPieceNum(); + } + return pieceNum; + } + inline const Trajectory &operator[](int i) const + { + return Traj_container[i]; + } + + inline Trajectory &operator[](int i) + { + return Traj_container[i]; + } + + + + }; + + + // The banded system class is used for solving + // banded linear system Ax=b efficiently. + // A is an N*N band matrix with lower band width lowerBw + // and upper band width upperBw. + // Banded LU factorization has O(N) time complexity. + class BandedSystem { + public: + // The size of A, as well as the lower/upper + // banded width p/q are needed + inline void create(const int &n, const int &p, const int &q) { + // In case of re-creating before destroying + destroy(); + N = n; + lowerBw = p; + upperBw = q; + int actualSize = N * (lowerBw + upperBw + 1); + ptrData = new double[actualSize]; + std::fill_n(ptrData, actualSize, 0.0); + return; + } + + inline void destroy() { + if (ptrData != nullptr) { + delete[] ptrData; + ptrData = nullptr; + } + return; + } + + private: + int N; + int lowerBw; + int upperBw; + // Compulsory nullptr initialization here + double *ptrData = nullptr; + + public: + // Reset the matrix to zero + inline void reset(void) { + std::fill_n(ptrData, N * (lowerBw + upperBw + 1), 0.0); + return; + } + + // The band matrix is stored as suggested in "Matrix Computation" + inline const double &operator()(const int &i, const int &j) const { + return ptrData[(i - j + upperBw) * N + j]; + } + + inline double &operator()(const int &i, const int &j) { + return ptrData[(i - j + upperBw) * N + j]; + } + + // This function conducts banded LU factorization in place + // Note that NO PIVOT is applied on the matrix "A" for efficiency!!! + inline void factorizeLU() { + int iM, jM; + double cVl; + for (int k = 0; k <= N - 2; k++) { + iM = std::min(k + lowerBw, N - 1); + cVl = operator()(k, k); + for (int i = k + 1; i <= iM; i++) { + if (operator()(i, k) != 0.0) { + operator()(i, k) /= cVl; + } + } + jM = std::min(k + upperBw, N - 1); + for (int j = k + 1; j <= jM; j++) { + cVl = operator()(k, j); + if (cVl != 0.0) { + for (int i = k + 1; i <= iM; i++) { + if (operator()(i, k) != 0.0) { + operator()(i, j) -= operator()(i, k) * cVl; + } + } + } + } + } + return; + } + + // This function solves Ax=b, then stores x in b + // The input b is required to be N*m, i.e., + // m vectors to be solved. + template + inline void solve(EIGENMAT &b) const { + int iM; + for (int j = 0; j <= N - 1; j++) { + iM = std::min(j + lowerBw, N - 1); + for (int i = j + 1; i <= iM; i++) { + if (operator()(i, j) != 0.0) { + b.row(i) -= operator()(i, j) * b.row(j); + } + } + } + for (int j = N - 1; j >= 0; j--) { + b.row(j) /= operator()(j, j); + iM = std::max(0, j - upperBw); + for (int i = iM; i <= j - 1; i++) { + if (operator()(i, j) != 0.0) { + b.row(i) -= operator()(i, j) * b.row(j); + } + } + } + return; + } + + // This function solves ATx=b, then stores x in b + // The input b is required to be N*m, i.e., + // m vectors to be solved. + template + inline void solveAdj(EIGENMAT &b) const { + int iM; + for (int j = 0; j <= N - 1; j++) { + b.row(j) /= operator()(j, j); + iM = std::min(j + upperBw, N - 1); + for (int i = j + 1; i <= iM; i++) { + if (operator()(j, i) != 0.0) { + b.row(i) -= operator()(j, i) * b.row(j); + } + } + } + for (int j = N - 1; j >= 0; j--) { + iM = std::max(0, j - lowerBw); + for (int i = iM; i <= j - 1; i++) { + if (operator()(j, i) != 0.0) { + b.row(i) -= operator()(j, i) * b.row(j); + } + } + } + return; + } + }; + + class MinJerkOpt + { + public: + MinJerkOpt() = default; + ~MinJerkOpt() { A.destroy(); } + + + private: + int N; // pieceNum + Eigen::MatrixXd headPVA, tailPVA; + Eigen::MatrixXd b, c, adjScaledGrad; // 6*N, 2 + BandedSystem A; // 6 * N, 6 * N + Eigen::Matrix t, tInv; + + // for outside use + /*polynomial descrips*/ + Eigen::MatrixXd gdC; + double gdT; + /*MINCO descrips*/ + Eigen::MatrixXd gdHead; + Eigen::MatrixXd gdTail; + Eigen::MatrixXd gdP; + + + public: + inline void reset(const int &pieceNum) + { + + + N = pieceNum; + A.create(6 * N, 6, 6); + b.resize(6 * N, 2); + c.resize(6 * N, 2); + adjScaledGrad.resize(6 * N, 2); + gdC.resize(6 * N, 2); + gdP.resize(2, N - 1); + + gdHead.resize(2, 3); + gdTail.resize(2, 3); + + t(0) = 1.0; + + A(0, 0) = 1.0; + A(1, 1) = 1.0; + A(2, 2) = 2.0; + for (int i = 0; i < N - 1; i++) { + A(6 * i + 3, 6 * i + 3) = 6.0; + A(6 * i + 3, 6 * i + 4) = 24.0; + A(6 * i + 3, 6 * i + 5) = 60.0; + A(6 * i + 3, 6 * i + 9) = -6.0; + A(6 * i + 4, 6 * i + 4) = 24.0; + A(6 * i + 4, 6 * i + 5) = 120.0; + A(6 * i + 4, 6 * i + 10) = -24.0; + A(6 * i + 5, 6 * i) = 1.0; + A(6 * i + 5, 6 * i + 1) = 1.0; + A(6 * i + 5, 6 * i + 2) = 1.0; + A(6 * i + 5, 6 * i + 3) = 1.0; + A(6 * i + 5, 6 * i + 4) = 1.0; + A(6 * i + 5, 6 * i + 5) = 1.0; + A(6 * i + 6, 6 * i) = 1.0; + A(6 * i + 6, 6 * i + 1) = 1.0; + A(6 * i + 6, 6 * i + 2) = 1.0; + A(6 * i + 6, 6 * i + 3) = 1.0; + A(6 * i + 6, 6 * i + 4) = 1.0; + A(6 * i + 6, 6 * i + 5) = 1.0; + A(6 * i + 6, 6 * i + 6) = -1.0; + A(6 * i + 7, 6 * i + 1) = 1.0; + A(6 * i + 7, 6 * i + 2) = 2.0; + A(6 * i + 7, 6 * i + 3) = 3.0; + A(6 * i + 7, 6 * i + 4) = 4.0; + A(6 * i + 7, 6 * i + 5) = 5.0; + A(6 * i + 7, 6 * i + 7) = -1.0; + A(6 * i + 8, 6 * i + 2) = 2.0; + A(6 * i + 8, 6 * i + 3) = 6.0; + A(6 * i + 8, 6 * i + 4) = 12.0; + A(6 * i + 8, 6 * i + 5) = 20.0; + A(6 * i + 8, 6 * i + 8) = -2.0; + } + A(6 * N - 3, 6 * N - 6) = 1.0; + A(6 * N - 3, 6 * N - 5) = 1.0; + A(6 * N - 3, 6 * N - 4) = 1.0; + A(6 * N - 3, 6 * N - 3) = 1.0; + A(6 * N - 3, 6 * N - 2) = 1.0; + A(6 * N - 3, 6 * N - 1) = 1.0; + A(6 * N - 2, 6 * N - 5) = 1.0; + A(6 * N - 2, 6 * N - 4) = 2.0; + A(6 * N - 2, 6 * N - 3) = 3.0; + A(6 * N - 2, 6 * N - 2) = 4.0; + A(6 * N - 2, 6 * N - 1) = 5.0; + A(6 * N - 1, 6 * N - 4) = 2.0; + A(6 * N - 1, 6 * N - 3) = 6.0; + A(6 * N - 1, 6 * N - 2) = 12.0; + A(6 * N - 1, 6 * N - 1) = 20.0; + A.factorizeLU(); + + return; + } + + inline void generate(const Eigen::MatrixXd &inPs, + const double &dT, + const Eigen::MatrixXd &headState, + const Eigen::MatrixXd &tailState) + { + headPVA = headState; + tailPVA = tailState; + + t(1) = dT; + t(2) = t(1) * t(1); + t(3) = t(2) * t(1); + t(4) = t(2) * t(2); + t(5) = t(4) * t(1); + tInv = t.cwiseInverse(); + + b.setZero(); + b.row(0) = headPVA.col(0).transpose(); + b.row(1) = headPVA.col(1).transpose() * t(1); + b.row(2) = headPVA.col(2).transpose() * t(2); + for (int i = 0; i < N - 1; i++) { + b.row(6 * i + 5) = inPs.col(i).transpose(); + } + b.row(6 * N - 3) = tailPVA.col(0).transpose(); + b.row(6 * N - 2) = tailPVA.col(1).transpose() * t(1); + b.row(6 * N - 1) = tailPVA.col(2).transpose() * t(2); + + A.solve(b); + + for (int i = 0; i < N; i++) { + c.block<6, 2>(6 * i, 0) = + b.block<6, 2>(6 * i, 0).array().colwise() * tInv.array(); + } + return; + } + inline Trajectory getTraj(int s) const + { + Trajectory traj; + traj.reserve(N); + for (int i = 0; i < N; i++) + { + traj.emplace_back(t(1), c.block<6, 2>(6 * i, 0).transpose().rowwise().reverse(), s); + } + + return traj; + } + inline double getTrajJerkCost() const { + double energy = 0.0; + for (int i = 0; i < N; i++) { + energy += 36.0 * c.row(6 * i + 3).squaredNorm() * t(1) + + 144.0 * c.row(6 * i + 4).dot(c.row(6 * i + 3)) * t(2) + + 192.0 * c.row(6 * i + 4).squaredNorm() * t(3) + + 240.0 * c.row(6 * i + 5).dot(c.row(6 * i + 3)) * t(3) + + 720.0 * c.row(6 * i + 5).dot(c.row(6 * i + 4)) * t(4) + + 720.0 * c.row(6 * i + 5).squaredNorm() * t(5); + } + return energy; + } + + + inline void initSmGradCost() { + for (int i = 0; i < N; i++) { + gdC.row(6 * i + 5) = 240.0 * c.row(6 * i + 3) * t(3) + + 720.0 * c.row(6 * i + 4) * t(4) + + 1440.0 * c.row(6 * i + 5) * t(5); + gdC.row(6 * i + 4) = 144.0 * c.row(6 * i + 3) * t(2) + + 384.0 * c.row(6 * i + 4) * t(3) + + 720.0 * c.row(6 * i + 5) * t(4); + gdC.row(6 * i + 3) = 72.0 * c.row(6 * i + 3) * t(1) + + 144.0 * c.row(6 * i + 4) * t(2) + + 240.0 * c.row(6 * i + 5) * t(3); + gdC.block<3, 2>(6 * i, 0).setZero(); + } + gdT = 0.0; + for (int i = 0; i < N; i++) { + gdT += 36.0 * c.row(6 * i + 3).squaredNorm() + + 288.0 * c.row(6 * i + 4).dot(c.row(6 * i + 3)) * t(1) + + 576.0 * c.row(6 * i + 4).squaredNorm() * t(2) + + 720.0 * c.row(6 * i + 5).dot(c.row(6 * i + 3)) * t(2) + + 2880.0 * c.row(6 * i + 5).dot(c.row(6 * i + 4)) * t(3) + + 3600.0 * c.row(6 * i + 5).squaredNorm() * t(4); + } + return; + } + + inline void calGrads_PT() { + for (int i = 0; i < N; i++) { + adjScaledGrad.block<6, 2>(6 * i, 0) = + gdC.block<6, 2>(6 * i, 0).array().colwise() * tInv.array(); + } + A.solveAdj(adjScaledGrad); + + for (int i = 0; i < N - 1; i++) { + gdP.col(i) = adjScaledGrad.row(6 * i + 5).transpose(); + } + gdHead = adjScaledGrad.topRows(3).transpose() * t.head<3>().asDiagonal(); + gdTail = adjScaledGrad.bottomRows(3).transpose() * t.head<3>().asDiagonal(); + + gdT += headPVA.col(1).dot(adjScaledGrad.row(1)); + gdT += headPVA.col(2).dot(adjScaledGrad.row(2)) * 2.0 * t(1); + gdT += tailPVA.col(1).dot(adjScaledGrad.row(6 * N - 2)); + gdT += tailPVA.col(2).dot(adjScaledGrad.row(6 * N - 1)) * 2.0 * t(1); + Eigen::Matrix gdtInv; + gdtInv(0) = 0.0; + gdtInv(1) = -1.0 * tInv(2); + gdtInv(2) = -2.0 * tInv(3); + gdtInv(3) = -3.0 * tInv(4); + gdtInv(4) = -4.0 * tInv(5); + gdtInv(5) = -5.0 * tInv(5) * tInv(1); + const Eigen::VectorXd gdcol = gdC.cwiseProduct(b).rowwise().sum(); + for (int i = 0; i < N; i++) { + gdT += gdtInv.dot(gdcol.segment<6>(6 * i)); + } + return; + } + + + inline const Eigen::MatrixXd &getCoeffs(void) const { + return c; + } + inline const double &getDt(void) const { + return t(1); + } + + + inline Eigen::MatrixXd &get_gdC() + { + return gdC; + } + inline double &get_gdT() + { + return gdT; + } + + inline Eigen::MatrixXd get_gdHead(void) { + return gdHead; + } + inline Eigen::MatrixXd get_gdTail(void) { + return gdTail; + } + inline Eigen::MatrixXd get_gdP(void) { + return gdP; + } + }; + +} //namespace plan_utils diff --git a/trajectoryOpt/src/plan_manage/include/difPlan/quickhull.hpp b/trajectoryOpt/src/plan_manage/include/difPlan/quickhull.hpp new file mode 100644 index 0000000..586d59e --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/difPlan/quickhull.hpp @@ -0,0 +1,1697 @@ +#ifndef QUICKHULL_HPP +#define QUICKHULL_HPP + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace quickhull +{ + +// ----------------------- BasicData Part ----------------------- + +template +class Vector3 +{ +public: + Vector3() = default; + + Vector3(T x, T y, T z) : x(x), y(y), z(z) {} + + T x, y, z; + + inline T dotProduct(const Vector3 &other) const + { + return x * other.x + y * other.y + z * other.z; + } + + inline void normalize() + { + const T len = getLength(); + x /= len; + y /= len; + z /= len; + } + + inline Vector3 getNormalized() const + { + const T len = getLength(); + return Vector3(x / len, y / len, z / len); + } + + inline T getLength() const + { + return std::sqrt(x * x + y * y + z * z); + } + + inline Vector3 operator-(const Vector3 &other) const + { + return Vector3(x - other.x, y - other.y, z - other.z); + } + + inline Vector3 operator+(const Vector3 &other) const + { + return Vector3(x + other.x, y + other.y, z + other.z); + } + + inline Vector3 &operator+=(const Vector3 &other) + { + x += other.x; + y += other.y; + z += other.z; + return *this; + } + + inline Vector3 &operator-=(const Vector3 &other) + { + x -= other.x; + y -= other.y; + z -= other.z; + return *this; + } + + inline Vector3 &operator*=(T c) + { + x *= c; + y *= c; + z *= c; + return *this; + } + + inline Vector3 &operator/=(T c) + { + x /= c; + y /= c; + z /= c; + return *this; + } + + inline Vector3 operator-() const + { + return Vector3(-x, -y, -z); + } + + template + inline Vector3 operator*(S c) const + { + return Vector3(x * c, y * c, z * c); + } + + template + inline Vector3 operator/(S c) const + { + return Vector3(x / c, y / c, z / c); + } + + inline T getLengthSquared() const + { + return x * x + y * y + z * z; + } + + inline bool operator!=(const Vector3 &o) const + { + return x != o.x || y != o.y || z != o.z; + } + + // Projection onto another vector + inline Vector3 projection(const Vector3 &o) const + { + T C = dotProduct(o) / o.getLengthSquared(); + return o * C; + } + + inline Vector3 crossProduct(const Vector3 &rhs) + { + T a = y * rhs.z - z * rhs.y; + T b = z * rhs.x - x * rhs.z; + T c = x * rhs.y - y * rhs.x; + Vector3 product(a, b, c); + return product; + } + + inline T getDistanceTo(const Vector3 &other) const + { + Vector3 diff = *this - other; + return diff.getLength(); + } + + inline T getSquaredDistanceTo(const Vector3 &other) const + { + const T dx = x - other.x; + const T dy = y - other.y; + const T dz = z - other.z; + return dx * dx + dy * dy + dz * dz; + } +}; + +// Overload also << operator for easy printing of debug data +template +inline std::ostream &operator<<(std::ostream &os, const Vector3 &vec) +{ + os << "(" << vec.x << "," << vec.y << "," << vec.z << ")"; + return os; +} + +template +inline Vector3 operator*(T c, const Vector3 &v) +{ + return Vector3(v.x * c, v.y * c, v.z * c); +} + +template +class Plane +{ +public: + Vector3 m_N; + + // Signed distance (if normal is of length 1) to the plane from origin + T m_D; + + // Normal length squared + T m_sqrNLength; + + inline bool isPointOnPositiveSide(const Vector3 &Q) const + { + T d = m_N.dotProduct(Q) + m_D; + if (d >= 0) + return true; + return false; + } + + Plane() = default; + + // Construct a plane using normal N and any point P on the plane + Plane(const Vector3 &N, const Vector3 &P) + : m_N(N), m_D(-N.dotProduct(P)), + m_sqrNLength(m_N.x * m_N.x + m_N.y * m_N.y + m_N.z * m_N.z) {} +}; + +template +struct Ray +{ + const Vector3 m_S; + const Vector3 m_V; + const T m_VInvLengthSquared; + + Ray(const Vector3 &S, const Vector3 &V) + : m_S(S), m_V(V), m_VInvLengthSquared(1 / m_V.getLengthSquared()) {} +}; + +template +class Pool +{ + std::vector> m_data; + +public: + inline void clear() + { + m_data.clear(); + } + + inline void reclaim(std::unique_ptr &ptr) + { + m_data.push_back(std::move(ptr)); + } + + inline std::unique_ptr get() + { + if (m_data.size() == 0) + { + return std::unique_ptr(new T()); + } + auto it = m_data.end() - 1; + std::unique_ptr r = std::move(*it); + m_data.erase(it); + return r; + } +}; + +template +class VertexDataSource +{ + const Vector3 *m_ptr; + size_t m_count; + +public: + VertexDataSource(const Vector3 *ptr, size_t count) + : m_ptr(ptr), m_count(count) {} + + VertexDataSource(const std::vector> &vec) + : m_ptr(&vec[0]), m_count(vec.size()) {} + + VertexDataSource() + : m_ptr(nullptr), m_count(0) {} + + inline VertexDataSource &operator=(const VertexDataSource &other) = default; + + inline size_t size() const + { + return m_count; + } + + inline const Vector3 &operator[](size_t index) const + { + return m_ptr[index]; + } + + inline const Vector3 *begin() const + { + return m_ptr; + } + + inline const Vector3 *end() const + { + return m_ptr + m_count; + } +}; + +// ----------------------- MeshBuilder Part ----------------------- + +template +class MeshBuilder +{ +public: + struct HalfEdge + { + size_t m_endVertex; + size_t m_opp; + size_t m_face; + size_t m_next; + + inline void disable() + { + m_endVertex = std::numeric_limits::max(); + } + + inline bool isDisabled() const + { + return m_endVertex == std::numeric_limits::max(); + } + }; + + struct Face + { + size_t m_he; + Plane m_P; + T m_mostDistantPointDist; + size_t m_mostDistantPoint; + size_t m_visibilityCheckedOnIteration; + std::uint8_t m_isVisibleFaceOnCurrentIteration : 1; + std::uint8_t m_inFaceStack : 1; + + // Bit for each half edge assigned to this face, + // each being 0 or 1 depending on whether the + // edge belongs to horizon edge + std::uint8_t m_horizonEdgesOnCurrentIteration : 3; + std::unique_ptr> m_pointsOnPositiveSide; + + Face() : m_he(std::numeric_limits::max()), + m_mostDistantPointDist(0), + m_mostDistantPoint(0), + m_visibilityCheckedOnIteration(0), + m_isVisibleFaceOnCurrentIteration(0), + m_inFaceStack(0), + m_horizonEdgesOnCurrentIteration(0) {} + + inline void disable() + { + m_he = std::numeric_limits::max(); + } + + inline bool isDisabled() const + { + return m_he == std::numeric_limits::max(); + } + }; + + // Mesh data + std::vector m_faces; + std::vector m_halfEdges; + + // When the mesh is modified and faces and half edges are + // removed from it, we do not actually remove them from + // the container vectors. Insted, they are marked as disabled + // which means that the indices can be reused when we need to + // add new faces and half edges to the mesh. We store the + // free indices in the following vectors. + std::vector m_disabledFaces, m_disabledHalfEdges; + + inline size_t addFace() + { + if (m_disabledFaces.size()) + { + size_t index = m_disabledFaces.back(); + auto &f = m_faces[index]; + assert(f.isDisabled()); + assert(!f.m_pointsOnPositiveSide); + f.m_mostDistantPointDist = 0; + m_disabledFaces.pop_back(); + return index; + } + m_faces.emplace_back(); + return m_faces.size() - 1; + } + + inline size_t addHalfEdge() + { + if (m_disabledHalfEdges.size()) + { + const size_t index = m_disabledHalfEdges.back(); + m_disabledHalfEdges.pop_back(); + return index; + } + m_halfEdges.emplace_back(); + return m_halfEdges.size() - 1; + } + + // Mark a face as disabled and return a pointer + // to the points that were on the positive of it. + inline std::unique_ptr> disableFace(size_t faceIndex) + { + auto &f = m_faces[faceIndex]; + f.disable(); + m_disabledFaces.push_back(faceIndex); + return std::move(f.m_pointsOnPositiveSide); + } + + inline void disableHalfEdge(size_t heIndex) + { + auto &he = m_halfEdges[heIndex]; + he.disable(); + m_disabledHalfEdges.push_back(heIndex); + } + + MeshBuilder() = default; + + // Create a mesh with initial tetrahedron ABCD. + // Dot product of AB with the normal of triangle + // ABC should be negative. + inline void setup(size_t a, size_t b, size_t c, size_t d) + { + m_faces.clear(); + m_halfEdges.clear(); + m_disabledFaces.clear(); + m_disabledHalfEdges.clear(); + + m_faces.reserve(4); + m_halfEdges.reserve(12); + + // Create halfedges + HalfEdge AB; + AB.m_endVertex = b; + AB.m_opp = 6; + AB.m_face = 0; + AB.m_next = 1; + m_halfEdges.push_back(AB); + + HalfEdge BC; + BC.m_endVertex = c; + BC.m_opp = 9; + BC.m_face = 0; + BC.m_next = 2; + m_halfEdges.push_back(BC); + + HalfEdge CA; + CA.m_endVertex = a; + CA.m_opp = 3; + CA.m_face = 0; + CA.m_next = 0; + m_halfEdges.push_back(CA); + + HalfEdge AC; + AC.m_endVertex = c; + AC.m_opp = 2; + AC.m_face = 1; + AC.m_next = 4; + m_halfEdges.push_back(AC); + + HalfEdge CD; + CD.m_endVertex = d; + CD.m_opp = 11; + CD.m_face = 1; + CD.m_next = 5; + m_halfEdges.push_back(CD); + + HalfEdge DA; + DA.m_endVertex = a; + DA.m_opp = 7; + DA.m_face = 1; + DA.m_next = 3; + m_halfEdges.push_back(DA); + + HalfEdge BA; + BA.m_endVertex = a; + BA.m_opp = 0; + BA.m_face = 2; + BA.m_next = 7; + m_halfEdges.push_back(BA); + + HalfEdge AD; + AD.m_endVertex = d; + AD.m_opp = 5; + AD.m_face = 2; + AD.m_next = 8; + m_halfEdges.push_back(AD); + + HalfEdge DB; + DB.m_endVertex = b; + DB.m_opp = 10; + DB.m_face = 2; + DB.m_next = 6; + m_halfEdges.push_back(DB); + + HalfEdge CB; + CB.m_endVertex = b; + CB.m_opp = 1; + CB.m_face = 3; + CB.m_next = 10; + m_halfEdges.push_back(CB); + + HalfEdge BD; + BD.m_endVertex = d; + BD.m_opp = 8; + BD.m_face = 3; + BD.m_next = 11; + m_halfEdges.push_back(BD); + + HalfEdge DC; + DC.m_endVertex = c; + DC.m_opp = 4; + DC.m_face = 3; + DC.m_next = 9; + m_halfEdges.push_back(DC); + + // Create faces + Face ABC; + ABC.m_he = 0; + m_faces.push_back(std::move(ABC)); + + Face ACD; + ACD.m_he = 3; + m_faces.push_back(std::move(ACD)); + + Face BAD; + BAD.m_he = 6; + m_faces.push_back(std::move(BAD)); + + Face CBD; + CBD.m_he = 9; + m_faces.push_back(std::move(CBD)); + } + + inline std::array getVertexIndicesOfFace(const Face &f) const + { + std::array v; + const HalfEdge *he = &m_halfEdges[f.m_he]; + v[0] = he->m_endVertex; + he = &m_halfEdges[he->m_next]; + v[1] = he->m_endVertex; + he = &m_halfEdges[he->m_next]; + v[2] = he->m_endVertex; + return v; + } + + inline std::array getVertexIndicesOfHalfEdge(const HalfEdge &he) const + { + return {m_halfEdges[he.m_opp].m_endVertex, he.m_endVertex}; + } + + inline std::array getHalfEdgeIndicesOfFace(const Face &f) const + { + return {f.m_he, m_halfEdges[f.m_he].m_next, m_halfEdges[m_halfEdges[f.m_he].m_next].m_next}; + } +}; + +// ----------------------- MathUtils Part ----------------------- + +namespace mathutils +{ + +template +inline T getSquaredDistanceBetweenPointAndRay(const Vector3 &p, const Ray &r) +{ + const Vector3 s = p - r.m_S; + T t = s.dotProduct(r.m_V); + return s.getLengthSquared() - t * t * r.m_VInvLengthSquared; +} + +// Note that the unit of distance returned is relative +// to plane's normal's length (divide by N.getNormalized() +// if needed to get the "real" distance). +template +inline T getSignedDistanceToPlane(const Vector3 &v, const Plane &p) +{ + return p.m_N.dotProduct(v) + p.m_D; +} + +template +inline Vector3 getTriangleNormal(const Vector3 &a, + const Vector3 &b, + const Vector3 &c) +{ + // We want to get (a-c).crossProduct(b-c) + // without constructing temp vectors + T x = a.x - c.x; + T y = a.y - c.y; + T z = a.z - c.z; + T rhsx = b.x - c.x; + T rhsy = b.y - c.y; + T rhsz = b.z - c.z; + T px = y * rhsz - z * rhsy; + T py = z * rhsx - x * rhsz; + T pz = x * rhsy - y * rhsx; + return Vector3(px, py, pz); +} + +} // namespace mathutils + +// ----------------------- HalfEdgeMesh Part ----------------------- + +template +class HalfEdgeMesh +{ +public: + struct HalfEdge + { + IndexType m_endVertex; + IndexType m_opp; + IndexType m_face; + IndexType m_next; + }; + + struct Face + { + // Index of one of the half edges of this face + IndexType m_halfEdgeIndex; + }; + + std::vector> m_vertices; + std::vector m_faces; + std::vector m_halfEdges; + + HalfEdgeMesh(const MeshBuilder &builderObject, + const VertexDataSource &vertexData) + { + std::unordered_map faceMapping; + std::unordered_map halfEdgeMapping; + std::unordered_map vertexMapping; + + size_t i = 0; + for (const auto &face : builderObject.m_faces) + { + if (!face.isDisabled()) + { + m_faces.push_back({static_cast(face.m_he)}); + faceMapping[i] = m_faces.size() - 1; + + const auto heIndices = builderObject.getHalfEdgeIndicesOfFace(face); + for (const auto heIndex : heIndices) + { + const IndexType vertexIndex = builderObject.m_halfEdges[heIndex].m_endVertex; + if (vertexMapping.count(vertexIndex) == 0) + { + m_vertices.push_back(vertexData[vertexIndex]); + vertexMapping[vertexIndex] = m_vertices.size() - 1; + } + } + } + i++; + } + + i = 0; + for (const auto &halfEdge : builderObject.m_halfEdges) + { + if (!halfEdge.isDisabled()) + { + m_halfEdges.push_back({static_cast(halfEdge.m_endVertex), + static_cast(halfEdge.m_opp), + static_cast(halfEdge.m_face), + static_cast(halfEdge.m_next)}); + halfEdgeMapping[i] = m_halfEdges.size() - 1; + } + i++; + } + + for (auto &face : m_faces) + { + assert(halfEdgeMapping.count(face.m_halfEdgeIndex) == 1); + face.m_halfEdgeIndex = halfEdgeMapping[face.m_halfEdgeIndex]; + } + + for (auto &he : m_halfEdges) + { + he.m_face = faceMapping[he.m_face]; + he.m_opp = halfEdgeMapping[he.m_opp]; + he.m_next = halfEdgeMapping[he.m_next]; + he.m_endVertex = vertexMapping[he.m_endVertex]; + } + } +}; + +// ----------------------- Convex Hull Part ----------------------- + +template +class ConvexHull +{ + std::unique_ptr>> m_optimizedVertexBuffer; + VertexDataSource m_vertices; + std::vector m_indices; + +public: + ConvexHull() {} + + // Copy constructor + ConvexHull(const ConvexHull &o) + { + m_indices = o.m_indices; + if (o.m_optimizedVertexBuffer) + { + m_optimizedVertexBuffer.reset(new std::vector>(*o.m_optimizedVertexBuffer)); + m_vertices = VertexDataSource(*m_optimizedVertexBuffer); + } + else + { + m_vertices = o.m_vertices; + } + } + + inline ConvexHull &operator=(const ConvexHull &o) + { + if (&o == this) + { + return *this; + } + m_indices = o.m_indices; + if (o.m_optimizedVertexBuffer) + { + m_optimizedVertexBuffer.reset(new std::vector>(*o.m_optimizedVertexBuffer)); + m_vertices = VertexDataSource(*m_optimizedVertexBuffer); + } + else + { + m_vertices = o.m_vertices; + } + return *this; + } + + ConvexHull(ConvexHull &&o) + { + m_indices = std::move(o.m_indices); + if (o.m_optimizedVertexBuffer) + { + m_optimizedVertexBuffer = std::move(o.m_optimizedVertexBuffer); + o.m_vertices = VertexDataSource(); + m_vertices = VertexDataSource(*m_optimizedVertexBuffer); + } + else + { + m_vertices = o.m_vertices; + } + } + + inline ConvexHull &operator=(ConvexHull &&o) + { + if (&o == this) + { + return *this; + } + m_indices = std::move(o.m_indices); + if (o.m_optimizedVertexBuffer) + { + m_optimizedVertexBuffer = std::move(o.m_optimizedVertexBuffer); + o.m_vertices = VertexDataSource(); + m_vertices = VertexDataSource(*m_optimizedVertexBuffer); + } + else + { + m_vertices = o.m_vertices; + } + return *this; + } + + // Construct vertex and index buffers from + // half edge mesh and pointcloud + ConvexHull(const MeshBuilder &mesh, + const VertexDataSource &pointCloud, + bool CCW, + bool useOriginalIndices) + { + if (!useOriginalIndices) + { + m_optimizedVertexBuffer.reset(new std::vector>()); + } + + std::vector faceProcessed(mesh.m_faces.size(), false); + std::vector faceStack; + // Map vertex indices from original point cloud + // to the new mesh vertex indices + std::unordered_map vertexIndexMapping; + for (size_t i = 0; i < mesh.m_faces.size(); i++) + { + if (!mesh.m_faces[i].isDisabled()) + { + faceStack.push_back(i); + break; + } + } + if (faceStack.size() == 0) + { + return; + } + + const size_t iCCW = CCW ? 1 : 0; + const size_t finalMeshFaceCount = mesh.m_faces.size() - mesh.m_disabledFaces.size(); + m_indices.reserve(finalMeshFaceCount * 3); + + while (faceStack.size()) + { + auto it = faceStack.end() - 1; + size_t top = *it; + assert(!mesh.m_faces[top].isDisabled()); + faceStack.erase(it); + if (faceProcessed[top]) + { + continue; + } + else + { + faceProcessed[top] = true; + auto halfEdges = mesh.getHalfEdgeIndicesOfFace(mesh.m_faces[top]); + size_t adjacent[] = {mesh.m_halfEdges[mesh.m_halfEdges[halfEdges[0]].m_opp].m_face, + mesh.m_halfEdges[mesh.m_halfEdges[halfEdges[1]].m_opp].m_face, + mesh.m_halfEdges[mesh.m_halfEdges[halfEdges[2]].m_opp].m_face}; + for (auto a : adjacent) + { + if (!faceProcessed[a] && !mesh.m_faces[a].isDisabled()) + { + faceStack.push_back(a); + } + } + auto vertices = mesh.getVertexIndicesOfFace(mesh.m_faces[top]); + if (!useOriginalIndices) + { + for (auto &v : vertices) + { + auto itV = vertexIndexMapping.find(v); + if (itV == vertexIndexMapping.end()) + { + m_optimizedVertexBuffer->push_back(pointCloud[v]); + vertexIndexMapping[v] = m_optimizedVertexBuffer->size() - 1; + v = m_optimizedVertexBuffer->size() - 1; + } + else + { + v = itV->second; + } + } + } + m_indices.push_back(vertices[0]); + m_indices.push_back(vertices[1 + iCCW]); + m_indices.push_back(vertices[2 - iCCW]); + } + } + + if (!useOriginalIndices) + { + m_vertices = VertexDataSource(*m_optimizedVertexBuffer); + } + else + { + m_vertices = pointCloud; + } + } + + inline std::vector &getIndexBuffer() + { + return m_indices; + } + + inline const std::vector &getIndexBuffer() const + { + return m_indices; + } + + inline VertexDataSource &getVertexBuffer() + { + return m_vertices; + } + + inline const VertexDataSource &getVertexBuffer() const + { + return m_vertices; + } + + // Export the mesh to a Waveform OBJ file + inline void writeWaveformOBJ(const std::string &filename, + const std::string &objectName = "quickhull") const + { + std::ofstream objFile; + objFile.open(filename); + objFile << "o " << objectName << "\n"; + for (const auto &v : getVertexBuffer()) + { + objFile << "v " << v.x << " " << v.y << " " << v.z << "\n"; + } + const auto &indBuf = getIndexBuffer(); + size_t triangleCount = indBuf.size() / 3; + for (size_t i = 0; i < triangleCount; i++) + { + objFile << "f " << indBuf[i * 3] + 1 << " " + << indBuf[i * 3 + 1] + 1 << " " + << indBuf[i * 3 + 2] + 1 << "\n"; + } + objFile.close(); + } +}; + +// ----------------------- Quick Hull Part ----------------------- + +/* + * Implementation of the 3D QuickHull algorithm by Antti Kuukka + * + * No copyrights. What follows is 100% Public Domain. + * + * + * + * INPUT: a list of points in 3D space (for example, vertices of a 3D mesh) + * + * OUTPUT: a ConvexHull object which provides vertex and index buffers of + * the generated convex hull as a triangle mesh. + * + * + * + * The implementation is thread-safe if each thread is using its own + * QuickHull object. + * + * + * SUMMARY OF THE ALGORITHM: + * - Create initial simplex (tetrahedron) using extreme points. + * We have four faces now and they form a convex mesh M. + * - For each point, assign them to the first face for which they + * are on the positive side of (so each point is assigned to at + * most one face). Points inside the initial tetrahedron are left + * behind now and no longer affect the calculations. + * - Add all faces that have points assigned to them to Face Stack. + * - Iterate until Face Stack is empty: + * - Pop topmost face F from the stack + * - From the points assigned to F, pick the point P that is + * farthest away from the plane defined by F. + * - Find all faces of M that have P on their positive side. + * Let us call these the "visible faces". + * - Because of the way M is constructed, these faces are connected. + * Solve their horizon edge loop. + * - "Extrude to P": Create new faces by connecting P with the points + * belonging to the horizon edge. Add the new faces to M and remove + * the visible faces from M. + * - Each point that was assigned to visible faces is now assigned + * to at most one of the newly created faces. + * - Those new faces that have points assigned to them are added + * to the top of Face Stack. + * - M is now the convex hull. + * + * TO DO: + * - Implement a proper 2D QuickHull and use that to solve the degenerate 2D case + * (when all the points lie on the same plane in 3D space). + * */ + +struct DiagnosticsData +{ + // How many times QuickHull failed to solve the horizon edge. Failures lead to + // degenerated convex hulls. + size_t m_failedHorizonEdges; + + DiagnosticsData() : m_failedHorizonEdges(0) {} +}; + +template +inline T defaultEps() +{ + return 0.0000001; +} + +template +class QuickHull +{ + using vec3 = Vector3; + + T m_epsilon, m_epsilonSquared, m_scale; + bool m_planar; + std::vector m_planarPointCloudTemp; + VertexDataSource m_vertexData; + MeshBuilder m_mesh; + std::array m_extremeValues; + DiagnosticsData m_diagnostics; + + // Temporary variables used during iteration process + std::vector m_newFaceIndices; + std::vector m_newHalfEdgeIndices; + std::vector>> m_disabledFacePointVectors; + std::vector m_visibleFaces; + std::vector m_horizonEdges; + struct FaceData + { + size_t m_faceIndex; + // If the face turns out not to be visible, this half edge will be marked as horizon edge + size_t m_enteredFromHalfEdge; + FaceData(size_t fi, size_t he) : m_faceIndex(fi), m_enteredFromHalfEdge(he) {} + }; + std::vector m_possiblyVisibleFaces; + std::deque m_faceList; + + // Create a half edge mesh representing the base tetrahedron from which the QuickHull + // iteration proceeds. m_extremeValues must be properly set up when this is called. + inline void setupInitialTetrahedron() + { + const size_t vertexCount = m_vertexData.size(); + + // If we have at most 4 points, just return a degenerate tetrahedron: + if (vertexCount <= 4) + { + size_t v[4] = {0, + std::min((size_t)1, vertexCount - 1), + std::min((size_t)2, vertexCount - 1), + std::min((size_t)3, vertexCount - 1)}; + const Vector3 N = mathutils::getTriangleNormal(m_vertexData[v[0]], + m_vertexData[v[1]], + m_vertexData[v[2]]); + const Plane trianglePlane(N, m_vertexData[v[0]]); + if (trianglePlane.isPointOnPositiveSide(m_vertexData[v[3]])) + { + std::swap(v[0], v[1]); + } + return m_mesh.setup(v[0], v[1], v[2], v[3]); + } + + // Find two most distant extreme points. + T maxD = m_epsilonSquared; + std::pair selectedPoints; + for (size_t i = 0; i < 6; i++) + { + for (size_t j = i + 1; j < 6; j++) + { + const T d = m_vertexData[m_extremeValues[i]].getSquaredDistanceTo(m_vertexData[m_extremeValues[j]]); + if (d > maxD) + { + maxD = d; + selectedPoints = {m_extremeValues[i], m_extremeValues[j]}; + } + } + } + if (maxD == m_epsilonSquared) + { + // A degenerate case: the point cloud seems to consists of a single point + return m_mesh.setup(0, + std::min((size_t)1, vertexCount - 1), + std::min((size_t)2, vertexCount - 1), + std::min((size_t)3, vertexCount - 1)); + } + assert(selectedPoints.first != selectedPoints.second); + + // Find the most distant point to the line between the two chosen extreme points. + const Ray r(m_vertexData[selectedPoints.first], + (m_vertexData[selectedPoints.second] - m_vertexData[selectedPoints.first])); + maxD = m_epsilonSquared; + size_t maxI = std::numeric_limits::max(); + const size_t vCount = m_vertexData.size(); + for (size_t i = 0; i < vCount; i++) + { + const T distToRay = mathutils::getSquaredDistanceBetweenPointAndRay(m_vertexData[i], r); + if (distToRay > maxD) + { + maxD = distToRay; + maxI = i; + } + } + if (maxD == m_epsilonSquared) + { + // It appears that the point cloud belongs to a 1 dimensional + // subspace of R^3: convex hull has no volume => return a thin + // triangle. Pick any point other than selectedPoints.first and + // selectedPoints.second as the third point of the triangle + auto it = std::find_if(m_vertexData.begin(), m_vertexData.end(), [&](const vec3 &ve) { + return ve != m_vertexData[selectedPoints.first] && ve != m_vertexData[selectedPoints.second]; + }); + const size_t thirdPoint = (it == m_vertexData.end()) ? selectedPoints.first : std::distance(m_vertexData.begin(), it); + it = std::find_if(m_vertexData.begin(), m_vertexData.end(), [&](const vec3 &ve) { + return ve != m_vertexData[selectedPoints.first] && ve != m_vertexData[selectedPoints.second] && ve != m_vertexData[thirdPoint]; + }); + const size_t fourthPoint = (it == m_vertexData.end()) ? selectedPoints.first : std::distance(m_vertexData.begin(), it); + return m_mesh.setup(selectedPoints.first, selectedPoints.second, thirdPoint, fourthPoint); + } + + // These three points form the base triangle for our tetrahedron. + assert(selectedPoints.first != maxI && selectedPoints.second != maxI); + std::array baseTriangle{selectedPoints.first, selectedPoints.second, maxI}; + const Vector3 baseTriangleVertices[] = {m_vertexData[baseTriangle[0]], + m_vertexData[baseTriangle[1]], + m_vertexData[baseTriangle[2]]}; + + // Next step is to find the 4th vertex of the tetrahedron. We naturally + // choose the point farthest away from the triangle plane. + maxD = m_epsilon; + maxI = 0; + const Vector3 N = mathutils::getTriangleNormal(baseTriangleVertices[0], + baseTriangleVertices[1], + baseTriangleVertices[2]); + Plane trianglePlane(N, baseTriangleVertices[0]); + for (size_t i = 0; i < vCount; i++) + { + const T d = std::abs(mathutils::getSignedDistanceToPlane(m_vertexData[i], trianglePlane)); + if (d > maxD) + { + maxD = d; + maxI = i; + } + } + if (maxD == m_epsilon) + { + // All the points seem to lie on a 2D subspace of R^3. How to handle this? Well, let's add + // one extra point to the point cloud so that the convex hull will have volume. + m_planar = true; + const vec3 N1 = mathutils::getTriangleNormal(baseTriangleVertices[1], + baseTriangleVertices[2], + baseTriangleVertices[0]); + m_planarPointCloudTemp.clear(); + m_planarPointCloudTemp.insert(m_planarPointCloudTemp.begin(), + m_vertexData.begin(), + m_vertexData.end()); + const vec3 extraPoint = N1 + m_vertexData[0]; + m_planarPointCloudTemp.push_back(extraPoint); + maxI = m_planarPointCloudTemp.size() - 1; + m_vertexData = VertexDataSource(m_planarPointCloudTemp); + } + + // Enforce CCW orientation (if user prefers clockwise orientation, + // swap two vertices in each triangle when final mesh is created) + const Plane triPlane(N, baseTriangleVertices[0]); + if (triPlane.isPointOnPositiveSide(m_vertexData[maxI])) + { + std::swap(baseTriangle[0], baseTriangle[1]); + } + + // Create a tetrahedron half edge mesh and compute planes defined by each triangle + m_mesh.setup(baseTriangle[0], baseTriangle[1], baseTriangle[2], maxI); + for (auto &f : m_mesh.m_faces) + { + auto v = m_mesh.getVertexIndicesOfFace(f); + const Vector3 &va = m_vertexData[v[0]]; + const Vector3 &vb = m_vertexData[v[1]]; + const Vector3 &vc = m_vertexData[v[2]]; + const Vector3 N1 = mathutils::getTriangleNormal(va, vb, vc); + const Plane plane(N1, va); + f.m_P = plane; + } + + // Finally we assign a face for each vertex outside the tetrahedron + // (vertices inside the tetrahedron have no role anymore) + for (size_t i = 0; i < vCount; i++) + { + for (auto &face : m_mesh.m_faces) + { + if (addPointToFace(face, i)) + { + break; + } + } + } + } + + // Given a list of half edges, try to rearrange them so + // that they form a loop. Return true on success. + inline bool reorderHorizonEdges(std::vector &horizonEdges) + { + const size_t horizonEdgeCount = horizonEdges.size(); + for (size_t i = 0; i < horizonEdgeCount - 1; i++) + { + const size_t endVertex = m_mesh.m_halfEdges[horizonEdges[i]].m_endVertex; + bool foundNext = false; + for (size_t j = i + 1; j < horizonEdgeCount; j++) + { + const size_t beginVertex = m_mesh.m_halfEdges[m_mesh.m_halfEdges[horizonEdges[j]].m_opp].m_endVertex; + if (beginVertex == endVertex) + { + std::swap(horizonEdges[i + 1], horizonEdges[j]); + foundNext = true; + break; + } + } + if (!foundNext) + { + return false; + } + } + assert(m_mesh.m_halfEdges[horizonEdges[horizonEdges.size() - 1]].m_endVertex == m_mesh.m_halfEdges[m_mesh.m_halfEdges[horizonEdges[0]].m_opp].m_endVertex); + return true; + } + + // Find indices of extreme values (max x, min x, max y, min y, max z, min z) for the given point cloud + inline std::array getExtremeValues() + { + std::array outIndices{0, 0, 0, 0, 0, 0}; + T extremeVals[6] = {m_vertexData[0].x, + m_vertexData[0].x, + m_vertexData[0].y, + m_vertexData[0].y, + m_vertexData[0].z, + m_vertexData[0].z}; + const size_t vCount = m_vertexData.size(); + for (size_t i = 1; i < vCount; i++) + { + const Vector3 &pos = m_vertexData[i]; + if (pos.x > extremeVals[0]) + { + extremeVals[0] = pos.x; + outIndices[0] = i; + } + else if (pos.x < extremeVals[1]) + { + extremeVals[1] = pos.x; + outIndices[1] = i; + } + if (pos.y > extremeVals[2]) + { + extremeVals[2] = pos.y; + outIndices[2] = i; + } + else if (pos.y < extremeVals[3]) + { + extremeVals[3] = pos.y; + outIndices[3] = i; + } + if (pos.z > extremeVals[4]) + { + extremeVals[4] = pos.z; + outIndices[4] = i; + } + else if (pos.z < extremeVals[5]) + { + extremeVals[5] = pos.z; + outIndices[5] = i; + } + } + return outIndices; + } + + // Compute scale of the vertex data. + inline T getScale(const std::array &extremeValues) + { + { + T s = 0; + for (size_t i = 0; i < 6; i++) + { + const T *v = (const T *)(&m_vertexData[extremeValues[i]]); + v += i / 2; + auto a = std::abs(*v); + if (a > s) + { + s = a; + } + } + return s; + } + } + + // Each face contains a unique pointer to a vector of indices. + // However, many - often most - faces do not have any points + // on the positive side of them especially at the the end of + // the iteration. When a face is removed from the mesh, its + // associated point vector, if such exists, is moved to the + // index vector pool, and when we need to add new faces with + // points on the positive side to the mesh, we reuse these + // vectors. This reduces the amount of std::vectors we have + // to deal with, and impact on performance is remarkable. + Pool> m_indexVectorPool; + inline std::unique_ptr> getIndexVectorFromPool(); + inline void reclaimToIndexVectorPool(std::unique_ptr> &ptr); + + // Associates a point with a face if the point resides on the positive + // side of the plane. Returns true if the points was on the positive side. + inline bool addPointToFace(typename MeshBuilder::Face &f, size_t pointIndex); + + // This will update m_mesh from which we create the ConvexHull + // object that getConvexHull function returns + inline void createConvexHalfEdgeMesh() + { + m_visibleFaces.clear(); + m_horizonEdges.clear(); + m_possiblyVisibleFaces.clear(); + + // Compute base tetrahedron + setupInitialTetrahedron(); + assert(m_mesh.m_faces.size() == 4); + + // Init face stack with those faces that have points assigned to them + m_faceList.clear(); + for (size_t i = 0; i < 4; i++) + { + auto &f = m_mesh.m_faces[i]; + if (f.m_pointsOnPositiveSide && f.m_pointsOnPositiveSide->size() > 0) + { + m_faceList.push_back(i); + f.m_inFaceStack = 1; + } + } + + // Process faces until the face list is empty. + size_t iter = 0; + while (!m_faceList.empty()) + { + iter++; + if (iter == std::numeric_limits::max()) + { + // Visible face traversal marks visited faces with iteration counter + //(to mark that the face has been visited on this iteration) and the + // max value represents unvisited faces. At this point we have to reset + // iteration counter. This shouldn't be an issue on 64 bit machines. + iter = 0; + } + + const size_t topFaceIndex = m_faceList.front(); + m_faceList.pop_front(); + + auto &tf = m_mesh.m_faces[topFaceIndex]; + tf.m_inFaceStack = 0; + + assert(!tf.m_pointsOnPositiveSide || tf.m_pointsOnPositiveSide->size() > 0); + if (!tf.m_pointsOnPositiveSide || tf.isDisabled()) + { + continue; + } + + // Pick the most distant point to this triangle plane + // as the point to which we extrude + const vec3 &activePoint = m_vertexData[tf.m_mostDistantPoint]; + const size_t activePointIndex = tf.m_mostDistantPoint; + + // Find out the faces that have our active point on their positive side + // (these are the "visible faces"). The face on top of the stack of course + // is one of them. At the same time, we create a list of horizon edges. + m_horizonEdges.clear(); + m_possiblyVisibleFaces.clear(); + m_visibleFaces.clear(); + m_possiblyVisibleFaces.emplace_back(topFaceIndex, std::numeric_limits::max()); + while (m_possiblyVisibleFaces.size()) + { + const auto faceData = m_possiblyVisibleFaces.back(); + m_possiblyVisibleFaces.pop_back(); + auto &pvf = m_mesh.m_faces[faceData.m_faceIndex]; + assert(!pvf.isDisabled()); + + if (pvf.m_visibilityCheckedOnIteration == iter) + { + if (pvf.m_isVisibleFaceOnCurrentIteration) + { + continue; + } + } + else + { + const Plane &P = pvf.m_P; + pvf.m_visibilityCheckedOnIteration = iter; + const T d = P.m_N.dotProduct(activePoint) + P.m_D; + if (d > 0) + { + pvf.m_isVisibleFaceOnCurrentIteration = 1; + pvf.m_horizonEdgesOnCurrentIteration = 0; + m_visibleFaces.push_back(faceData.m_faceIndex); + for (auto heIndex : m_mesh.getHalfEdgeIndicesOfFace(pvf)) + { + if (m_mesh.m_halfEdges[heIndex].m_opp != faceData.m_enteredFromHalfEdge) + { + m_possiblyVisibleFaces.emplace_back(m_mesh.m_halfEdges[m_mesh.m_halfEdges[heIndex].m_opp].m_face, heIndex); + } + } + continue; + } + assert(faceData.m_faceIndex != topFaceIndex); + } + + // The face is not visible. Therefore, the halfedge + // we came from is part of the horizon edge. + pvf.m_isVisibleFaceOnCurrentIteration = 0; + m_horizonEdges.push_back(faceData.m_enteredFromHalfEdge); + // Store which half edge is the horizon edge. The other half edges of + // the face will not be part of the final mesh so their data slots can by recycled. + const auto halfEdges = m_mesh.getHalfEdgeIndicesOfFace(m_mesh.m_faces[m_mesh.m_halfEdges[faceData.m_enteredFromHalfEdge].m_face]); + const std::int8_t ind = (halfEdges[0] == faceData.m_enteredFromHalfEdge) ? 0 : (halfEdges[1] == faceData.m_enteredFromHalfEdge ? 1 : 2); + m_mesh.m_faces[m_mesh.m_halfEdges[faceData.m_enteredFromHalfEdge].m_face].m_horizonEdgesOnCurrentIteration |= (1 << ind); + } + const size_t horizonEdgeCount = m_horizonEdges.size(); + + // Order horizon edges so that they form a loop. This may fail due to numerical + // instability in which case we give up trying to solve horizon edge for this + // point and accept a minor degeneration in the convex hull. + if (!reorderHorizonEdges(m_horizonEdges)) + { + m_diagnostics.m_failedHorizonEdges++; + std::cerr << "Failed to solve horizon edge." << std::endl; + auto it = std::find(tf.m_pointsOnPositiveSide->begin(), tf.m_pointsOnPositiveSide->end(), activePointIndex); + tf.m_pointsOnPositiveSide->erase(it); + if (tf.m_pointsOnPositiveSide->size() == 0) + { + reclaimToIndexVectorPool(tf.m_pointsOnPositiveSide); + } + continue; + } + + // Except for the horizon edges, all half edges of the visible faces + // can be marked as disabled. Their data slots will be reused. + // The faces will be disabled as well, but we need to remember the + // points that were on the positive side of them - therefore we + // save pointers to them. + m_newFaceIndices.clear(); + m_newHalfEdgeIndices.clear(); + m_disabledFacePointVectors.clear(); + size_t disableCounter = 0; + for (auto faceIndex : m_visibleFaces) + { + auto &disabledFace = m_mesh.m_faces[faceIndex]; + auto halfEdges = m_mesh.getHalfEdgeIndicesOfFace(disabledFace); + for (size_t j = 0; j < 3; j++) + { + if ((disabledFace.m_horizonEdgesOnCurrentIteration & (1 << j)) == 0) + { + if (disableCounter < horizonEdgeCount * 2) + { + // Use on this iteration + m_newHalfEdgeIndices.push_back(halfEdges[j]); + disableCounter++; + } + else + { + // Mark for reusal on later iteration step + m_mesh.disableHalfEdge(halfEdges[j]); + } + } + } + // Disable the face, but retain pointer to the points that were + // on the positive side of it. We need to assign those points to + // the new faces we create shortly. + auto t = std::move(m_mesh.disableFace(faceIndex)); + if (t) + { + // Because we should not assign point vectors to faces unless needed... + assert(t->size()); + m_disabledFacePointVectors.push_back(std::move(t)); + } + } + if (disableCounter < horizonEdgeCount * 2) + { + const size_t newHalfEdgesNeeded = horizonEdgeCount * 2 - disableCounter; + for (size_t i = 0; i < newHalfEdgesNeeded; i++) + { + m_newHalfEdgeIndices.push_back(m_mesh.addHalfEdge()); + } + } + + // Create new faces using the edgeloop + for (size_t i = 0; i < horizonEdgeCount; i++) + { + const size_t AB = m_horizonEdges[i]; + + auto horizonEdgeVertexIndices = m_mesh.getVertexIndicesOfHalfEdge(m_mesh.m_halfEdges[AB]); + size_t A, B, C; + A = horizonEdgeVertexIndices[0]; + B = horizonEdgeVertexIndices[1]; + C = activePointIndex; + + const size_t newFaceIndex = m_mesh.addFace(); + m_newFaceIndices.push_back(newFaceIndex); + + const size_t CA = m_newHalfEdgeIndices[2 * i + 0]; + const size_t BC = m_newHalfEdgeIndices[2 * i + 1]; + + m_mesh.m_halfEdges[AB].m_next = BC; + m_mesh.m_halfEdges[BC].m_next = CA; + m_mesh.m_halfEdges[CA].m_next = AB; + + m_mesh.m_halfEdges[BC].m_face = newFaceIndex; + m_mesh.m_halfEdges[CA].m_face = newFaceIndex; + m_mesh.m_halfEdges[AB].m_face = newFaceIndex; + + m_mesh.m_halfEdges[CA].m_endVertex = A; + m_mesh.m_halfEdges[BC].m_endVertex = C; + + auto &newFace = m_mesh.m_faces[newFaceIndex]; + + const Vector3 planeNormal = mathutils::getTriangleNormal(m_vertexData[A], m_vertexData[B], activePoint); + newFace.m_P = Plane(planeNormal, activePoint); + newFace.m_he = AB; + + m_mesh.m_halfEdges[CA].m_opp = m_newHalfEdgeIndices[i > 0 ? i * 2 - 1 : 2 * horizonEdgeCount - 1]; + m_mesh.m_halfEdges[BC].m_opp = m_newHalfEdgeIndices[((i + 1) * 2) % (horizonEdgeCount * 2)]; + } + + // Assign points that were on the positive side + // of the disabled faces to the new faces. + for (auto &disabledPoints : m_disabledFacePointVectors) + { + assert(disabledPoints); + for (const auto &point : *(disabledPoints)) + { + if (point == activePointIndex) + { + continue; + } + for (size_t j = 0; j < horizonEdgeCount; j++) + { + if (addPointToFace(m_mesh.m_faces[m_newFaceIndices[j]], point)) + { + break; + } + } + } + // The points are no longer needed: we can move them to the vector pool for reuse. + reclaimToIndexVectorPool(disabledPoints); + } + + // Increase face stack size if needed + for (const auto newFaceIndex : m_newFaceIndices) + { + auto &newFace = m_mesh.m_faces[newFaceIndex]; + if (newFace.m_pointsOnPositiveSide) + { + assert(newFace.m_pointsOnPositiveSide->size() > 0); + if (!newFace.m_inFaceStack) + { + m_faceList.push_back(newFaceIndex); + newFace.m_inFaceStack = 1; + } + } + } + } + + // Cleanup + m_indexVectorPool.clear(); + } + + // Constructs the convex hull into a MeshBuilder object + // which can be converted to a ConvexHull or Mesh object + inline void buildMesh(const VertexDataSource &pointCloud, bool CCW, bool useOriginalIndices, T eps) + { + // CCW is unused for now + (void)CCW; + // useOriginalIndices is unused for now + (void)useOriginalIndices; + + if (pointCloud.size() == 0) + { + m_mesh = MeshBuilder(); + return; + } + m_vertexData = pointCloud; + + // Very first: find extreme values and use them + // to compute the scale of the point cloud. + m_extremeValues = getExtremeValues(); + m_scale = getScale(m_extremeValues); + + // Epsilon we use depends on the scale + m_epsilon = eps * m_scale; + m_epsilonSquared = m_epsilon * m_epsilon; + + // Reset diagnostics + m_diagnostics = DiagnosticsData(); + + // The planar case happens when all the points + // appear to lie on a two dimensional subspace of R^3. + m_planar = false; + createConvexHalfEdgeMesh(); + if (m_planar) + { + const size_t extraPointIndex = m_planarPointCloudTemp.size() - 1; + for (auto &he : m_mesh.m_halfEdges) + { + if (he.m_endVertex == extraPointIndex) + { + he.m_endVertex = 0; + } + } + m_vertexData = pointCloud; + m_planarPointCloudTemp.clear(); + } + } + + // The public getConvexHull functions will + // setup a VertexDataSource object and call this + inline ConvexHull getConvexHull(const VertexDataSource &pointCloud, bool CCW, bool useOriginalIndices, T eps) + { + buildMesh(pointCloud, CCW, useOriginalIndices, eps); + return ConvexHull(m_mesh, m_vertexData, CCW, useOriginalIndices); + } + +public: + // Computes convex hull for a given point cloud. + // Params: + // pointCloud: a vector of of 3D points + // CCW: whether the output mesh triangles should have CCW orientation + // useOriginalIndices: should the output mesh use same vertex indices + // as the original point cloud. If this is false, + // then we generate a new vertex buffer which contains + // only the vertices that are part of the convex hull. + // eps: minimum distance to a plane to consider a point being on + // positive of it (for a point cloud with scale 1) + inline ConvexHull getConvexHull(const std::vector> &pointCloud, + bool CCW, + bool useOriginalIndices, + T eps = defaultEps()) + { + { + VertexDataSource vertexDataSource(pointCloud); + return getConvexHull(vertexDataSource, CCW, useOriginalIndices, eps); + } + } + + // Computes convex hull for a given point cloud. + // Params: + // vertexData: pointer to the first 3D point of the point cloud + // vertexCount: number of vertices in the point cloud + // CCW: whether the output mesh triangles should have CCW orientation + // useOriginalIndices: should the output mesh use same vertex indices + // as the original point cloud. If this is false, + // then we generate a new vertex buffer which contains + // only the vertices that are part of the convex hull. + // eps: minimum distance to a plane to consider a point being on positive + // side of it (for a point cloud with scale 1) + inline ConvexHull getConvexHull(const Vector3 *vertexData, + size_t vertexCount, + bool CCW, + bool useOriginalIndices, + T eps = defaultEps()) + { + { + VertexDataSource vertexDataSource(vertexData, vertexCount); + return getConvexHull(vertexDataSource, CCW, useOriginalIndices, eps); + } + } + + // Computes convex hull for a given point cloud. This function + // assumes that the vertex data resides in memory + // in the following format: x_0,y_0,z_0,x_1,y_1,z_1,... + // Params: + // vertexData: pointer to the X component of the first point of the point cloud. + // vertexCount: number of vertices in the point cloud + // CCW: whether the output mesh triangles should have CCW orientation + // useOriginalIndices: should the output mesh use same vertex indices as the + // original point cloud. If this is false, then we generate + // a new vertex buffer which contains only the vertices that + // are part of the convex hull. + // eps: minimum distance to a plane to consider a point being on positive side + // of it (for a point cloud with scale 1) + inline ConvexHull getConvexHull(const T *vertexData, + size_t vertexCount, + bool CCW, + bool useOriginalIndices, + T eps = defaultEps()) + { + VertexDataSource vertexDataSource((const vec3 *)vertexData, vertexCount); + return getConvexHull(vertexDataSource, CCW, useOriginalIndices, eps); + } + + // Computes convex hull for a given point cloud. This function assumes + // that the vertex data resides in memory + // in the following format: x_0,y_0,z_0,x_1,y_1,z_1,... + // Params: + // vertexData: pointer to the X component of the first point of the point cloud. + // vertexCount: number of vertices in the point cloud + // CCW: whether the output mesh triangles should have CCW orientation + // eps: minimum distance to a plane to consider a point being on positive side + // of it (for a point cloud with scale 1) + // Returns: + // Convex hull of the point cloud as a mesh object with half edge structure. + inline HalfEdgeMesh getConvexHullAsMesh(const T *vertexData, + size_t vertexCount, + bool CCW, + T eps = defaultEps()) + { + VertexDataSource vertexDataSource((const vec3 *)vertexData, vertexCount); + buildMesh(vertexDataSource, CCW, false, eps); + return HalfEdgeMesh(m_mesh, m_vertexData); + } + + // Get diagnostics about last generated convex hull + inline const DiagnosticsData &getDiagnostics() + { + return m_diagnostics; + } +}; + +/* + * Inline function definitions + */ + +template +inline std::unique_ptr> QuickHull::getIndexVectorFromPool() +{ + auto r = std::move(m_indexVectorPool.get()); + r->clear(); + return r; +} + +template +inline void QuickHull::reclaimToIndexVectorPool(std::unique_ptr> &ptr) +{ + const size_t oldSize = ptr->size(); + if ((oldSize + 1) * 128 < ptr->capacity()) + { + // Reduce memory usage! Huge vectors are needed at the beginning of iteration + // when faces have many points on their positive side. Later on, smaller vectors + // will suffice. + ptr.reset(nullptr); + return; + } + m_indexVectorPool.reclaim(ptr); +} + +template +inline bool QuickHull::addPointToFace(typename MeshBuilder::Face &f, size_t pointIndex) +{ + const T D = mathutils::getSignedDistanceToPlane(m_vertexData[pointIndex], f.m_P); + if (D > 0 && D * D > m_epsilonSquared * f.m_P.m_sqrNLength) + { + if (!f.m_pointsOnPositiveSide) + { + f.m_pointsOnPositiveSide = std::move(getIndexVectorFromPool()); + } + f.m_pointsOnPositiveSide->push_back(pointIndex); + if (D > f.m_mostDistantPointDist) + { + f.m_mostDistantPointDist = D; + f.m_mostDistantPoint = pointIndex; + } + return true; + } + return false; +} + +} // namespace quickhull + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/difPlan/root_finder.hpp b/trajectoryOpt/src/plan_manage/include/difPlan/root_finder.hpp new file mode 100644 index 0000000..0c7101e --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/difPlan/root_finder.hpp @@ -0,0 +1,1090 @@ +#ifndef ROOT_FINDER_HPP +#define ROOT_FINDER_HPP + +#define _USE_MATH_DEFINES +#include +#include +#include +#include + +namespace RootFinderParam +{ +constexpr size_t highestOrder = 64; +} + +namespace RootFinderPriv +{ + +inline int polyMod(double *u, double *v, double *r, int lu, int lv) +// Modulus of u(x)/v(x) +// The leading coefficient of v, i.e., v[0], must be 1.0 or -1.0 +// The length of u, v, and r are lu, lv, and lu, respectively +{ + int orderu = lu - 1; + int orderv = lv - 1; + + memcpy(r, u, lu * sizeof(double)); + + if (v[0] < 0.0) + { + for (int i = orderv + 1; i <= orderu; i += 2) + { + r[i] = -r[i]; + } + for (int i = 0; i <= orderu - orderv; i++) + { + for (int j = i + 1; j <= orderv + i; j++) + { + r[j] = -r[j] - r[i] * v[j - i]; + } + } + } + else + { + for (int i = 0; i <= orderu - orderv; i++) + { + for (int j = i + 1; j <= orderv + i; j++) + { + r[j] = r[j] - r[i] * v[j - i]; + } + } + } + + int k = orderv - 1; + while (k >= 0 && fabs(r[orderu - k]) < DBL_EPSILON) + { + r[orderu - k] = 0.0; + k--; + } + + return (k <= 0) ? 1 : (k + 1); +} + +inline double polyEval(double *p, int len, double x) +// Evaluate the polynomial p(x), which has len coefficients +// Note: Horner scheme should not be employed here !!! +// Horner scheme has bad numerical stability despite of its efficiency. +// These errors are particularly troublesome for root-finding algorithms. +// When the polynomial is evaluated near a zero, catastrophic +// cancellation (subtracting two nearby numbers) is guaranteed to occur. +// Therefore, Horner scheme may slow down some root-finding algorithms. +{ + double retVal = 0.0; + + if (len > 0) + { + if (fabs(x) < DBL_EPSILON) + { + retVal = p[len - 1]; + } + else if (x == 1.0) + { + for (int i = len - 1; i >= 0; i--) + { + retVal += p[i]; + } + } + else + { + double xn = 1.0; + + for (int i = len - 1; i >= 0; i--) + { + retVal += p[i] * xn; + xn *= x; + } + } + } + + return retVal; +} + +inline std::set solveCub(double a, double b, double c, double d) +// Calculate all roots of a*x^3 + b*x^2 + c*x + d = 0 +{ + std::set roots; + + constexpr double cos120 = -0.50; + constexpr double sin120 = 0.866025403784438646764; + + if (fabs(d) < DBL_EPSILON) + { + // First solution is x = 0 + roots.insert(0.0); + + // Converting to a quadratic equation + d = c; + c = b; + b = a; + a = 0.0; + } + + if (fabs(a) < DBL_EPSILON) + { + if (fabs(b) < DBL_EPSILON) + { + // Linear equation + if (fabs(c) > DBL_EPSILON) + roots.insert(-d / c); + } + else + { + // Quadratic equation + double discriminant = c * c - 4.0 * b * d; + if (discriminant >= 0) + { + double inv2b = 1.0 / (2.0 * b); + double y = sqrt(discriminant); + roots.insert((-c + y) * inv2b); + roots.insert((-c - y) * inv2b); + } + } + } + else + { + // Cubic equation + double inva = 1.0 / a; + double invaa = inva * inva; + double bb = b * b; + double bover3a = b * (1.0 / 3.0) * inva; + double p = (3.0 * a * c - bb) * (1.0 / 3.0) * invaa; + double halfq = (2.0 * bb * b - 9.0 * a * b * c + 27.0 * a * a * d) * (0.5 / 27.0) * invaa * inva; + double yy = p * p * p / 27.0 + halfq * halfq; + + if (yy > DBL_EPSILON) + { + // Sqrt is positive: one real solution + double y = sqrt(yy); + double uuu = -halfq + y; + double vvv = -halfq - y; + double www = fabs(uuu) > fabs(vvv) ? uuu : vvv; + double w = (www < 0) ? -pow(fabs(www), 1.0 / 3.0) : pow(www, 1.0 / 3.0); + roots.insert(w - p / (3.0 * w) - bover3a); + } + else if (yy < -DBL_EPSILON) + { + // Sqrt is negative: three real solutions + double x = -halfq; + double y = sqrt(-yy); + double theta; + double r; + double ux; + double uyi; + // Convert to polar form + if (fabs(x) > DBL_EPSILON) + { + theta = (x > 0.0) ? atan(y / x) : (atan(y / x) + M_PI); + r = sqrt(x * x - yy); + } + else + { + // Vertical line + theta = M_PI / 2.0; + r = y; + } + // Calculate cube root + theta /= 3.0; + r = pow(r, 1.0 / 3.0); + // Convert to complex coordinate + ux = cos(theta) * r; + uyi = sin(theta) * r; + // First solution + roots.insert(ux + ux - bover3a); + // Second solution, rotate +120 degrees + roots.insert(2.0 * (ux * cos120 - uyi * sin120) - bover3a); + // Third solution, rotate -120 degrees + roots.insert(2.0 * (ux * cos120 + uyi * sin120) - bover3a); + } + else + { + // Sqrt is zero: two real solutions + double www = -halfq; + double w = (www < 0.0) ? -pow(fabs(www), 1.0 / 3.0) : pow(www, 1.0 / 3.0); + // First solution + roots.insert(w + w - bover3a); + // Second solution, rotate +120 degrees + roots.insert(2.0 * w * cos120 - bover3a); + } + } + return roots; +} + +inline int solveResolvent(double *x, double a, double b, double c) +// Solve resolvent eqaution of corresponding Quartic equation +// The input x must be of length 3 +// Number of zeros are returned +{ + double a2 = a * a; + double q = (a2 - 3.0 * b) / 9.0; + double r = (a * (2.0 * a2 - 9.0 * b) + 27.0 * c) / 54.0; + double r2 = r * r; + double q3 = q * q * q; + double A, B; + if (r2 < q3) + { + double t = r / sqrt(q3); + if (t < -1.0) + { + t = -1.0; + } + if (t > 1.0) + { + t = 1.0; + } + t = acos(t); + a /= 3.0; + q = -2.0 * sqrt(q); + x[0] = q * cos(t / 3.0) - a; + x[1] = q * cos((t + M_PI * 2.0) / 3.0) - a; + x[2] = q * cos((t - M_PI * 2.0) / 3.0) - a; + return 3; + } + else + { + A = -pow(fabs(r) + sqrt(r2 - q3), 1.0 / 3.0); + if (r < 0.0) + { + A = -A; + } + B = (0.0 == A ? 0.0 : q / A); + + a /= 3.0; + x[0] = (A + B) - a; + x[1] = -0.5 * (A + B) - a; + x[2] = 0.5 * sqrt(3.0) * (A - B); + if (fabs(x[2]) < DBL_EPSILON) + { + x[2] = x[1]; + return 2; + } + + return 1; + } +} + +inline std::set solveQuartMonic(double a, double b, double c, double d) +// Calculate all roots of the monic quartic equation: +// x^4 + a*x^3 + b*x^2 + c*x +d = 0 +{ + std::set roots; + + double a3 = -b; + double b3 = a * c - 4.0 * d; + double c3 = -a * a * d - c * c + 4.0 * b * d; + + // Solve the resolvent: y^3 - b*y^2 + (ac - 4*d)*y - a^2*d - c^2 + 4*b*d = 0 + double x3[3]; + int iZeroes = solveResolvent(x3, a3, b3, c3); + + double q1, q2, p1, p2, D, sqrtD, y; + + y = x3[0]; + // Choosing Y with maximal absolute value. + if (iZeroes != 1) + { + if (fabs(x3[1]) > fabs(y)) + { + y = x3[1]; + } + if (fabs(x3[2]) > fabs(y)) + { + y = x3[2]; + } + } + + // h1 + h2 = y && h1*h2 = d <=> h^2 - y*h + d = 0 (h === q) + + D = y * y - 4.0 * d; + if (fabs(D) < DBL_EPSILON) //In other words: D == 0 + { + q1 = q2 = y * 0.5; + // g1 + g2 = a && g1 + g2 = b - y <=> g^2 - a*g + b - y = 0 (p === g) + D = a * a - 4.0 * (b - y); + if (fabs(D) < DBL_EPSILON) //In other words: D == 0 + { + p1 = p2 = a * 0.5; + } + else + { + sqrtD = sqrt(D); + p1 = (a + sqrtD) * 0.5; + p2 = (a - sqrtD) * 0.5; + } + } + else + { + sqrtD = sqrt(D); + q1 = (y + sqrtD) * 0.5; + q2 = (y - sqrtD) * 0.5; + // g1 + g2 = a && g1*h2 + g2*h1 = c ( && g === p ) Krammer + p1 = (a * q1 - c) / (q1 - q2); + p2 = (c - a * q2) / (q1 - q2); + } + + // Solve the quadratic equation: x^2 + p1*x + q1 = 0 + D = p1 * p1 - 4.0 * q1; + if (fabs(D) < DBL_EPSILON) + { + roots.insert(-p1 * 0.5); + } + else if (D > 0.0) + { + sqrtD = sqrt(D); + roots.insert((-p1 + sqrtD) * 0.5); + roots.insert((-p1 - sqrtD) * 0.5); + } + + // Solve the quadratic equation: x^2 + p2*x + q2 = 0 + D = p2 * p2 - 4.0 * q2; + if (fabs(D) < DBL_EPSILON) + { + roots.insert(-p2 * 0.5); + } + else if (D > 0.0) + { + sqrtD = sqrt(D); + roots.insert((-p2 + sqrtD) * 0.5); + roots.insert((-p2 - sqrtD) * 0.5); + } + + return roots; +} + +inline std::set solveQuart(double a, double b, double c, double d, double e) +// Calculate the quartic equation: a*x^4 + b*x^3 + c*x^2 + d*x + e = 0 +// All coefficients can be zero +{ + if (fabs(a) < DBL_EPSILON) + { + return solveCub(b, c, d, e); + } + else + { + return solveQuartMonic(b / a, c / a, d / a, e / a); + } +} + +inline std::set eigenSolveRealRoots(const Eigen::VectorXd &coeffs, double lbound, double ubound, double tol) +// Calculate roots of coeffs(x) inside (lbound, rbound) by computing eigen values of its companion matrix +// Complex roots with magnitude of imaginary part less than tol are considered real +{ + std::set rts; + + int order = (int)coeffs.size() - 1; + Eigen::VectorXd monicCoeffs(order + 1); + monicCoeffs << 1.0, coeffs.tail(order) / coeffs(0); + + Eigen::MatrixXd companionMat(order, order); + companionMat.setZero(); + companionMat(0, order - 1) = -monicCoeffs(order); + for (int i = 1; i < order; i++) + { + companionMat(i, i - 1) = 1.0; + companionMat(i, order - 1) = -monicCoeffs(order - i); + } + Eigen::VectorXcd eivals = companionMat.eigenvalues(); + double real; + int eivalsNum = eivals.size(); + for (int i = 0; i < eivalsNum; i++) + { + real = eivals(i).real(); + if (eivals(i).imag() < tol && real > lbound && real < ubound) + rts.insert(real); + } + + return rts; +} + +inline double numSignVar(double x, double **sturmSeqs, int *szSeq, int len) +// Calculate the number of sign variations of the Sturm sequences at x +// The i-th sequence with size szSeq[i] stored in sturmSeqs[i][], 0 <= i < len +{ + double y, lasty; + int signVar = 0; + lasty = polyEval(sturmSeqs[0], szSeq[0], x); + for (int i = 1; i < len; i++) + { + y = polyEval(sturmSeqs[i], szSeq[i], x); + if (lasty == 0.0 || lasty * y < 0.0) + { + ++signVar; + } + lasty = y; + } + + return signVar; +}; + +inline void polyDeri(double *coeffs, double *dcoeffs, int len) +// Calculate the derivative poly coefficients of a given poly +{ + int horder = len - 1; + for (int i = 0; i < horder; i++) + { + dcoeffs[i] = (horder - i) * coeffs[i]; + } + return; +} + +template +inline double safeNewton(const F &func, const DF &dfunc, + const double &l, const double &h, + const double &tol, const int &maxIts) +// Safe Newton Method +// Requirements: f(l)*f(h)<=0 +{ + double xh, xl; + double fl = func(l); + double fh = func(h); + if (fl == 0.0) + { + return l; + } + if (fh == 0.0) + { + return h; + } + if (fl < 0.0) + { + xl = l; + xh = h; + } + else + { + xh = l; + xl = h; + } + + double rts = 0.5 * (xl + xh); + double dxold = fabs(xh - xl); + double dx = dxold; + double f = func(rts); + double df = dfunc(rts); + double temp; + for (int j = 0; j < maxIts; j++) + { + if ((((rts - xh) * df - f) * ((rts - xl) * df - f) > 0.0) || + (fabs(2.0 * f) > fabs(dxold * df))) + { + dxold = dx; + dx = 0.5 * (xh - xl); + rts = xl + dx; + if (xl == rts) + { + break; + } + } + else + { + dxold = dx; + dx = f / df; + temp = rts; + rts -= dx; + if (temp == rts) + { + break; + } + } + + if (fabs(dx) < tol) + { + break; + } + + f = func(rts); + df = dfunc(rts); + if (f < 0.0) + { + xl = rts; + } + else + { + xh = rts; + } + } + + return rts; +} + +inline double shrinkInterval(double *coeffs, int numCoeffs, double lbound, double ubound, double tol) +// Calculate a single zero of poly coeffs(x) inside [lbound, ubound] +// Requirements: coeffs(lbound)*coeffs(ubound) < 0, lbound < ubound +{ + double *dcoeffs = new double[numCoeffs - 1]; + polyDeri(coeffs, dcoeffs, numCoeffs); + auto func = [&coeffs, &numCoeffs](double x) { return polyEval(coeffs, numCoeffs, x); }; + auto dfunc = [&dcoeffs, &numCoeffs](double x) { return polyEval(dcoeffs, numCoeffs - 1, x); }; + constexpr int maxDblIts = 128; + double rts = safeNewton(func, dfunc, lbound, ubound, tol, maxDblIts); + delete[] dcoeffs; + return rts; +} + +inline void recurIsolate(double l, double r, double fl, double fr, int lnv, int rnv, + double tol, double **sturmSeqs, int *szSeq, int len, + std::set &rts) +// Isolate all roots of sturmSeqs[0](x) inside interval (l, r) recursively and store them in rts +// Requirements: fl := sturmSeqs[0](l) != 0, fr := sturmSeqs[0](r) != 0, l < r, +// lnv != rnv, lnv = numSignVar(l), rnv = numSignVar(r) +// sturmSeqs[0](x) must have at least one root inside (l, r) +{ + int nrts = lnv - rnv; + double fm; + double m; + + if (nrts == 0) + { + return; + } + else if (nrts == 1) + { + if (fl * fr < 0) + { + rts.insert(shrinkInterval(sturmSeqs[0], szSeq[0], l, r, tol)); + return; + } + else + { + // Bisect when non of above works + int maxDblIts = 128; + + for (int i = 0; i < maxDblIts; i++) + { + // Calculate the root with even multiplicity + if (fl * fr < 0) + { + rts.insert(shrinkInterval(sturmSeqs[1], szSeq[1], l, r, tol)); + return; + } + + m = (l + r) / 2.0; + fm = polyEval(sturmSeqs[0], szSeq[0], m); + + if (fm == 0 || fabs(r - l) < tol) + { + rts.insert(m); + return; + } + else + { + if (lnv == numSignVar(m, sturmSeqs, szSeq, len)) + { + l = m; + fl = fm; + } + else + { + r = m; + fr = fm; + } + } + } + + rts.insert(m); + return; + } + } + else if (nrts > 1) + { + // More than one root exists in the interval + int maxDblIts = 128; + + int mnv; + int bias = 0; + bool biased = false; + for (int i = 0; i < maxDblIts; i++) + { + bias = biased ? bias : 0; + if (!biased) + { + m = (l + r) / 2.0; + } + else + { + m = (r - l) / pow(2.0, bias + 1.0) + l; + biased = false; + } + mnv = numSignVar(m, sturmSeqs, szSeq, len); + + if (fabs(r - l) < tol) + { + rts.insert(m); + return; + } + else + { + fm = polyEval(sturmSeqs[0], szSeq[0], m); + if (fm == 0) + { + bias++; + biased = true; + } + else if (lnv != mnv && rnv != mnv) + { + recurIsolate(l, m, fl, fm, lnv, mnv, tol, sturmSeqs, szSeq, len, rts); + recurIsolate(m, r, fm, fr, mnv, rnv, tol, sturmSeqs, szSeq, len, rts); + return; + } + else if (lnv == mnv) + { + l = m; + fl = fm; + } + else + { + r = m; + fr = fm; + } + } + } + + rts.insert(m); + return; + } +}; + +inline std::set isolateRealRoots(const Eigen::VectorXd &coeffs, double lbound, double ubound, double tol) +// Calculate roots of coeffs(x) inside (lbound, rbound) leveraging Sturm theory +// Requirement: leading coefficient must be nonzero +// coeffs(lbound) != 0, coeffs(rbound) != 0, lbound < rbound +{ + std::set rts; + + // Calculate monic coefficients + int order = (int)coeffs.size() - 1; + Eigen::VectorXd monicCoeffs(order + 1); + monicCoeffs << 1.0, coeffs.tail(order) / coeffs(0); + + // Calculate Cauchy’s bound for the roots of a polynomial + double rho_c = 1 + monicCoeffs.tail(order).cwiseAbs().maxCoeff(); + + // Calculate Kojima’s bound for the roots of a polynomial + Eigen::VectorXd nonzeroCoeffs(order + 1); + nonzeroCoeffs.setZero(); + int nonzeros = 0; + double tempEle; + for (int i = 0; i < order + 1; i++) + { + tempEle = monicCoeffs(i); + if (fabs(tempEle) >= DBL_EPSILON) + { + nonzeroCoeffs(nonzeros++) = tempEle; + } + } + nonzeroCoeffs = nonzeroCoeffs.head(nonzeros).eval(); + Eigen::VectorXd kojimaVec = nonzeroCoeffs.tail(nonzeros - 1).cwiseQuotient(nonzeroCoeffs.head(nonzeros - 1)).cwiseAbs(); + kojimaVec.tail(1) /= 2.0; + double rho_k = 2.0 * kojimaVec.maxCoeff(); + + // Choose a sharper one then loosen it by 1.0 to get an open interval + double rho = std::min(rho_c, rho_k) + 1.0; + + // Tighten the bound to search in + lbound = std::max(lbound, -rho); + ubound = std::min(ubound, rho); + + // Build Sturm sequence + int len = monicCoeffs.size(); + double sturmSeqs[(RootFinderParam::highestOrder + 1) * (RootFinderParam::highestOrder + 1)]; + int szSeq[RootFinderParam::highestOrder + 1] = {0}; // Explicit ini as zero (gcc may neglect this in -O3) + double *offsetSeq[RootFinderParam::highestOrder + 1]; + int num = 0; + + for (int i = 0; i < len; i++) + { + sturmSeqs[i] = monicCoeffs(i); + sturmSeqs[i + 1 + len] = (order - i) * sturmSeqs[i] / order; + } + szSeq[0] = len; + szSeq[1] = len - 1; + offsetSeq[0] = sturmSeqs + len - szSeq[0]; + offsetSeq[1] = sturmSeqs + 2 * len - szSeq[1]; + + num += 2; + + bool remainderConstant = false; + int idx = 0; + while (!remainderConstant) + { + szSeq[idx + 2] = polyMod(offsetSeq[idx], + offsetSeq[idx + 1], + &(sturmSeqs[(idx + 3) * len - szSeq[idx]]), + szSeq[idx], szSeq[idx + 1]); + offsetSeq[idx + 2] = sturmSeqs + (idx + 3) * len - szSeq[idx + 2]; + + remainderConstant = szSeq[idx + 2] == 1; + for (int i = 1; i < szSeq[idx + 2]; i++) + { + offsetSeq[idx + 2][i] /= -fabs(offsetSeq[idx + 2][0]); + } + offsetSeq[idx + 2][0] = offsetSeq[idx + 2][0] > 0.0 ? -1.0 : 1.0; + num++; + idx++; + } + + // Isolate all distinct roots inside the open interval recursively + recurIsolate(lbound, ubound, + polyEval(offsetSeq[0], szSeq[0], lbound), + polyEval(offsetSeq[0], szSeq[0], ubound), + numSignVar(lbound, offsetSeq, szSeq, len), + numSignVar(ubound, offsetSeq, szSeq, len), + tol, offsetSeq, szSeq, len, rts); + + return rts; +} + +} // namespace RootFinderPriv + +namespace RootFinder +{ + +inline Eigen::VectorXd polyConv(const Eigen::VectorXd &lCoef, const Eigen::VectorXd &rCoef) +// Calculate the convolution of lCoef(x) and rCoef(x) +{ + Eigen::VectorXd result(lCoef.size() + rCoef.size() - 1); + result.setZero(); + for (int i = 0; i < result.size(); i++) + { + for (int j = 0; j <= i; j++) + { + result(i) += (j < lCoef.size() && (i - j) < rCoef.size()) ? (lCoef(j) * rCoef(i - j)) : 0; + } + } + + return result; +} + +// // This function needs FFTW 3 and only performs better when the scale is large +// inline Eigen::VectorXd polyConvFFT(const Eigen::VectorXd &lCoef, const Eigen::VectorXd &rCoef) +// // Calculate the convolution of lCoef(x) and rCoef(x) using FFT +// // This function is fast when orders of both poly are larger than 100 +// { +// int paddedLen = lCoef.size() + rCoef.size() - 1; +// int complexLen = paddedLen / 2 + 1; +// Eigen::VectorXd result(paddedLen); +// double *rBuffer = fftw_alloc_real(paddedLen); +// // Construct FFT plan and buffers +// fftw_complex *cForwardBuffer = fftw_alloc_complex(complexLen); +// fftw_complex *cBackwardBuffer = fftw_alloc_complex(complexLen); +// fftw_plan forwardPlan = fftw_plan_dft_r2c_1d(paddedLen, rBuffer, cForwardBuffer, +// FFTW_ESTIMATE | FFTW_DESTROY_INPUT); +// fftw_plan backwardPlan = fftw_plan_dft_c2r_1d(paddedLen, cBackwardBuffer, rBuffer, +// FFTW_ESTIMATE | FFTW_DESTROY_INPUT); +// // Pad lCoef by zeros +// int len = lCoef.size(); +// for (int i = 0; i < len; i++) +// { +// rBuffer[i] = lCoef(i); +// } +// for (int i = len; i < paddedLen; i++) +// { +// rBuffer[i] = 0.0; +// } +// // Compute fft(pad(lCoef(x)) and back it up +// fftw_execute(forwardPlan); +// memcpy(cBackwardBuffer, cForwardBuffer, sizeof(fftw_complex) * complexLen); +// // Pad rCoef by zeros +// len = rCoef.size(); +// for (int i = 0; i < len; i++) +// { +// rBuffer[i] = rCoef(i); +// } +// for (int i = len; i < paddedLen; i++) +// { +// rBuffer[i] = 0.0; +// } +// // Compute fft(pad(rCoef(x)) +// fftw_execute(forwardPlan); +// // Compute fft(pad(lCoef(x)).fft(pad(rCoef(x)) +// double real, imag; +// for (int i = 0; i < complexLen; i++) +// { +// real = cBackwardBuffer[i][0]; +// imag = cBackwardBuffer[i][1]; +// cBackwardBuffer[i][0] = real * cForwardBuffer[i][0] - +// imag * cForwardBuffer[i][1]; +// cBackwardBuffer[i][1] = imag * cForwardBuffer[i][0] + +// real * cForwardBuffer[i][1]; +// } +// // Compute ifft(fft(pad(lCoef(x)).fft(pad(rCoef(x))) +// fftw_execute(backwardPlan); +// // Recover the original intensity +// double intensity = 1.0 / paddedLen; +// for (int i = 0; i < paddedLen; i++) +// { +// result(i) = rBuffer[i] * intensity; +// } +// // Destruct FFT plan and buffers +// fftw_destroy_plan(forwardPlan); +// fftw_destroy_plan(backwardPlan); +// fftw_free(rBuffer); +// fftw_free(cForwardBuffer); +// fftw_free(cBackwardBuffer); +// return result; +// } + +inline Eigen::VectorXd polySqr(const Eigen::VectorXd &coef) +// Calculate self-convolution of coef(x) +{ + int coefSize = coef.size(); + int resultSize = coefSize * 2 - 1; + int lbound, rbound; + Eigen::VectorXd result(resultSize); + double temp; + for (int i = 0; i < resultSize; i++) + { + temp = 0; + lbound = i - coefSize + 1; + lbound = lbound > 0 ? lbound : 0; + rbound = coefSize < (i + 1) ? coefSize : (i + 1); + rbound += lbound; + if (rbound & 1) //faster than rbound % 2 == 1 + { + rbound >>= 1; //faster than rbound /= 2 + temp += coef(rbound) * coef(rbound); + } + else + { + rbound >>= 1; //faster than rbound /= 2 + } + + for (int j = lbound; j < rbound; j++) + { + temp += 2.0 * coef(j) * coef(i - j); + } + result(i) = temp; + } + + return result; +} + +inline double polyVal(const Eigen::VectorXd &coeffs, double x, + bool numericalStability = true) +// Evaluate the polynomial at x, i.e., coeffs(x) +// Horner scheme is faster yet less stable +// Stable one should be used when coeffs(x) is close to 0.0 +{ + double retVal = 0.0; + int order = (int)coeffs.size() - 1; + + if (order >= 0) + { + if (fabs(x) < DBL_EPSILON) + { + retVal = coeffs(order); + } + else if (x == 1.0) + { + retVal = coeffs.sum(); + } + else + { + if (numericalStability) + { + double xn = 1.0; + + for (int i = order; i >= 0; i--) + { + retVal += coeffs(i) * xn; + xn *= x; + } + } + else + { + int len = coeffs.size(); + + for (int i = 0; i < len; i++) + { + retVal = retVal * x + coeffs(i); + } + } + } + } + + return retVal; +} + +inline int countRoots(const Eigen::VectorXd &coeffs, double l, double r) +// Count the number of distinct roots of coeffs(x) inside (l, r), leveraging Sturm theory +// Boundary values, i.e., coeffs(l) and coeffs(r), must be nonzero +{ + int nRoots = 0; + + int originalSize = coeffs.size(); + int valid = originalSize; + for (int i = 0; i < originalSize; i++) + { + if (fabs(coeffs(i)) < DBL_EPSILON) + { + valid--; + } + else + { + break; + } + } + + if (valid > 0 && fabs(coeffs(originalSize - 1)) > DBL_EPSILON) + { + Eigen::VectorXd monicCoeffs(valid); + monicCoeffs << 1.0, coeffs.segment(originalSize - valid + 1, valid - 1) / coeffs(originalSize - valid); + + // Build the Sturm sequence + int len = monicCoeffs.size(); + int order = len - 1; + double sturmSeqs[(RootFinderParam::highestOrder + 1) * (RootFinderParam::highestOrder + 1)]; + int szSeq[RootFinderParam::highestOrder + 1] = {0}; // Explicit ini as zero (gcc may neglect this in -O3) + int num = 0; + + for (int i = 0; i < len; i++) + { + sturmSeqs[i] = monicCoeffs(i); + sturmSeqs[i + 1 + len] = (order - i) * sturmSeqs[i] / order; + } + szSeq[0] = len; + szSeq[1] = len - 1; + num += 2; + + bool remainderConstant = false; + int idx = 0; + while (!remainderConstant) + { + szSeq[idx + 2] = RootFinderPriv::polyMod(&(sturmSeqs[(idx + 1) * len - szSeq[idx]]), + &(sturmSeqs[(idx + 2) * len - szSeq[idx + 1]]), + &(sturmSeqs[(idx + 3) * len - szSeq[idx]]), + szSeq[idx], szSeq[idx + 1]); + remainderConstant = szSeq[idx + 2] == 1; + for (int i = 1; i < szSeq[idx + 2]; i++) + { + sturmSeqs[(idx + 3) * len - szSeq[idx + 2] + i] /= -fabs(sturmSeqs[(idx + 3) * len - szSeq[idx + 2]]); + } + sturmSeqs[(idx + 3) * len - szSeq[idx + 2]] /= -fabs(sturmSeqs[(idx + 3) * len - szSeq[idx + 2]]); + num++; + idx++; + } + + // Count numbers of sign variations at two boundaries + double yl, lastyl, yr, lastyr; + lastyl = RootFinderPriv::polyEval(&(sturmSeqs[len - szSeq[0]]), szSeq[0], l); + lastyr = RootFinderPriv::polyEval(&(sturmSeqs[len - szSeq[0]]), szSeq[0], r); + for (int i = 1; i < num; i++) + { + yl = RootFinderPriv::polyEval(&(sturmSeqs[(i + 1) * len - szSeq[i]]), szSeq[i], l); + yr = RootFinderPriv::polyEval(&(sturmSeqs[(i + 1) * len - szSeq[i]]), szSeq[i], r); + if (lastyl == 0.0 || lastyl * yl < 0.0) + { + ++nRoots; + } + if (lastyr == 0.0 || lastyr * yr < 0.0) + { + --nRoots; + } + lastyl = yl; + lastyr = yr; + } + } + + return nRoots; +} + +inline std::set solvePolynomial(const Eigen::VectorXd &coeffs, double lbound, double ubound, double tol, bool isolation = true) +// Calculate roots of coeffs(x) inside (lbound, rbound) +// +// Closed-form solutions are employed for reduced_order < 5 +// isolation = true: +// Sturm' theory and some geometrical property are employed to bracket each root +// Safe-Newton is employed to shrink the interval efficiently +// isolation = false: +// Eigen values of polynomial companion matrix are calculated +// +// Requirement: leading coefficient must be nonzero +// coeffs(lbound) != 0, coeffs(rbound) != 0, lbound < rbound +{ + std::set rts; + + int valid = coeffs.size(); + for (int i = 0; i < coeffs.size(); i++) + { + if (fabs(coeffs(i)) < DBL_EPSILON) + { + valid--; + } + else + { + break; + } + } + + int offset = 0; + int nonzeros = valid; + if (valid > 0) + { + for (int i = 0; i < valid; i++) + { + if (fabs(coeffs(coeffs.size() - i - 1)) < DBL_EPSILON) + { + nonzeros--; + offset++; + } + else + { + break; + } + } + } + + if (nonzeros == 0) + { + rts.insert(INFINITY); + rts.insert(-INFINITY); + } + else if (nonzeros == 1 && offset == 0) + { + rts.clear(); + } + else + { + Eigen::VectorXd ncoeffs(std::max(5, nonzeros)); + ncoeffs.setZero(); + ncoeffs.tail(nonzeros) << coeffs.segment(coeffs.size() - valid, nonzeros); + + if (nonzeros <= 5) + { + rts = RootFinderPriv::solveQuart(ncoeffs(0), ncoeffs(1), ncoeffs(2), ncoeffs(3), ncoeffs(4)); + } + else + { + if (isolation) + { + rts = RootFinderPriv::isolateRealRoots(ncoeffs, lbound, ubound, tol); + } + else + { + rts = RootFinderPriv::eigenSolveRealRoots(ncoeffs, lbound, ubound, tol); + } + } + + if (offset > 0) + { + rts.insert(0.0); + } + } + + for (auto it = rts.begin(); it != rts.end();) + { + if (*it > lbound && *it < ubound) + { + it++; + } + else + { + it = rts.erase(it); + } + } + + return rts; +} + +} // namespace RootFinder + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/difPlan/sdlp.hpp b/trajectoryOpt/src/plan_manage/include/difPlan/sdlp.hpp new file mode 100644 index 0000000..aef1e1b --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/difPlan/sdlp.hpp @@ -0,0 +1,801 @@ +/* + * Copyright (c) 1990 Michael E. Hohmeyer, + * hohmeyer@icemcfd.com + * Permission is granted to modify and re-distribute this code in any manner + * as long as this notice is preserved. All standard disclaimers apply. + * + * R. Seidel's algorithm for solving LPs (linear programs.) + */ + +/* + * Copyright (c) 2021 Zhepei Wang, + * wangzhepei@live.com + * 1. Bug fix in "move_to_front" function that "prev[m]" is illegally accessed + * while "prev" originally has only m ints. It is fixed by allocating a + * "prev" with m + 1 ints. + * 2. Add Eigen interface. + * Permission is granted to modify and re-distribute this code in any manner + * as long as this notice is preserved. All standard disclaimers apply. + * + * Reference: Seidel, R. (1991), "Small-dimensional linear programming and convex hulls made easy", + * Discrete & Computational Geometry 6 (1): 423–434, doi:10.1007/BF02574699 + */ + +#ifndef SDLP_HPP +#define SDLP_HPP + +#include + +#include +#include + +namespace sdlp +{ +constexpr double prog_epsilon = 2.0e-16; + +enum PROG_STATE +{ + /* minimum attained */ + MINIMUM = 0, + /* no feasible region */ + INFEASIBLE, + /* unbounded solution */ + UNBOUNDED, + /* only a vertex in the solution set */ + AMBIGUOUS, +}; + +inline double dot2(const double a[2], const double b[2]) +{ + return a[0] * b[0] + a[1] * b[1]; +} + +inline double cross2(const double a[2], const double b[2]) +{ + return a[0] * b[1] - a[1] * b[0]; +} + +inline bool unit2(const double a[2], double b[2], double eps) +{ + double size; + size = sqrt(a[0] * a[0] + a[1] * a[1]); + if (size < 2 * eps) + { + return true; + } + b[0] = a[0] / size; + b[1] = a[1] / size; + return false; +} + +/* unitize a d+1 dimensional point */ +inline bool lp_d_unit(int d, const double *a, double *b) +{ + int i; + double size; + + size = 0.0; + for (i = 0; i <= d; i++) + { + size += a[i] * a[i]; + } + if (size < (d + 1) * prog_epsilon * prog_epsilon) + { + return true; + } + size = 1.0 / sqrt(size); + for (i = 0; i <= d; i++) + { + b[i] = a[i] * size; + } + return false; +} + +/* optimize the objective function when there are no contraints */ +inline int lp_no_constraints(int d, const double *n_vec, const double *d_vec, double *opt) +{ + int i; + double n_dot_d, d_dot_d; + + n_dot_d = 0.0; + d_dot_d = 0.0; + for (i = 0; i <= d; i++) + { + n_dot_d += n_vec[i] * d_vec[i]; + d_dot_d += d_vec[i] * d_vec[i]; + } + if (d_dot_d < prog_epsilon * prog_epsilon) + { + d_dot_d = 1.0; + n_dot_d = 0.0; + } + for (i = 0; i <= d; i++) + { + opt[i] = -n_vec[i] + d_vec[i] * n_dot_d / d_dot_d; + } + /* normalize the optimal point */ + if (lp_d_unit(d, opt, opt)) + { + opt[d] = 1.0; + return AMBIGUOUS; + } + else + { + return MINIMUM; + } +} + +/* returns the index of the plane that is in i's place */ +inline int move_to_front(int i, int *next, int *prev) +{ + int previ; + if (i == 0 || i == next[0]) + { + return i; + } + previ = prev[i]; + /* remove i from it's current position */ + next[prev[i]] = next[i]; + prev[next[i]] = prev[i]; + /* put i at the front */ + next[i] = next[0]; + prev[i] = 0; + prev[next[i]] = i; + next[0] = i; + return previ; +} + +inline void lp_min_lin_rat(int degen, + const double cw_vec[2], + const double ccw_vec[2], + const double n_vec[2], + const double d_vec[2], + double opt[2]) +{ + double d_cw, d_ccw, n_cw, n_ccw; + + /* linear rational function case */ + d_cw = dot2(cw_vec, d_vec); + d_ccw = dot2(ccw_vec, d_vec); + n_cw = dot2(cw_vec, n_vec); + n_ccw = dot2(ccw_vec, n_vec); + if (degen) + { + /* if degenerate simply compare values */ + if (n_cw / d_cw < n_ccw / d_ccw) + { + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + else + { + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + /* check that the clock-wise and counter clockwise bounds are not near a poles */ + } + else if (fabs(d_cw) > 2.0 * prog_epsilon && + fabs(d_ccw) > 2.0 * prog_epsilon) + { + /* the valid region does not contain a poles */ + if (d_cw * d_ccw > 0.0) + { + /* find which end has the minimum value */ + if (n_cw / d_cw < n_ccw / d_ccw) + { + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + else + { + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + } + else + { + /* the valid region does contain a poles */ + if (d_cw > 0.0) + { + opt[0] = -d_vec[1]; + opt[1] = d_vec[0]; + } + else + { + opt[0] = d_vec[1]; + opt[1] = -d_vec[0]; + } + } + } + else if (fabs(d_cw) > 2.0 * prog_epsilon) + { + /* the counter clockwise bound is near a pole */ + if (n_ccw * d_cw > 0.0) + { + /* counter clockwise bound is a positive pole */ + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + else + { + /* counter clockwise bound is a negative pole */ + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + } + else if (fabs(d_ccw) > 2.0 * prog_epsilon) + { + /* the clockwise bound is near a pole */ + if (n_cw * d_ccw > 2 * prog_epsilon) + { + /* clockwise bound is at a positive pole */ + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + else + { + /* clockwise bound is at a negative pole */ + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + } + else + { + /* both bounds are near poles */ + if (cross2(d_vec, n_vec) > 0.0) + { + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + else + { + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + } +} + +inline int wedge(const double (*halves)[2], + int m, + int *next, + int *prev, + double cw_vec[2], + double ccw_vec[2], + int *degen) +{ + int i; + double d_cw, d_ccw; + int offensive; + + *degen = 0; + for (i = 0; i != m; i = next[i]) + { + if (!unit2(halves[i], ccw_vec, prog_epsilon)) + { + /* clock-wise */ + cw_vec[0] = ccw_vec[1]; + cw_vec[1] = -ccw_vec[0]; + /* counter-clockwise */ + ccw_vec[0] = -cw_vec[0]; + ccw_vec[1] = -cw_vec[1]; + break; + } + } + if (i == m) + { + return UNBOUNDED; + } + i = 0; + while (i != m) + { + offensive = 0; + d_cw = dot2(cw_vec, halves[i]); + d_ccw = dot2(ccw_vec, halves[i]); + if (d_ccw >= 2 * prog_epsilon) + { + if (d_cw <= -2 * prog_epsilon) + { + cw_vec[0] = halves[i][1]; + cw_vec[1] = -halves[i][0]; + unit2(cw_vec, cw_vec, prog_epsilon); + offensive = 1; + } + } + else if (d_cw >= 2 * prog_epsilon) + { + if (d_ccw <= -2 * prog_epsilon) + { + ccw_vec[0] = -halves[i][1]; + ccw_vec[1] = halves[i][0]; + unit2(ccw_vec, ccw_vec, prog_epsilon); + offensive = 1; + } + } + else if (d_ccw <= -2 * prog_epsilon && d_cw <= -2 * prog_epsilon) + { + return INFEASIBLE; + } + else if ((d_cw <= -2 * prog_epsilon) || + (d_ccw <= -2 * prog_epsilon) || + (cross2(cw_vec, halves[i]) < 0.0)) + { + /* degenerate */ + if (d_cw <= -2 * prog_epsilon) + { + unit2(ccw_vec, cw_vec, prog_epsilon); + } + else if (d_ccw <= -2 * prog_epsilon) + { + unit2(cw_vec, ccw_vec, prog_epsilon); + } + *degen = 1; + offensive = 1; + } + /* place this offensive plane in second place */ + if (offensive) + { + i = move_to_front(i, next, prev); + } + i = next[i]; + if (*degen) + { + break; + } + } + if (*degen) + { + while (i != m) + { + d_cw = dot2(cw_vec, halves[i]); + d_ccw = dot2(ccw_vec, halves[i]); + if (d_cw < -2 * prog_epsilon) + { + if (d_ccw < -2 * prog_epsilon) + { + return INFEASIBLE; + } + else + { + cw_vec[0] = ccw_vec[0]; + cw_vec[1] = ccw_vec[1]; + } + } + else if (d_ccw < -2 * prog_epsilon) + { + ccw_vec[0] = cw_vec[0]; + ccw_vec[1] = cw_vec[1]; + } + i = next[i]; + } + } + return MINIMUM; +} + +/* +* return the minimum on the projective line +*/ +inline int lp_base_case(const double (*halves)[2], /* halves --- half lines */ + int m, /* m --- terminal marker */ + const double n_vec[2], /* n_vec --- numerator funciton */ + const double d_vec[2], /* d_vec --- denominator function */ + double opt[2], /* opt --- optimum */ + int *next, /* next, prev --- double linked list of indices */ + int *prev) +{ + double cw_vec[2], ccw_vec[2]; + int degen; + int status; + double ab; + + /* find the feasible region of the line */ + status = wedge(halves, m, next, prev, cw_vec, ccw_vec, °en); + + if (status == INFEASIBLE) + { + return status; + } + /* no non-trivial constraints one the plane: return the unconstrained optimum */ + if (status == UNBOUNDED) + { + return lp_no_constraints(1, n_vec, d_vec, opt); + } + ab = fabs(cross2(n_vec, d_vec)); + if (ab < 2 * prog_epsilon * prog_epsilon) + { + if (dot2(n_vec, n_vec) < 2 * prog_epsilon * prog_epsilon || + dot2(d_vec, d_vec) > 2 * prog_epsilon * prog_epsilon) + { + /* numerator is zero or numerator and denominator are linearly dependent */ + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + status = AMBIGUOUS; + } + else + { + /* numerator is non-zero and denominator is zero minimize linear functional on circle */ + if (!degen && cross2(cw_vec, n_vec) <= 0.0 && + cross2(n_vec, ccw_vec) <= 0.0) + { + /* optimum is in interior of feasible region */ + opt[0] = -n_vec[0]; + opt[1] = -n_vec[1]; + } + else if (dot2(n_vec, cw_vec) > dot2(n_vec, ccw_vec)) + { + /* optimum is at counter-clockwise boundary */ + opt[0] = ccw_vec[0]; + opt[1] = ccw_vec[1]; + } + else + { + /* optimum is at clockwise boundary */ + opt[0] = cw_vec[0]; + opt[1] = cw_vec[1]; + } + status = MINIMUM; + } + } + else + { + /* niether numerator nor denominator is zero */ + lp_min_lin_rat(degen, cw_vec, ccw_vec, n_vec, d_vec, opt); + status = MINIMUM; + } + return status; +} + +/* find the largest coefficient in a plane */ +inline void findimax(const double *pln, int idim, int *imax) +{ + double rmax; + int i; + + *imax = 0; + rmax = fabs(pln[0]); + for (i = 1; i <= idim; i++) + { + double ab; + ab = fabs(pln[i]); + if (ab > rmax) + { + *imax = i; + rmax = ab; + } + } +} + +inline void vector_up(const double *equation, int ivar, int idim, + const double *low_vector, double *vector) +{ + int i; + + vector[ivar] = 0.0; + for (i = 0; i < ivar; i++) + { + vector[i] = low_vector[i]; + vector[ivar] -= equation[i] * low_vector[i]; + } + for (i = ivar + 1; i <= idim; i++) + { + vector[i] = low_vector[i - 1]; + vector[ivar] -= equation[i] * low_vector[i - 1]; + } + vector[ivar] /= equation[ivar]; +} + +inline void vector_down(const double *elim_eqn, int ivar, int idim, + const double *old_vec, double *new_vec) +{ + int i; + double fac, ve, ee; + ve = 0.0; + ee = 0.0; + for (i = 0; i <= idim; i++) + { + ve += old_vec[i] * elim_eqn[i]; + ee += elim_eqn[i] * elim_eqn[i]; + } + fac = ve / ee; + for (i = 0; i < ivar; i++) + { + new_vec[i] = old_vec[i] - elim_eqn[i] * fac; + } + for (i = ivar + 1; i <= idim; i++) + { + new_vec[i - 1] = old_vec[i] - elim_eqn[i] * fac; + } +} + +inline void plane_down(const double *elim_eqn, int ivar, int idim, + const double *old_plane, double *new_plane) +{ + double crit; + int i; + + crit = old_plane[ivar] / elim_eqn[ivar]; + for (i = 0; i < ivar; i++) + { + new_plane[i] = old_plane[i] - elim_eqn[i] * crit; + } + for (i = ivar + 1; i <= idim; i++) + { + new_plane[i - 1] = old_plane[i] - elim_eqn[i] * crit; + } +} + +inline int linfracprog(const double *halves, /* halves --- half spaces */ + int istart, /* istart --- should be zero unless doing incremental algorithm */ + int m, /* m --- terminal marker */ + const double *n_vec, /* n_vec --- numerator vector */ + const double *d_vec, /* d_vec --- denominator vector */ + int d, /* d --- projective dimension */ + double *opt, /* opt --- optimum */ + double *work, /* work --- work space (see below) */ + int *next, /* next --- array of indices into halves */ + int *prev, /* prev --- array of indices into halves */ + int max_size) /* max_size --- size of halves array */ +/* +** +** half-spaces are in the form +** halves[i][0]*x[0] + halves[i][1]*x[1] + +** ... + halves[i][d-1]*x[d-1] + halves[i][d]*x[d] >= 0 +** +** coefficients should be normalized +** half-spaces should be in random order +** the order of the half spaces is 0, next[0] next[next[0]] ... +** and prev[next[i]] = i +** +** halves: (max_size)x(d+1) +** +** the optimum has been computed for the half spaces +** 0 , next[0], next[next[0]] , ... , prev[istart] +** the next plane that needs to be tested is istart +** +** m is the index of the first plane that is NOT on the list +** i.e. m is the terminal marker for the linked list. +** +** the objective function is dot(x,nvec)/dot(x,dvec) +** if you want the program to solve standard d dimensional linear programming +** problems then n_vec = ( x0, x1, x2, ..., xd-1, 0) +** and d_vec = ( 0, 0, 0, ..., 0, 1) +** and halves[0] = (0, 0, ... , 1) +** +** work points to (max_size+3)*(d+2)*(d-1)/2 double space +*/ +{ + int status; + int i, j, imax; + double *new_opt, *new_n_vec, *new_d_vec, *new_halves, *new_work; + const double *plane_i; + double val; + + if (d == 1 && m != 0) + { + return lp_base_case((const double(*)[2])halves, m, n_vec, + d_vec, opt, next, prev); + } + else + { + int d_vec_zero; + val = 0.0; + for (j = 0; j <= d; j++) + { + val += d_vec[j] * d_vec[j]; + } + d_vec_zero = (val < (d + 1) * prog_epsilon * prog_epsilon); + + /* find the unconstrained minimum */ + if (!istart) + { + status = lp_no_constraints(d, n_vec, d_vec, opt); + } + else + { + status = MINIMUM; + } + if (m == 0) + { + return status; + } + + /* allocate memory for next level of recursion */ + new_opt = work; + new_n_vec = new_opt + d; + new_d_vec = new_n_vec + d; + new_halves = new_d_vec + d; + new_work = new_halves + max_size * d; + for (i = istart; i != m; i = next[i]) + { + /* if the optimum is not in half space i then project the problem onto that plane */ + plane_i = halves + i * (d + 1); + /* determine if the optimum is on the correct side of plane_i */ + val = 0.0; + for (j = 0; j <= d; j++) + { + val += opt[j] * plane_i[j]; + } + if (val < -(d + 1) * prog_epsilon) + { + /* find the largest of the coefficients to eliminate */ + findimax(plane_i, d, &imax); + /* eliminate that variable */ + if (i != 0) + { + double fac; + fac = 1.0 / plane_i[imax]; + for (j = 0; j != i; j = next[j]) + { + const double *old_plane; + double *new_plane; + int k; + double crit; + + old_plane = halves + j * (d + 1); + new_plane = new_halves + j * d; + crit = old_plane[imax] * fac; + for (k = 0; k < imax; k++) + { + new_plane[k] = old_plane[k] - plane_i[k] * crit; + } + for (k = imax + 1; k <= d; k++) + { + new_plane[k - 1] = old_plane[k] - plane_i[k] * crit; + } + } + } + /* project the objective function to lower dimension */ + if (d_vec_zero) + { + vector_down(plane_i, imax, d, n_vec, new_n_vec); + for (j = 0; j < d; j++) + { + new_d_vec[j] = 0.0; + } + } + else + { + plane_down(plane_i, imax, d, n_vec, new_n_vec); + plane_down(plane_i, imax, d, d_vec, new_d_vec); + } + /* solve sub problem */ + status = linfracprog(new_halves, 0, i, new_n_vec, + new_d_vec, d - 1, new_opt, new_work, next, prev, max_size); + /* back substitution */ + if (status != INFEASIBLE) + { + vector_up(plane_i, imax, d, new_opt, opt); + + /* in line code for unit */ + double size; + size = 0.0; + for (j = 0; j <= d; j++) + size += opt[j] * opt[j]; + size = 1.0 / sqrt(size); + for (j = 0; j <= d; j++) + opt[j] *= size; + } + else + { + return status; + } + /* place this offensive plane in second place */ + i = move_to_front(i, next, prev); + } + } + return status; + } +} + +inline void rand_permutation(int n, int *p) +{ + typedef std::uniform_int_distribution rand_int; + typedef rand_int::param_type rand_range; + static std::mt19937_64 gen; + static rand_int rdi(0, 1); + int i, j, t; + for (i = 0; i < n; i++) + { + p[i] = i; + } + for (i = 0; i < n; i++) + { + rdi.param(rand_range(0, n - i - 1)); + j = rdi(gen) + i; + t = p[j]; + p[j] = p[i]; + p[i] = t; + } +} + +inline double linprog(const Eigen::VectorXd &c, + const Eigen::MatrixXd &A, + const Eigen::VectorXd &b, + Eigen::VectorXd &x) +/* +** min cTx, s.t. Ax<=b +** dim(x) << dim(b) +*/ +{ + int d = c.size(); + int m = b.size() + 1; + x = Eigen::VectorXd::Zero(d); + double minimum = INFINITY; + + int *perm, *next, *prev; + double *halves, *n_vec, *d_vec, *work, *opt; + int i, status = sdlp::AMBIGUOUS; + + perm = (int *)malloc((m - 1) * sizeof(int)); + next = (int *)malloc(m * sizeof(int)); + /* original allocated size is m, here changed by m + 1 for legal tail accessing */ + prev = (int *)malloc((m + 1) * sizeof(int)); + halves = (double *)malloc(m * (d + 1) * sizeof(double)); + n_vec = (double *)malloc((d + 1) * sizeof(double)); + d_vec = (double *)malloc((d + 1) * sizeof(double)); + work = (double *)malloc((m + 3) * (d + 2) * (d - 1) / 2 * sizeof(double)); + opt = (double *)malloc((d + 1) * sizeof(double)); + + Eigen::Map Af(halves, d + 1, m); + Eigen::Map nv(n_vec, d + 1); + Eigen::Map dv(d_vec, d + 1); + Eigen::Map xf(opt, d + 1); + + Af.col(0).setZero(); + Af(d, 0) = 1.0; + Af.topRightCorner(d, m - 1) = -A.transpose(); + Af.bottomRightCorner(1, m - 1) = b.transpose(); + nv.head(d) = c; + nv(d) = 0.0; + dv.setZero(); + dv(d) = 1.0; + + /* randomize the input planes */ + rand_permutation(m - 1, perm); + /* previous to 0 is actually never used */ + prev[0] = 0; + /* link the zero position in at the beginning */ + next[0] = perm[0] + 1; + prev[perm[0] + 1] = 0; + /* link the other planes */ + for (i = 0; i < m - 2; i++) + { + next[perm[i] + 1] = perm[i + 1] + 1; + prev[perm[i + 1] + 1] = perm[i] + 1; + } + /* flag the last plane */ + next[perm[m - 2] + 1] = m; + + status = sdlp::linfracprog(halves, 0, m, n_vec, d_vec, + d, opt, work, next, prev, m); + + /* handle states for linprog whose definitions differ from linfracprog */ + if (status != sdlp::INFEASIBLE) + { + if (xf(d) != 0.0 && status != sdlp::UNBOUNDED) + { + x = xf.head(d) / xf(d); + minimum = c.dot(x); + } + + if (xf(d) == 0.0 || status == sdlp::UNBOUNDED) + { + x = xf.head(d); + minimum = -INFINITY; + } + } + + free(perm); + free(next); + free(prev); + free(halves); + free(n_vec); + free(d_vec); + free(work); + free(opt); + + return minimum; +} + +} // namespace sdlp + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/difPlan/trajDif_opt.hpp b/trajectoryOpt/src/plan_manage/include/difPlan/trajDif_opt.hpp new file mode 100644 index 0000000..077548e --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/difPlan/trajDif_opt.hpp @@ -0,0 +1,1015 @@ +#ifndef _TRAJ_OPTIMIZER_H_ +#define _TRAJ_OPTIMIZER_H_ + +#include +#include + +#include "poly_traj_utils.hpp" +#include "lbfgs.hpp" +#include "geoutils2d.hpp" +#include +#include +//1.0 0.1 0.01 +namespace dftpav +{ + + using namespace std; + + + class PolyTrajOptimizer + { + + private: + Eigen::VectorXi piecenums; + int trajnum; + double gslar_ = 0.05; + double wei_time_ = 500.0; + double esdfWei = 1000.0; + double penaWei = 10000.0; + double kmax = 0.45; + double kdotmax = 1.0; + double vmax = 3.0; + double latAccmax = 3.0; + double lonAccmax = 3.0; + double accRatemax = 3.0; + + + double phimax = 0.785; + double omegamax = 0.3; + double wheelbase = 0.6; + + int traj_res = 16; + std::vector cfgHs_; + std::vector conpts; + /*lots of alm param*/ + double scaling_wf_ = 1.0; + Eigen::VectorXd scaling_eqwc_, scaling_uneqwc_; + double scaling_wf_min_ = 0.01, scaling_wc_min_ = 0.01; + int eqc_num = 0, neqc_num = 0, totalc_num = 0; + Eigen::VectorXd lambda, mu, hx, gx; + double rho = 1.0, rho_max =1000.0; + double gamma = 1; + double cons_eps_ = 0.20; + double safeMargin = 0.15; + Eigen::VectorXd gradx; + double almTotalcost; + Eigen::MatrixXd headState2d_, tailState2d_; + std::vector singual_; + map_util::OccMapUtil* map_itf_; + + int eqc_idx = 0; + int uneqc_idx = 0; + std::shared_ptr vis_tool_; + bool isdebug_; + bool isfix_; + double backW_; + double miniS = 0.1; + bool isstart; + double totalCost; + std::string name_; + + + + std::vector jerkOpt_container; + + double startT; + double non_sinv = 0.005; + //0.005 0.05 0.5 + double debugEnergy; + public: + + PolyTrajOptimizer() {} + ~PolyTrajOptimizer() {} + + /* main planning API */ + inline int OptimizeSe2Trajectory( + const Eigen::MatrixXd &headState2d, const Eigen::MatrixXd &tailState2d, Eigen::VectorXd rdTs_container, + const std::vector &inPs_container, const std::vector &gearPos, + const std::vector & angles, map_util::OccMapUtil* map_itf, std::shared_ptr config_, const std::vector singual, + std::shared_ptr vis_tool,std::string name = "dftpav", std::vector ds_container = {}){ + vis_tool_ = vis_tool; + wei_time_ = config_->wei_time_; + kdotmax = config_->kdotmax; + kmax = config_->kmax; + vmax = config_->vmax; + latAccmax = config_->latAccmax; + lonAccmax = config_->lonAccmax; + accRatemax = config_->accRatemax; + traj_res = config_->traj_res; + rho = config_->rho; + rho_max = config_->rho_max; + gamma = config_->gamma; + cons_eps_ = config_->cons_eps_; + conpts = config_->conpts; + singual_ = singual; + isdebug_ = config_->isdebug; + isfix_ = config_->isfixGear; + backW_ = config_->backW; + miniS = config_->miniS; + safeMargin = config_->safeMargin; + esdfWei = config_->esdfWei; + penaWei = config_->penaWei; + map_itf_ = map_itf; + + phimax = config_->phimax; + omegamax = config_->omegamax; + wheelbase = config_->wheel_base; + kmax = tan(phimax) / wheelbase; + + + + isstart = true; + non_sinv = config_->non_siguav; + name_ = name; + for(int i = 0; i < rdTs_container.size(); i++){ + if(rdTs_container[i] <= gslar_){ + ROS_ERROR("piece time <= gslar_"); + rdTs_container[i] = gslar_+0.05; + } + } + headState2d_ = headState2d; + tailState2d_ = tailState2d; + headState2d_.col(1) = headState2d_.col(1) * non_sinv; + tailState2d_.col(1) = tailState2d_.col(1) * non_sinv; + + trajnum = singual_.size(); + int variable_num_ = 0; + jerkOpt_container.clear(); + jerkOpt_container.resize(trajnum); + piecenums.resize(trajnum); + for(int i = 0; i < trajnum; i++){ + int pn = inPs_container[i].cols() + 1; + piecenums[i] = pn; + jerkOpt_container[i].reset(pn); + variable_num_ += 2 * (pn - 1); + } + variable_num_ += trajnum; + variable_num_ += 2 * (trajnum-1); + variable_num_ += 1 * (trajnum-1); + + //optimization variables dt + Eigen::VectorXd x; + x.resize(variable_num_); + int offset = 0; + for(int i = 0; i Vt(x.data()+offset, rdTs_container.size()); + RealT2VirtualT(rdTs_container, Vt); + offset += rdTs_container.size(); + + for(int i = 0; i < trajnum-1; i++){ + memcpy(x.data()+offset,gearPos[i].data(), 2 * sizeof(x[0])); + offset += 2; + } + Eigen::Map angles_(x.data()+offset, trajnum-1); + for(int i = 0; i < trajnum - 1; i++){ + angles_[i] = angles[i]; + } + + + lbfgs::lbfgs_parameter_t lbfgs_params; + lbfgs_params.mem_size = config_->mem_size;//128 + lbfgs_params.past = config_->past; //3 + lbfgs_params.g_epsilon = config_->g_epsilon; + lbfgs_params.min_step = config_->min_step; + lbfgs_params.delta = config_->delta; + lbfgs_params.max_iterations = config_->max_iterations; + startT = ros::Time::now().toSec(); + int result; + double final_cost; + double t1 = ros::Time::now().toSec(); + result = lbfgs::lbfgs_optimize( + x, + final_cost, + PolyTrajOptimizer::costFunctionCallback, + NULL, + monitor, + this, + lbfgs_params); + double t2 = ros::Time::now().toSec(); + // ROS_WARN_STREAM("dftpav planning time: "<<1000.0*(t2-t1)<<" ms"); + + + /* ---------- get result and check collision ---------- */ + if (result == lbfgs::LBFGS_CONVERGENCE || + result == lbfgs::LBFGS_CANCELED || + result == lbfgs::LBFGS_STOP||result == lbfgs::LBFGSERR_MAXIMUMITERATION) + { + // ROS_WARN_STREAM("dif planner worked cost:"< getTraj(double dt){ + //return {px,py,yaw} + std::vector poseTraj; + for(int i = 0; i < trajnum; i++){ + dftpav::Trajectory polytraj = jerkOpt_container[i].getTraj(singual_[i]); + for(double t = 0.0; t < polytraj.getTotalDuration()-1.0e-3; t+=dt){ + Eigen::Vector2d pos= polytraj.getSigma(t); + poseTraj.push_back(Eigen::Vector3d(pos[0],pos[1],0.0)); + } + } + return poseTraj; + } + + void debugVis(){ + vis_tool_ ->visualize_path(getTraj(0.01), "/visualization/refinedTraj_"+name_); + DifTrajectory optTraj = getOptTraj(); + vis_tool_->visualize_se2traj(optTraj, "/visualization/fullshapeTraj_kinoastar"); + // std::cout <<"path topic: "<<"/visualization/refinedTraj_"+name_ << "\n"; + ROS_WARN_STREAM("differential flatness max cur: "< fabs(maxcur)){ + maxcur = cur; + } + } + + return maxcur; + } + double getMaxCurDot(){ + // dftpav::DifTrajectory optTraj; + // for(int i = 0; i < trajnum; i++){ + // dftpav::Trajectory polytraj = jerkOpt_container[i].getTraj(singual_[i]); + // optTraj.Traj_container.push_back(polytraj); + // optTraj.etas.push_back(singual_[i]); + // } + // double maxcurdot = 0.0; + // double baset = 0.0; + // for(int id = 0; id < optTraj.etas.size(); id++){ + // for(int i = 0; i < optTraj.Traj_container[id].getPieceNum(); i++){ + // double step = optTraj.Traj_container[id].getDurations()[i]/traj_res; + // for(int j = 0; j <= traj_res; j++){ + // double curt = baset + j*step; + // double curdot = optTraj.getCurDot(curt); + // if(fabs(curdot) > fabs(maxcurdot)){ + // maxcurdot = curdot; + // } + // } + // baset += optTraj.Traj_container[id].getDurations()[i]; + // } + // } + + // return maxcurdot; + dftpav::DifTrajectory optTraj; + for(int i = 0; i < trajnum; i++){ + dftpav::Trajectory polytraj = jerkOpt_container[i].getTraj(singual_[i]); + optTraj.Traj_container.push_back(polytraj); + optTraj.etas.push_back(singual_[i]); + } + double maxcurdot = 0.0; + for(double t = 0.0; t < optTraj.getTotalDuration(); t+=0.01){ + double curdot = optTraj.getCurDot(t); + if(fabs(curdot) > fabs(maxcurdot)){ + maxcurdot = curdot; + } + } + + return maxcurdot; + } + + double getMaxOmega(){ + dftpav::DifTrajectory optTraj; + for(int i = 0; i < trajnum; i++){ + dftpav::Trajectory polytraj = jerkOpt_container[i].getTraj(singual_[i]); + optTraj.Traj_container.push_back(polytraj); + optTraj.etas.push_back(singual_[i]); + } + double maxomega = 0.0; + for(double t = 0.0; t < optTraj.getTotalDuration(); t+=0.01){ + double omega = optTraj.getOmega(t); + if(fabs(omega) > fabs(maxomega)){ + maxomega = omega; + } + } + + return maxomega; + } + + + + + + + private: + /* callbacks by the L-BFGS optimizer */ + static int monitor(void *func_data,const Eigen::VectorXd &x, + const Eigen::VectorXd &g, + const double fx, + const double step, + const int k, + const int ls){ + double nowtime = ros::Time::now().toSec(); + PolyTrajOptimizer *opt = reinterpret_cast(func_data); + double budget = 0.1; + + + if(nowtime-(opt->startT) > budget){ + // ROS_WARN("reach budget time"); + return 1; + } + else{ + return 0; + } + } + + static double costFunctionCallback(void *func_data, const Eigen::VectorXd &x, Eigen::VectorXd &grad){ + double total_smcost = 0.0, total_timecost = 0.0, penalty_cost = 0.0; + PolyTrajOptimizer *opt = reinterpret_cast(func_data); + int offset = 0; + + std::vector> P_container; + std::vector> gradP_container;; + for(int trajid = 0; trajid < opt->trajnum; trajid++){ + Eigen::Map P(x.data()+offset, 2, opt->piecenums[trajid] - 1); + Eigen::MapgradP(grad.data()+offset, 2, opt->piecenums[trajid] - 1); + offset += 2 * (opt->piecenums[trajid] - 1); + gradP.setZero(); + P_container.push_back(P); + gradP_container.push_back(gradP); + } + Eigen::Map Vdts(x.data()+offset, opt->trajnum); + Eigen::MapgradVdts(grad.data()+offset, opt->trajnum); + offset += opt -> trajnum; + Eigen::VectorXd dts(opt->trajnum); + Eigen::VectorXd gradDts(opt->trajnum); gradDts.setZero(); + opt->VirtualT2RealT(Vdts, dts); + + // Ini/Fin Gear Pos + std::vector> Gear_container; + std::vector> gradGear_container; + for(int trajid = 0; trajid < opt->trajnum - 1; trajid++){ + Eigen::Map Gear(x.data()+offset, 2, 1); + Eigen::MapgradGear(grad.data()+offset, 2, 1); + offset += 2; + gradGear.setZero(); + Gear_container.push_back(Gear); + gradGear_container.push_back(gradGear); + } + // + Eigen::Map Angles(x.data()+offset, opt->trajnum-1); + Eigen::MapgradAngles(grad.data()+offset, opt->trajnum-1); + gradAngles.setZero(); + + + + + + // Eigen::VectorXd gradt; + for(int trajid = 0; trajid < opt->trajnum; trajid++){ + double smoo_cost = 0.0; + double pena_cost = 0.0; + Eigen::MatrixXd IniS,FinS; + IniS = opt->headState2d_; + FinS = opt->tailState2d_; + + if(trajid > 0){ + double theta = Angles[trajid-1]; + IniS.col(0) = Gear_container[trajid-1]; + IniS.col(1) = Eigen::Vector2d(opt->singual_[trajid]*opt->non_sinv*cos(theta), opt->singual_[trajid] * opt->non_sinv*sin(theta)); + } + if(trajid < opt->trajnum-1){ + double theta = Angles[trajid]; + FinS.col(0) = Gear_container[trajid]; + FinS.col(1) = Eigen::Vector2d(opt->singual_[trajid] * opt->non_sinv*cos(theta), opt->singual_[trajid]*opt->non_sinv*sin(theta)); + } + //relax end v? + // if(trajid == opt->trajnum - 1){ + // FinS.col(1) = endV; + // } + + + opt->jerkOpt_container[trajid].generate(P_container[trajid],dts[trajid],IniS,FinS); + + + opt->jerkOpt_container[trajid].initSmGradCost(); // Smoothness cost + smoo_cost = opt->jerkOpt_container[trajid].getTrajJerkCost(); + opt->addPVAGradCost2CT(pena_cost, trajid); // Time int cost + //Get gradT gradC + total_smcost += smoo_cost; + penalty_cost += pena_cost; + // std::cout<<"Trajid: "<trajnum; trajid++){ + double time_cost = 0.0; + Eigen::Matrix gradIni, gradFin; + opt->jerkOpt_container[trajid].calGrads_PT(); // gdt gdp gdhead gdtail + //waypoint + gradP_container[trajid] = opt->jerkOpt_container[trajid].get_gdP(); + //init Fin + gradIni = opt->jerkOpt_container[trajid].get_gdHead(); + gradFin = opt->jerkOpt_container[trajid].get_gdTail(); + if(trajid > 0){ + double theta = Angles[trajid-1]; + gradGear_container[trajid-1] += gradIni.col(0); + // IniS.col(1) = Eigen::Vector2d(opt->singual_[trajid]*opt->non_sinv*cos(theta), opt->singual_[trajid] * opt->non_sinv*sin(theta)); + gradAngles[trajid-1] += gradIni.col(1).transpose() * Eigen::Vector2d(-opt->singual_[trajid]*opt->non_sinv * sin(theta), opt->singual_[trajid] *opt->non_sinv*cos(theta)); + } + if(trajid < opt->trajnum-1){ + double theta = Angles[trajid]; + gradGear_container[trajid] += gradFin.col(0); + // Eigen::Vector2d(opt->singual_[trajid] * opt->non_sinv*cos(theta), opt->singual_[trajid]*opt->non_sinv*sin(theta)); + gradAngles[trajid] += gradFin.col(1).transpose() * Eigen::Vector2d(-opt->non_sinv *opt->singual_[trajid] * sin(theta), opt->singual_[trajid]*opt->non_sinv*cos(theta)); + } + + time_cost = opt->wei_time_ * dts[trajid]* opt->piecenums[trajid]; + gradDts[trajid] = opt->jerkOpt_container[trajid].get_gdT(); + gradDts[trajid] += opt->wei_time_ * opt->piecenums[trajid]; + opt->Virtual2Grad(Vdts, gradDts, gradVdts); + total_timecost += time_cost; + + + // opt->VirtualTGradCost(T[trajid],t[trajid],opt->jerkOpt_container[trajid].get_gdT() / opt->piece_num_container[trajid],gradt[trajid],time_cost); + + + // gradt[trajid] = 0.0; + + // std::cout<<"gradp: \n"<jerkOpt_container[trajid].get_gdP()<debugEnergy = total_smcost; + return total_smcost + total_timecost + penalty_cost; + + } + void addPVAGradCost2CT(double &costs, const int trajid){ + int N = piecenums[trajid]; + Eigen::Vector2d sigma, dsigma, ddsigma, dddsigma, ddddsigma; + Eigen::Matrix beta0, beta1, beta2, beta3, beta4; + double s1, s2, s3, s4, s5; + double step, alpha; + + int singul_ = singual_[trajid]; + + + costs = 0.0; + Eigen::Matrix2d B_h; + B_h << 0, -1, + 1, 0; + double z_h0, z_h1, z_h2, z_h3, z_h4; + double z1, z2, z3; + double n1, n2, n3, n4, n5, n6; + Eigen::Matrix2d ego_R, help_R; + + std::vector cosindex; + // int innerLoop; + double t = 0; + + Eigen::Vector2d gradPos, gradVel, gradAcc, gradJerk; + + for (int i = 0; i < N; ++i) + { + const Eigen::Matrix &c = jerkOpt_container[trajid].getCoeffs().block<6, 2>(i * 6, 0); + step = jerkOpt_container[trajid].getDt() / traj_res; // T_i /k + s1 = 0.0; + for (int j = 0; j <= traj_res; ++j) + { + s2 = s1 * s1; + s3 = s2 * s1; + s4 = s2 * s2; + s5 = s4 * s1; + beta0 << 1.0, s1, s2, s3, s4, s5; + beta1 << 0.0, 1.0, 2.0 * s1, 3.0 * s2, 4.0 * s3, 5.0 * s4; + beta2 << 0.0, 0.0, 2.0, 6.0 * s1, 12.0 * s2, 20.0 * s3; + beta3 << 0.0, 0.0, 0.0, 6.0, 24.0 * s1, 60.0 * s2; + beta4 << 0.0, 0.0, 0.0, 0.0, 24.0, 120 * s1; + alpha = 1.0 / traj_res * j; + + //update s1 for the next iteration + s1 += step; + + sigma = c.transpose() * beta0; + dsigma = c.transpose() * beta1; + ddsigma = c.transpose() * beta2; + dddsigma = c.transpose() * beta3; + ddddsigma = c.transpose() * beta4; + gradPos.setZero(); + gradVel.setZero(); + gradAcc.setZero(); + gradJerk.setZero(); + Eigen::Vector2d pos,vel,acc,jerk; + pos = sigma; + vel = dsigma; + acc = ddsigma; + jerk = dddsigma; + Eigen::Matrix2d rotR; + rotR << vel[0], -vel[1], + vel[1], vel[0]; + rotR = (singul_ * rotR) / vel.norm(); + // if(non_sinv < 0.05){ + // if(vel.norm() < 0.05) + // continue; + // } + + { + double vioVel = dsigma.squaredNorm() - vmax * vmax; + if(vioVel > 0){ + double pena, penaD; + positiveSmoothedL1(vioVel, pena, penaD); + costs += penaWei * pena; + gradVel += penaWei * penaD * 2.0 * dsigma; + } + } + + // { + // double vioAcc = ddsigma.squaredNorm() - accRatemax * accRatemax; + // if(vioAcc > 0){ + // double pena, penaD; + // positiveSmoothedL1(vioAcc, pena, penaD); + // costs += penaWei * pena; + // gradAcc += penaWei * penaD * 2.0 * ddsigma; + // } + // } + { + double lonAcc = ddsigma.dot(dsigma)/ dsigma.norm(); + double vioLonAcc = lonAcc*lonAcc - lonAccmax * lonAccmax; + if(vioLonAcc > 0){ + double pena, penaD; + positiveSmoothedL1(vioLonAcc, pena, penaD); + costs += penaWei * pena; + gradAcc += penaWei * penaD * 2.0 * lonAcc * dsigma / dsigma.norm(); + gradVel += penaWei * penaD * 2.0 * lonAcc * (ddsigma/dsigma.norm()-dsigma*ddsigma.dot(dsigma)/ (pow(dsigma.norm(),3))); + } + } + + + + + + { + for(const Eigen::Vector2d resPt : conpts){ + Eigen::Vector2d gradViolaSdpos; + + Eigen::Vector2d absPt = pos + rotR * resPt; + /* + rotR << vel[0], -vel[1], + vel[1], vel[0]; + rotR = (sg * rotR) / vel.norm(); + */ + Eigen::Matrix2d temp_l_Bl; + temp_l_Bl << resPt(0), resPt(1), + -resPt(1), resPt(0); + double dis = map_itf_->getDistGrad(absPt, gradViolaSdpos); + double min_dis_ = std::min(dis, min_dis_); + double vioSdist = (-dis + safeMargin); + if(vioSdist > 0){ + double pena, penaD; + positiveSmoothedL1(vioSdist, pena, penaD); + costs += esdfWei * pena; + gradPos += esdfWei * penaD * (-1.0) * gradViolaSdpos; + gradVel += esdfWei * penaD * (-1.0) * + (singul_ * temp_l_Bl / vel.norm() - vel * (rotR * resPt).transpose() / (vel.squaredNorm()) ) + * gradViolaSdpos; + } + + } + } + + + { + double cur = (dsigma[0]*ddsigma[1] - ddsigma[0]*dsigma[1]) / (dsigma.norm() * dsigma.norm() * dsigma.norm()); + double cross = (dsigma[0]*ddsigma[1] - ddsigma[0]*dsigma[1]); + double vioCur = (cur*cur - kmax*kmax); + if(vioCur > 0.0){ + double pena, penaD; + positiveSmoothedL1(vioCur, pena, penaD); + costs += penaWei * pena; + Eigen::Vector2d gradViolaCv; + Eigen::Vector2d gradViolaCa; + gradViolaCv = ( + 2*cross*Eigen::Vector2d(acc[1], -acc[0])/(vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()) - + 6*Eigen::Vector2d(vel[0], vel[1])*cross*cross/(vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()) + ); + gradViolaCa = 2.0 * Eigen::Vector2d(-vel[1], vel[0]) * cross / (vel.squaredNorm()*vel.squaredNorm()*vel.squaredNorm()); + + gradVel += penaWei * penaD * gradViolaCv; + gradAcc += penaWei * penaD * gradViolaCa; + } + } + + // { + // // double cur = (dsigma[0]*ddsigma[1] - ddsigma[0]*dsigma[1]) / (dsigma.norm() * dsigma.norm() * dsigma.norm()); + // double cross = (dsigma[0]*ddsigma[1] - ddsigma[0]*dsigma[1]); + // double v3 = pow(vel.norm(),3); + // double vioCur = cross * cross - kmax * kmax * v3 * v3; + // if(vioCur > 0.0){ + // double pena, penaD; + // positiveSmoothedL1(vioCur, pena, penaD); + // costs += penaWei * pena; + // Eigen::Vector2d gradv6_v = 6.0*pow(vel.norm(),4)*vel; + // Eigen::Vector2d gradViolaCv; + // Eigen::Vector2d gradViolaCa; + // gradViolaCv = 2*cross*Eigen::Vector2d(acc[1], -acc[0]) - kmax * kmax * gradv6_v; + // gradViolaCa = 2*cross*Eigen::Vector2d(-vel[1], vel[0]); + + + // gradVel += penaWei * penaD * gradViolaCv; + // gradAcc += penaWei * penaD * gradViolaCa; + // } + // } + /* + { //curdot + Eigen::Matrix2d B; + B << 0,-1, + 1, 0; + double tp1 = jerk.transpose()*B*vel; + double v3 = pow(vel.norm(),3); + double tp2 = acc.transpose()*B*vel; + double tp3 = acc.dot(vel); + double v1 = vel.norm(); + double v6 = pow(vel.norm(),6); + double denor = tp1*v3-3.0*tp2*tp3*v1; + double kdot = denor / v6; + double vioKdot = kdot*kdot-kdotmax*kdotmax; + if(vioKdot > 0){ + double pena, penaD; + positiveSmoothedL1(vioKdot, pena, penaD); + costs += penaWei * pena; + + + Eigen::Vector2d gradViolaKdv; + Eigen::Vector2d gradtp1_v = -B*jerk; + Eigen::Vector2d gradv3_v = 3.0*vel.norm()*vel; + Eigen::Vector2d gradtp2_v = -B*acc; + Eigen::Vector2d gradtp3_v = acc; + Eigen::Vector2d gradv1_v = vel/vel.norm(); + Eigen::Vector2d gradv6_v = 6.0*pow(vel.norm(),4)*vel; + Eigen::Vector2d graddenor_v = gradtp1_v*v3+tp1*gradv3_v-3.0*(gradtp2_v*tp3*v1+tp2*gradtp3_v*v1+tp2*tp3*gradv1_v); + gradViolaKdv = 2.0 * kdot * (graddenor_v*v6-gradv6_v*denor) / (v6*v6) ; + + Eigen::Vector2d gradViolaKda; + Eigen::Vector2d gradtp2_a = B*vel; + Eigen::Vector2d gradtp3_a = vel; + Eigen::Vector2d graddenor_a = -3.0*(gradtp2_a*tp3*v1+tp2*gradtp3_a*v1); + gradViolaKda = 2.0*kdot*(graddenor_a/v6); + + Eigen::Vector2d gradViolaKdj; + Eigen::Vector2d gradtp1_j = B*vel; + Eigen::Vector2d graddenor_j = gradtp1_j*v3; + gradViolaKdj = 2.0*kdot*(graddenor_j/v6); + + + + gradVel += penaWei * penaD * gradViolaKdv; + gradAcc += penaWei * penaD * gradViolaKda; + gradJerk += penaWei * penaD * gradViolaKdj; + } + + + }*/ + + + { //omega + Eigen::Matrix2d B; + B << 0,-1, + 1, 0; + double tp1 = jerk.transpose()*B*vel; + double v3 = pow(vel.norm(),3); + double tp2 = acc.transpose()*B*vel; + double tp3 = acc.dot(vel); + double v1 = vel.norm(); + double v6 = pow(vel.norm(),6); + double denor = tp1*v3-3.0*tp2*tp3*v1; + double nor = v6 + pow(tp2*wheelbase,2); + double omega = wheelbase * denor / nor; + double vioOmega = omega*omega-omegamax*omegamax; + + if(vioOmega > 0){ + double pena, penaD; + positiveSmoothedL1(vioOmega, pena, penaD); + costs += penaWei * pena; + + Eigen::Vector2d gradViolaOmegav; + Eigen::Vector2d gradtp1_v = -B*jerk; + Eigen::Vector2d gradv3_v = 3.0*vel.norm()*vel; + Eigen::Vector2d gradtp2_v = -B*acc; + Eigen::Vector2d gradtp3_v = acc; + Eigen::Vector2d gradv1_v = vel/vel.norm(); + Eigen::Vector2d gradv6_v = 6.0*pow(vel.norm(),4)*vel; + Eigen::Vector2d graddenor_v = gradtp1_v*v3+tp1*gradv3_v-3.0*(gradtp2_v*tp3*v1+tp2*gradtp3_v*v1+tp2*tp3*gradv1_v); + Eigen::Vector2d gradnor_v = gradv6_v + 2.0*tp2*wheelbase*wheelbase*gradtp2_v; + gradViolaOmegav = 2.0 * omega * (graddenor_v*nor-gradnor_v*denor) / (nor*nor) * wheelbase; + + Eigen::Vector2d gradViolaOmegaa; + Eigen::Vector2d gradtp2_a = B*vel; + Eigen::Vector2d gradtp3_a = vel; + Eigen::Vector2d graddenor_a = -3.0*(gradtp2_a*tp3*v1+tp2*gradtp3_a*v1); + Eigen::Vector2d gradnor_a = 2.0*tp2*wheelbase*wheelbase*gradtp2_a; + gradViolaOmegaa = 2.0 * omega * (graddenor_a*nor-gradnor_a*denor) / (nor*nor) * wheelbase; + + Eigen::Vector2d gradViolaOmegaj; + Eigen::Vector2d gradtp1_j = B*vel; + Eigen::Vector2d graddenor_j = gradtp1_j*v3; + gradViolaOmegaj = 2.0*omega*(graddenor_j/nor*wheelbase); + + + gradVel += penaWei * penaD * gradViolaOmegav; + gradAcc += penaWei * penaD * gradViolaOmegaa; + gradJerk += penaWei * penaD * gradViolaOmegaj; + } + + + } + + + + // { + // Eigen::Matrix2d B; + // B << 0,-1, + // 1, 0; + // double tp1 = jerk.transpose()*B*vel; + // double v3 = pow(vel.norm(),3); + // double tp2 = acc.transpose()*B*vel; + // double tp3 = acc.dot(vel); + // double v1 = vel.norm(); + // double v6 = pow(vel.norm(),6); + // double denor = tp1*v3-3.0*tp2*tp3*v1; + // // double kdot = denor / v6; + // double vioKdot = denor * denor - v6 * v6 * kdotmax * kdotmax; + // if(vioKdot > 0){ + // double pena, penaD; + // positiveSmoothedL1(vioKdot, pena, penaD); + // costs += penaWei * pena; + + // Eigen::Vector2d gradViolaKdv; + // Eigen::Vector2d gradtp1_v = -B*jerk; + // Eigen::Vector2d gradv3_v = 3.0*vel.norm()*vel; + // Eigen::Vector2d gradtp2_v = -B*acc; + // Eigen::Vector2d gradtp3_v = acc; + // Eigen::Vector2d gradv1_v = vel/vel.norm(); + // Eigen::Vector2d gradv6_v = 6.0*pow(vel.norm(),4)*vel; + // Eigen::Vector2d graddenor_v = gradtp1_v*v3+tp1*gradv3_v-3.0*(gradtp2_v*tp3*v1+tp2*gradtp3_v*v1+tp2*tp3*gradv1_v); + // gradViolaKdv = 2.0*denor*graddenor_v-2*v6*gradv6_v* kdotmax * kdotmax; + + // Eigen::Vector2d gradViolaKda; + // Eigen::Vector2d gradtp2_a = B*vel; + // Eigen::Vector2d gradtp3_a = vel; + // Eigen::Vector2d graddenor_a = -3.0*(gradtp2_a*tp3*v1+tp2*gradtp3_a*v1); + // gradViolaKda = 2.0*denor*graddenor_a; + + // Eigen::Vector2d gradViolaKdj; + // Eigen::Vector2d gradtp1_j = B*vel; + // Eigen::Vector2d graddenor_j = gradtp1_j*v3; + // gradViolaKdj = 2.0*denor*graddenor_j; + + + + // gradVel += penaWei * penaD * gradViolaKdv; + // gradAcc += penaWei * penaD * gradViolaKda; + // gradJerk += penaWei * penaD * gradViolaKdj; + // } + + + // } + + + + jerkOpt_container[trajid].get_gdC().block<6, 2>(i * 6, 0) += beta0 * gradPos.transpose() + + beta1 * gradVel.transpose() + + beta2 * gradAcc.transpose() + + beta3 * gradJerk.transpose(); + jerkOpt_container[trajid].get_gdT() += (gradPos.dot(vel) + + gradVel.dot(acc) + + gradAcc.dot(jerk) + + gradJerk.dot(ddddsigma)) * + alpha; + + + + } + } + } + + + + + + void positiveLog(const double &x, double &f, double &df){ + double g,dg; + positiveSmoothedL1(x, g, dg); + f = log(1.0+g); + df = 1.0/(1.0+g)*dg; + return; + } + + + void positiveSmoothedL1(const double &x, double &f, double &df) + { + const double pe = 1.0e-4; + const double half = 0.5 * pe; + const double f3c = 1.0 / (pe * pe); + const double f4c = -0.5 * f3c / pe; + const double d2c = 3.0 * f3c; + const double d3c = 4.0 * f4c; + + if (x < pe) + { + f = (f4c * x + f3c) * x * x * x; + df = (d3c * x + d2c) * x * x; + } + else + { + f = x - half; + df = 1.0; + } + return; + } + void positiveSmoothedL3(const double &x, double &f, double &df){ + df = x * x; + f = df *x; + df *= 3.0; + + + return ; + } + + + template + void VirtualT2RealT(const EIGENVEC &VT, Eigen::VectorXd &RT) + { + for (int i = 0; i < VT.size(); ++i) + { + RT(i) = VT(i) > 0.0 ? ((0.5 * VT(i) + 1.0) * VT(i) + 1.0) + gslar_ + : 1.0 / ((0.5 * VT(i) - 1.0) * VT(i) + 1.0) + gslar_; + } + } + void VirtualT2RealT(const double & VT, double &RT){ + + + RT = VT > 0.0 ? ((0.5 * VT + 1.0) * VT + 1.0) + gslar_ + : 1.0 / ((0.5 * VT - 1.0) * VT + 1.0) + gslar_; + } + template + inline void RealT2VirtualT(const Eigen::VectorXd &RT, EIGENVEC &VT) + { + for (int i = 0; i < RT.size(); ++i) + { + VT(i) = RT(i) > 1.0 + gslar_ + ? (sqrt(2.0 * RT(i) - 1.0 - 2 * gslar_) - 1.0) + : (1.0 - sqrt(2.0 / (RT(i)-gslar_) - 1.0)); + } + } + inline void RealT2VirtualT(const double &RT, double &VT) + { + VT = RT > 1.0 + gslar_ + ? (sqrt(2.0 * RT - 1.0 - 2 * gslar_) - 1.0) + : (1.0 - sqrt(2.0 / (RT-gslar_) - 1.0)); + } + template + void VirtualTGradCost(const Eigen::VectorXd &RT, const EIGENVEC &VT,const Eigen::VectorXd &gdRT, EIGENVECGD &gdVT,double &costT) + { + for (int i = 0; i < VT.size(); ++i) + { + double gdVT2Rt; + if (VT(i) > 0) + { + gdVT2Rt = VT(i) + 1.0; + } + else + { + double denSqrt = (0.5 * VT(i) - 1.0) * VT(i) + 1.0; + gdVT2Rt = (1.0 - VT(i)) / (denSqrt * denSqrt); + } + + gdVT(i) = (gdRT(i) + wei_time_) * gdVT2Rt; + } + + costT = RT.sum() * wei_time_; + } + void VirtualTGradCost(const double &RT, const double &VT, const double &gdRT, double &gdVT, double& costT){ + double gdVT2Rt; + if (VT > 0) + { + gdVT2Rt = VT + 1.0; + } + else + { + double denSqrt = (0.5 * VT - 1.0) * VT + 1.0; + gdVT2Rt = (1.0 - VT) / (denSqrt * denSqrt); + } + + gdVT = (gdRT + wei_time_) * gdVT2Rt; + costT = RT * wei_time_; + } + void VirtualTGrad2t(const double &VT, const double &gdRT, double &gdVT){ + double gdVT2Rt; + if (VT > 0) + { + gdVT2Rt = VT + 1.0; + } + else + { + double denSqrt = (0.5 * VT - 1.0) * VT + 1.0; + gdVT2Rt = (1.0 - VT) / (denSqrt * denSqrt); + } + gdVT = gdRT * gdVT2Rt; + } + template + void Virtual2Grad(const EIGENVEC &VT, const Eigen::VectorXd &gdRT, EIGENVECGD &gdVT){ + for (int i = 0; i < VT.size(); ++i) + { + double gdVT2Rt; + if (VT(i) > 0) + { + gdVT2Rt = VT(i) + 1.0; + } + else + { + double denSqrt = (0.5 * VT(i) - 1.0) * VT(i) + 1.0; + gdVT2Rt = (1.0 - VT(i)) / (denSqrt * denSqrt); + } + + gdVT(i) = (gdRT(i)) * gdVT2Rt; + } + + } + double expC2(double t) { + return t > 0.0 ? ((0.5 * t + 1.0) * t + 1.0) + : 1.0 / ((0.5 * t - 1.0) * t + 1.0); + } + double logC2(double T) { + return T > 1.0 ? (sqrt(2.0 * T - 1.0) - 1.0) : (1.0 - sqrt(2.0 / T - 1.0)); + } + void forwardT(const Eigen::Ref& t, const double& sT, Eigen::Ref vecT) { + int M = t.size(); + for (int i = 0; i < M; ++i) { + vecT(i) = expC2(t(i)); + } + vecT(M) = 0.0; + vecT /= 1.0 + vecT.sum(); + vecT(M) = 1.0 - vecT.sum(); + vecT *= sT; + return; + } + void backwardT(const Eigen::Ref& vecT, Eigen::Ref t) { + int M = t.size(); + t = vecT.head(M) / vecT(M); + for (int i = 0; i < M; ++i) { + t(i) = logC2(vecT(i)); + } + return; + } + + + + + + public: + typedef unique_ptr Ptr; + + }; + +} // namespace plan_manage +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/include/plan_manage/plan_manage.h b/trajectoryOpt/src/plan_manage/include/plan_manage/plan_manage.h new file mode 100644 index 0000000..e9f6d81 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/include/plan_manage/plan_manage.h @@ -0,0 +1,53 @@ +#ifndef PLAN_MANAGE_HPP +#define PLAN_MANAGE_HPP +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +// #include +// #include +// #include +// #include +// #include +// #include + +#define BUDGET 0.1 +namespace plan_manage{ + class PlanManager{ + public: + PlanManager(){}; + void init(ros::NodeHandle & nh); + private: + bool hasTarget = false, hasOdom = false; + Eigen::Vector3d targetPose, odom; + std::shared_ptr vis_tool; + std::shared_ptr config_; + std::unique_ptr kino_path_finder_; + + map_util::OccMapUtil gridMap; + Eigen::Matrix iniState2d, finState2d; + Eigen::MatrixXd initInnerPts2d; + std::vector hPolys; + void process(const ros::TimerEvent &); + void targetCallback(const geometry_msgs::PoseStamped &msg); + void odomCallback(const nav_msgs::OdometryPtr &msg); + double pieceTime; + /*ros related*/ + ros::Timer processTimer; + ros::Subscriber targetSub, odomSub; + ros::Publisher trajCmdPub; + int startid = 10000, pathid = 1; + + + + + }; +} + +#endif diff --git a/trajectoryOpt/src/plan_manage/launch/plan_node.launch b/trajectoryOpt/src/plan_manage/launch/plan_node.launch new file mode 100644 index 0000000..e49d9b9 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/launch/plan_node.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/trajectoryOpt/src/plan_manage/package.xml b/trajectoryOpt/src/plan_manage/package.xml new file mode 100644 index 0000000..fe640a0 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/package.xml @@ -0,0 +1,36 @@ + + + plan_manage + + zhichaohan + + 0.1.0 + the plan_manage package + GPLV3 + + catkin + + roscpp + nav_msgs + visualization_msgs + tf + tools + path_search + cv_bridge + decomp_ros_utils + mpc_controller + + roscpp + nav_msgs + visualization_msgs + tf + tools + path_search + cv_bridge + decomp_ros_utils + mpc_controller + + + + + diff --git a/trajectoryOpt/src/plan_manage/rviz/default.rviz b/trajectoryOpt/src/plan_manage/rviz/default.rviz new file mode 100644 index 0000000..ad06c57 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/rviz/default.rviz @@ -0,0 +1,157 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Grid1 + - /PointCloud21 + Splitter Ratio: 0.5 + Tree Height: 719 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 30 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 85; 87; 83 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 0; 0; 0 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Boxes + Topic: /global_pcl + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /ugv/mesh + Name: Marker + Namespaces: + "": true + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 238; 238; 236 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Class: rviz/Orbit + Distance: 16.154529571533203 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Field of View: 0.7853981852531433 + Focal Point: + X: -3.8151516914367676 + Y: 5.991873264312744 + Z: 0.005227289162576199 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5647963285446167 + Target Frame: + Yaw: 4.7135844230651855 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/trajectoryOpt/src/plan_manage/src/plan_manage.cpp b/trajectoryOpt/src/plan_manage/src/plan_manage.cpp new file mode 100644 index 0000000..2994986 --- /dev/null +++ b/trajectoryOpt/src/plan_manage/src/plan_manage.cpp @@ -0,0 +1,385 @@ +#include +#include +#include +#include +#include +// #include +#include +#include +using namespace plan_manage; +using namespace std; +void PlanManager::init(ros::NodeHandle& nh){ + vis_tool.reset(new visualization::Visualization(nh)); + config_.reset(new Config(nh)); + gridMap.setParam(config_, nh); + //read map + + + + + hasTarget = false; + hasOdom = false; + processTimer = nh.createTimer(ros::Duration(0.02), &PlanManager::process, this); + + targetSub = nh.subscribe("/move_base_simple/goal", 1, &PlanManager::targetCallback, this); + odomSub = nh.subscribe("/ugv/odometry", 1, &PlanManager::odomCallback, this); + vis_tool->registe("/visualization/kinoPath"); + vis_tool->registe("/visualization/AstarPath"); + vis_tool->registe("/visualization/optTraj"); + vis_tool->registe("/visualization/optTraj_kino"); + vis_tool->registe("/visualization/debugTraj"); + vis_tool->registe("/visualization/NewTraj"); + vis_tool->registe("/visualization/waittoRefine"); + vis_tool->registe("/visualization/optArrowTraj"); + vis_tool->registe("/visualization/optArrowTraj2"); + vis_tool->registe("/visualization/sfc"); + vis_tool->registe("/visualization/refinedTraj2"); + vis_tool->registe("/visualization/debugRefinedTraj2"); + vis_tool->registe("/visualization/debugSe2Traj"); + vis_tool->registe("/visualization/arrowTraj"); + + vis_tool->registe("/visualization/wapoints_nn"); + vis_tool->registe("/visualization/refinedTraj_nn"); + vis_tool->registe("/visualization/fullshapeTraj_nn"); + + vis_tool->registe("/visualization/wapoints_kinoastar"); + vis_tool->registe("/visualization/refinedTraj_dptraj"); + vis_tool->registe("/visualization/refinedTraj_dftpav"); + vis_tool->registe("/visualization/fullshapeTraj_kinoastar"); + + + pieceTime = config_->pieceTime; + + kino_path_finder_.reset(new path_searching::KinoAstar); + kino_path_finder_->init(config_, nh); + kino_path_finder_->intialMap(&gridMap); + + // if(config_->useDP){ + // trajCmdPub = nh.advertise("/planner/dptrajectory", 1); + // } + // else{ + // trajCmdPub = nh.advertise("/planner/trajectory", 1); + // } + +} + +void PlanManager::odomCallback(const nav_msgs::OdometryPtr &msg) +{ + odom[0] = msg->pose.pose.position.x; + odom[1] = msg->pose.pose.position.y; + Eigen::Quaterniond q(msg->pose.pose.orientation.w, + msg->pose.pose.orientation.x, + msg->pose.pose.orientation.y, + msg->pose.pose.orientation.z); + Eigen::Matrix3d R(q); + odom[2] = atan2(R.col(0)[1],R.col(0)[0]); + hasOdom = true; + return; +} +void PlanManager::targetCallback(const geometry_msgs::PoseStamped &msg){ + ROS_INFO("Recieved target!"); + targetPose << msg.pose.position.x, msg.pose.position.y, + tf::getYaw(msg.pose.orientation); + // targetPose << (6.0+5.3) / 2, 5.5, -M_PI / 2.0; + // targetPose << 11.701, 4.11058, -1.84895; + std::cout<<"targetPose: "<intialMap(&gridMap); + gridMap.publishPCL(); + // std::cout << "pcl number: "< sampleTraj; + path_searching::KinoTrajData kino_trajs_; + std::vector visKinoPath; + + { + kino_path_finder_->reset(); + Eigen::Vector4d iniFs, finFs; + iniFs << -9.5,5, 0, 0.0; + finFs << -2.5,9.5,M_PI_2, 0.0; + // iniFs << 0,9.5,-M_PI_2, 0.0; + // finFs << 9.5,0,0, 0.0; + TicToc time_profile_tool_; + time_profile_tool_.tic(); + double model_time; + double t1 = ros::Time::now().toSec(); + int status = kino_path_finder_->search(iniFs, Eigen::Vector2d::Zero(), finFs, model_time, true); + double t2 = ros::Time::now().toSec(); + std::vector ts = kino_path_finder_->getRoughSamples(); + sampleTraj.insert(sampleTraj.end(), ts.begin(), ts.end()); + } + { + kino_path_finder_->reset(); + Eigen::Vector4d iniFs, finFs; + iniFs << -2.5,9.5,M_PI_2, 0.0; + finFs << 4.5,5,M_PI, 0.0; + TicToc time_profile_tool_; + time_profile_tool_.tic(); + double model_time; + double t1 = ros::Time::now().toSec(); + int status = kino_path_finder_->search(iniFs, Eigen::Vector2d::Zero(), finFs, model_time, true); + double t2 = ros::Time::now().toSec(); + std::vector ts = kino_path_finder_->getRoughSamples(); + sampleTraj.insert(sampleTraj.end(), ts.begin(), ts.end()); + } + double ddd = -2.5, sss = 0.5; + { + kino_path_finder_->reset(); + Eigen::Vector4d iniFs, finFs; + iniFs << 4.5,5,M_PI, 0.0; + finFs << ddd ,sss,M_PI_2, 0.0; + TicToc time_profile_tool_; + time_profile_tool_.tic(); + double model_time; + double t1 = ros::Time::now().toSec(); + int status = kino_path_finder_->search(iniFs, Eigen::Vector2d::Zero(), finFs, model_time, true); + double t2 = ros::Time::now().toSec(); + std::vector ts = kino_path_finder_->getRoughSamples(); + sampleTraj.insert(sampleTraj.end(), ts.begin(), ts.end()); + } + + // { + // kino_path_finder_->reset(); + // Eigen::Vector4d iniFs, finFs; + // iniFs << 0,-9.5,-M_PI_2, 0.0; + // finFs << -9.5,0,0, 0.0; + // TicToc time_profile_tool_; + // time_profile_tool_.tic(); + // double model_time; + // double t1 = ros::Time::now().toSec(); + // int status = kino_path_finder_->search(iniFs, Eigen::Vector2d::Zero(), finFs, model_time, true); + // double t2 = ros::Time::now().toSec(); + // std::vector ts = kino_path_finder_->getRoughSamples(); + // sampleTraj.insert(sampleTraj.end(), ts.begin(), ts.end()); + // } + + + kino_path_finder_->getKinoNode(kino_trajs_, sampleTraj); + // kino_path_finder_->getKinoNode(kino_trajs_); + for(int i = 0; i < sampleTraj.size(); i++){ + Eigen::Vector3d pos; + pos.head(2) = sampleTraj[i].head(2); + pos[2] = 0.2; + visKinoPath.push_back(pos); + } + vis_tool->visualize_path(visKinoPath, "/visualization/kinoPath"); + + + + //use neural network to get initial guess？？？ + int segnum = kino_trajs_.size(); + std::vector refined_singuals; refined_singuals.resize(segnum); + Eigen::VectorXd refined_rt; + refined_rt.resize(segnum); + std::vector refined_inPs_container; + refined_inPs_container.resize(segnum); + std::vector refined_gearPos; + std::vector refined_angles; + refined_gearPos.resize(segnum - 1); refined_angles.resize(segnum - 1); + double basetime = 0.0; + std::vector pnums; + for(int i = 0; i < segnum; i++){ + double timePerPiece = pieceTime; + path_searching::FlatTrajData kino_traj = kino_trajs_.at(i); + refined_singuals[i] = kino_traj.singul; + std::vector pts = kino_traj.traj_pts; + int piece_nums; + double initTotalduration = 0.0; + for(const auto pt : pts){ + initTotalduration += pt[2]; + } + piece_nums = std::max(int(initTotalduration / timePerPiece + 0.5),1); + double dt = initTotalduration / piece_nums; + refined_rt[i] = (initTotalduration / piece_nums); + pnums.push_back(piece_nums); + + refined_inPs_container[i].resize(2, piece_nums - 1); + for(int j = 0; j < piece_nums - 1; j++ ){ + double t = basetime + (j+1)*dt; + Eigen::Vector3d pos = kino_path_finder_->evaluatePos(t); + refined_inPs_container[i].col(j) = pos.head(2); + } + if(i >=1){ + Eigen::Vector3d pos = kino_path_finder_->evaluatePos(basetime); + refined_gearPos[i-1] = pos.head(2); + refined_angles[i-1] = pos[2]; + } + basetime += initTotalduration; + } + Eigen::Vector3d ini;ini << -9.5,5.0, 0.0; + Eigen::Vector3d fin;fin << ddd,sss,M_PI_2; + // std::cout <<"11111111111111111\n"; + iniState2d << ini[0], refined_singuals[0] * cos(ini[2]), 0.0, + ini[1], refined_singuals[0] * sin(ini[2]), 0.0; + finState2d << fin[0], refined_singuals[segnum-1] * cos(fin[2]), 0.0, + fin[1], refined_singuals[segnum-1] * sin(fin[2]), 0.0; + // ROS_INFO("begin to refine"); + // PolyTrajOpt::TrajOpt refinedOpt; + + // refined_rt[0] = 6.4 / pnums[0]; + // refined_rt[1] = 6.59023 / pnums[1]; + // refined_rt[2] = 6.97846 / pnums[2]; + // refined_rt[3] = 2.83716 / pnums[3]; + refined_rt[0] = 6.6 / pnums[0]; + refined_rt[1] = 7.0 / pnums[1]; + refined_rt[2] = 7.3 / pnums[2]; + refined_rt[3] = 3.6 / pnums[3]; + if(config_->useDP){ + PolyTrajOpt::TrajOpt refinedOpt; + // 25ms + double t3 = ros::Time::now().toSec(); + int flagSs = refinedOpt.OptimizeSe2Trajectory( + iniState2d, finState2d, refined_rt, + refined_inPs_container, refined_gearPos, + refined_angles, &gridMap, config_, refined_singuals, vis_tool,"dptraj"); + PolyTrajOpt::UgvTrajectory optTraj = refinedOpt.getOptTraj(); + // ROS_WARN_STREAM("dptraj total arc: "< fabs(maxomega)){ + maxomega = omega; + } + } + f_omega.close(); + f_phi.close(); + f_v.close(); + f_a.close(); + f_t.close();*/ + // { + // mpc_controller::DPtrajContainer trajmsg; + // for(int i = 0; i < optTraj.getSegNum(); i++){ + // int singual = optTraj.etas[i]; + // mpc_controller::PolyTrajAC trajSegment; + // for(int j = 0; j < optTraj.Traj_container[i].getPieceNum(); j++){ + // mpc_controller::SinglePolyAC piece; + // piece.dt = optTraj.Traj_container[i].tTraj[j].getDuration(); + // piece.ds = optTraj.Traj_container[i].posTraj[j].getDuration(); + + // Eigen::Matrix c = optTraj.Traj_container[i].posTraj[j].getCoeffMat(); + // Eigen::Matrix c1 = optTraj.Traj_container[i].tTraj[j].getCoeffMat(); + // for (int k=0; k<6; k++) + // { + // piece.coef_x.push_back(c(0, k)); + // piece.coef_y.push_back(c(1, k)); + // piece.coef_s.push_back(c1(0, k)); + // } + // trajSegment.trajs.push_back(piece); + // } + // trajmsg.traj_container.push_back(trajSegment); + // // trajmsg.reverse + // if(singual > 0) trajmsg.reverse.push_back(false); + // else trajmsg.reverse.push_back(true); + // } + // trajmsg.start_time = ros::Time::now(); + // trajCmdPub.publish(trajmsg); + + // } + + + } + else{ + dftpav::PolyTrajOptimizer refinedOpt; + // 25ms + double t3 = ros::Time::now().toSec(); + int flagSs = refinedOpt.OptimizeSe2Trajectory( + iniState2d, finState2d, refined_rt, + refined_inPs_container, refined_gearPos, + refined_angles, &gridMap, config_, refined_singuals, vis_tool,"dftpav"); + dftpav::DifTrajectory optTraj = refinedOpt.getOptTraj(); + // ROS_WARN_STREAM("dftpav total arc: "< fabs(maxomega)){ + maxomega = omega; + } + } + f_omega.close(); + f_phi.close(); + f_v.close(); + f_a.close(); + f_t.close(); + */ + // { + // mpc_controller::PolyTraj trajmsg; + // for(int i = 0; i < optTraj.getSegNum(); i++){ + // int singual = optTraj.etas[i]; + + // for(int j = 0; j < optTraj[i].getPieceNum(); j++){ + // mpc_controller::SinglePoly piece; + // if(singual > 0) piece.reverse = false; + // else piece.reverse = true; + // piece.duration = optTraj[i][j].getDuration(); + // Eigen::Matrix c = optTraj[i][j].getCoeffMat(); + // for (int k=0; k<6; k++) + // { + // piece.coef_x.push_back(c(0, k)); + // piece.coef_y.push_back(c(1, k)); + // } + // trajmsg.trajs.push_back(piece); + // } + // } + // trajmsg.start_time = ros::Time::now(); + // trajCmdPub.publish(trajmsg); + // } + } + } +} + + \ No newline at end of file diff --git a/trajectoryOpt/src/plan_manage/src/plan_node.cpp b/trajectoryOpt/src/plan_manage/src/plan_node.cpp new file mode 100644 index 0000000..900b39d --- /dev/null +++ b/trajectoryOpt/src/plan_manage/src/plan_node.cpp @@ -0,0 +1,19 @@ +#include +#include +#include +int main(int argc, char **argv) +{ + ros::init(argc, argv, "global_planning_node"); + ros::NodeHandle nh("~"); + plan_manage::PlanManager manager; + manager.init(nh); + // ros::AsyncSpinner spinner(8); // Use4 threads + + // spinner.start(); + + // ros::waitForShutdown(); + + + ros::spin(); + return 0; +} diff --git a/trajectoryOpt/src/simulator/kinematics_simulator/CMakeLists.txt b/trajectoryOpt/src/simulator/kinematics_simulator/CMakeLists.txt new file mode 100755 index 0000000..0d0a6d2 --- /dev/null +++ b/trajectoryOpt/src/simulator/kinematics_simulator/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 2.8.3) +project(kinematics_simulator) + +set(CMAKE_BUILD_TYPE "Release") +ADD_COMPILE_OPTIONS(-std=c++11 ) +ADD_COMPILE_OPTIONS(-std=c++14 ) +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + nav_msgs + std_msgs + visualization_msgs +) +find_package(Eigen3 REQUIRED) + +add_message_files(FILES + ControlCmd.msg +) + +generate_messages(DEPENDENCIES + std_msgs +) + +catkin_package( + CATKIN_DEPENDS roscpp std_msgs message_runtime +) + +include_directories( + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} +) + +add_executable (kinematics_simulator_node src/kinematics_sim.cpp ) +target_link_libraries(kinematics_simulator_node + ${catkin_LIBRARIES}) diff --git a/trajectoryOpt/src/simulator/kinematics_simulator/launch/run_simulator.launch b/trajectoryOpt/src/simulator/kinematics_simulator/launch/run_simulator.launch new file mode 100644 index 0000000..a2c8288 --- /dev/null +++ b/trajectoryOpt/src/simulator/kinematics_simulator/launch/run_simulator.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + \ No newline at end of file diff --git a/trajectoryOpt/src/simulator/kinematics_simulator/meshes/ackermann_model.STL b/trajectoryOpt/src/simulator/kinematics_simulator/meshes/ackermann_model.STL new file mode 100644 index 0000000..b9667ed Binary files /dev/null and b/trajectoryOpt/src/simulator/kinematics_simulator/meshes/ackermann_model.STL differ diff --git a/trajectoryOpt/src/simulator/kinematics_simulator/msg/ControlCmd.msg b/trajectoryOpt/src/simulator/kinematics_simulator/msg/ControlCmd.msg new file mode 100644 index 0000000..a46c9c4 --- /dev/null +++ b/trajectoryOpt/src/simulator/kinematics_simulator/msg/ControlCmd.msg @@ -0,0 +1,3 @@ +# ackermann robots: longitude_acc, steer_vel +float64 longitude_acc +float64 steer_vel \ No newline at end of file diff --git a/trajectoryOpt/src/simulator/kinematics_simulator/package.xml b/trajectoryOpt/src/simulator/kinematics_simulator/package.xml new file mode 100755 index 0000000..c799f82 --- /dev/null +++ b/trajectoryOpt/src/simulator/kinematics_simulator/package.xml @@ -0,0 +1,30 @@ + + + kinematics_simulator + 0.0.1 + a kinematics simulator package + + xulong + + MIT + + catkin + roscpp + nav_msgs + std_msgs + visualization_msgs + roscpp + nav_msgs + std_msgs + visualization_msgs + roscpp + nav_msgs + std_msgs + visualization_msgs + + + message_generation + message_generation + message_runtime + + diff --git a/trajectoryOpt/src/simulator/kinematics_simulator/params/simulator.yaml b/trajectoryOpt/src/simulator/kinematics_simulator/params/simulator.yaml new file mode 100644 index 0000000..edcaea3 --- /dev/null +++ b/trajectoryOpt/src/simulator/kinematics_simulator/params/simulator.yaml @@ -0,0 +1,23 @@ +kinematics_simulator_node: + simulator: + ugv_type: 2 # 0: omnidirectional robots; 1: differential robots; 2: ackermann robots; + init_x: -9.5 + init_y: 5.0 + init_yaw: 0.0 + time_resolution: 0.01 + max_longitude_vel: 2.1 + max_longitude_acc: 1.6 + max_steer: 0.785 + max_steer_vel: 0.4 + wheel_base: 0.6 + time_delay: 0.0 + noise_percent: 0.0 + + #0 0 + #0.02 10.0 + #0.05 15.0 + #0.07 20.0 + + + noise_std_longitude_speed: 0.0 + noise_std_steer: 0.0 diff --git a/trajectoryOpt/src/simulator/kinematics_simulator/src/kinematics_sim.cpp b/trajectoryOpt/src/simulator/kinematics_simulator/src/kinematics_sim.cpp new file mode 100755 index 0000000..ffbd732 --- /dev/null +++ b/trajectoryOpt/src/simulator/kinematics_simulator/src/kinematics_sim.cpp @@ -0,0 +1,225 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include "kinematics_simulator/ControlCmd.h" + +#define ACKERMANN 2 + +using namespace std; + +// ros interface +ros::Subscriber command_sub; +ros::Publisher odom_pub; +ros::Publisher mesh_pub; +ros::Timer simulate_timer; +ros::Time get_cmdtime; +visualization_msgs::Marker marker; + +// simulator variables +std::default_random_engine generator; +std::normal_distribution distribution{0.0, 1.0}; +// std::uniform_real_distribution real_uniform{-1.0, 1.0}; +std::uniform_real_distribution real_uniform{-0.5, 1.5}; +kinematics_simulator::ControlCmd immediate_cmd; +vector cmd_buff; +double x = 0.0; +double y = 0.0; +double v = 0.0; +double steer = 0.0; +double yaw = 0.0; +bool rcv_cmd = false; +double vx = 0.0; +double vy = 0.0; +double w = 0.0; + +// simulator parameters +double init_x = 0.0; +double init_y = 0.0; +double init_v = 0.0; +double init_steer = 0.0; +double init_yaw = 0.0; +double time_resolution = 0.01; +double max_longitude_acc = 15.0; +double max_longitude_vel = 1.5; +double max_steer = 0.7; +double max_steer_vel = 7.0; +double time_delay = 0.0; +double wheel_base = 0.6; +double noise_percent = 0.0; +// double noise_percent = 0.1; +double noise_std_longitude_speed = 0.1; +double noise_std_steer = 0.1; +Eigen::Quaterniond q_mesh; +Eigen::Vector3d pos_mesh; + +// utils +void normYaw(double& th) +{ + while (th > M_PI) + th -= M_PI * 2; + while (th < -M_PI) + th += M_PI * 2; +} + +Eigen::Vector2d guassRandom2d(double std) +{ + return std * Eigen::Vector2d(distribution(generator), distribution(generator)); +} + +Eigen::Vector3d guassRandom3d(double std) +{ + return std * Eigen::Vector3d(distribution(generator), distribution(generator), distribution(generator)); +} + +double guassRandom(double std) +{ + return std * distribution(generator); +} + +double uniformRandom(double limit) +{ + return limit * real_uniform(generator); + return limit; +} + +// callBackes +void rcvCmdCallBack(const kinematics_simulator::ControlCmdConstPtr cmd) +{ + if (rcv_cmd==false) + { + rcv_cmd = true; + cmd_buff.push_back(*cmd); + get_cmdtime = ros::Time::now(); + } + else + { + cmd_buff.push_back(*cmd); + if ((ros::Time::now() - get_cmdtime).toSec() > time_delay) + { + immediate_cmd = cmd_buff[0]; + cmd_buff.erase(cmd_buff.begin()); + } + } +} + +void simCallback(const ros::TimerEvent &e) +{ + nav_msgs::Odometry new_odom; + + new_odom.header.stamp = ros::Time::now(); + new_odom.header.frame_id = "world"; + + vx = v * cos(yaw); + vy = v * sin(yaw); + w = v * tan(steer) / wheel_base; + + vx += uniformRandom(noise_percent*fabs(vx)); + vy += uniformRandom(noise_percent*fabs(vy)); + w += uniformRandom(noise_percent*fabs(w)); + + x = x + vx * time_resolution; + y = y + vy * time_resolution; + yaw = yaw + w * time_resolution; + + immediate_cmd.steer_vel += uniformRandom(noise_percent*fabs(immediate_cmd.steer_vel)); + immediate_cmd.longitude_acc += uniformRandom(noise_percent*fabs(immediate_cmd.longitude_acc)); + + steer = steer + max(min(immediate_cmd.steer_vel, max_steer_vel), -max_steer_vel) * time_resolution; + steer = max(min(steer, max_steer), -max_steer); + v = v + max(min(immediate_cmd.longitude_acc, max_longitude_acc), -max_longitude_acc) * time_resolution; + v = max(min(v, max_longitude_vel), -max_longitude_vel); + + normYaw(yaw); + + new_odom.pose.pose.position.x = x; + new_odom.pose.pose.position.y = y; + new_odom.pose.pose.position.z = 0; + new_odom.pose.pose.orientation.w = cos(yaw/2.0); + new_odom.pose.pose.orientation.x = 0; + new_odom.pose.pose.orientation.y = 0; + new_odom.pose.pose.orientation.z = sin(yaw/2.0); + new_odom.twist.twist.linear.x = vx; + new_odom.twist.twist.linear.y = vy; + new_odom.twist.twist.linear.z = 0; + new_odom.twist.twist.angular.x = v; + new_odom.twist.twist.angular.y = steer; + new_odom.twist.twist.angular.z = w; + + Eigen::Quaterniond qyaw(cos(yaw/2.0), 0.0, 0.0, sin(yaw/2.0)); + Eigen::Quaterniond q = (qyaw * q_mesh).normalized(); + Eigen::Matrix3d R(qyaw); + Eigen::Vector3d dp = R*pos_mesh; + marker.pose.position.x = x - dp.x(); + marker.pose.position.y = y - dp.y(); + marker.pose.position.z = 0.0; + marker.pose.orientation.w = q.w(); + marker.pose.orientation.x = q.x(); + marker.pose.orientation.y = q.y(); + marker.pose.orientation.z = q.z(); + + odom_pub.publish(new_odom); + mesh_pub.publish(marker); +} + +// main loop +int main (int argc, char** argv) +{ + ros::init (argc, argv, "simulator_node"); + ros::NodeHandle nh("~"); + + nh.getParam("simulator/init_x", init_x); + nh.getParam("simulator/init_y", init_y); + nh.getParam("simulator/init_yaw", init_yaw); + nh.getParam("simulator/time_resolution", time_resolution); + nh.getParam("simulator/max_longitude_vel", max_longitude_vel); + nh.getParam("simulator/max_longitude_acc", max_longitude_acc); + nh.getParam("simulator/max_steer", max_steer); + nh.getParam("simulator/max_steer_vel", max_steer_vel); + nh.getParam("simulator/time_delay", time_delay); + nh.getParam("simulator/wheel_base", wheel_base); + nh.getParam("simulator/noise_percent", noise_percent); + nh.getParam("simulator/noise_std_longitude_speed", noise_std_longitude_speed); + nh.getParam("simulator/noise_std_steer", noise_std_steer); + + noise_percent /= 100.0; + command_sub = nh.subscribe("cmd", 1000, rcvCmdCallBack); + odom_pub = nh.advertise("odom", 10); + mesh_pub = nh.advertise("mesh", 10); + + immediate_cmd.longitude_acc = 0.0; + immediate_cmd.steer_vel = 0.0; + + marker.header.frame_id = "world"; + marker.id = 0; + marker.type = visualization_msgs::Marker::MESH_RESOURCE; + marker.action = visualization_msgs::Marker::ADD; + marker.pose.position.x = x = init_x; + marker.pose.position.y = y = init_y; + marker.pose.position.z = 0.0; + marker.pose.orientation.w = 0.5; + marker.pose.orientation.x = 0.5; + marker.pose.orientation.y = 0.5; + marker.pose.orientation.z = 0.5; + marker.color.a = 1.0; + marker.color.r = 0.5; + marker.color.g = 0.5; + marker.color.b = 0.5; + + marker.scale.x = 0.00025; + marker.scale.y = 0.00025; + marker.scale.z = 0.00025; + q_mesh = Eigen::Quaterniond(1.0/sqrt(2), 0.0, 0.0, 1.0/sqrt(2)); + pos_mesh = Eigen::Vector3d(-0.75, 0.35, 0.0); + marker.mesh_resource = "package://kinematics_simulator/meshes/ackermann_model.STL"; + + simulate_timer = nh.createTimer(ros::Duration(time_resolution), simCallback); + + ros::spin(); + + return 0; +} \ No newline at end of file diff --git a/trajectoryOpt/src/simulator/random_map_generator/CMakeLists.txt b/trajectoryOpt/src/simulator/random_map_generator/CMakeLists.txt new file mode 100755 index 0000000..344153a --- /dev/null +++ b/trajectoryOpt/src/simulator/random_map_generator/CMakeLists.txt @@ -0,0 +1,37 @@ +cmake_minimum_required(VERSION 2.8.3) +project(random_map_generator) + +set(CMAKE_BUILD_TYPE "Release") +ADD_COMPILE_OPTIONS(-std=c++11 ) +ADD_COMPILE_OPTIONS(-std=c++14 ) +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g") + +find_package(catkin REQUIRED COMPONENTS + roscpp + rospy + sensor_msgs + std_msgs + visualization_msgs + pcl_conversions + tools + cv_bridge + roslib +) +find_package(Eigen3 REQUIRED) +find_package(PCL REQUIRED) + +catkin_package( + CATKIN_DEPENDS roscpp std_msgs sensor_msgs visualization_msgs roslib +) + +include_directories( + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} + ${PCL_INCLUDE_DIRS} +) + +add_executable (random_map src/random_map_node.cpp ) +target_link_libraries(random_map + ${catkin_LIBRARIES} + ${PCL_LIBRARIES} +) diff --git a/trajectoryOpt/src/simulator/random_map_generator/launch/test.launch b/trajectoryOpt/src/simulator/random_map_generator/launch/test.launch new file mode 100644 index 0000000..13db475 --- /dev/null +++ b/trajectoryOpt/src/simulator/random_map_generator/launch/test.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/trajectoryOpt/src/simulator/random_map_generator/launch/vis.launch b/trajectoryOpt/src/simulator/random_map_generator/launch/vis.launch new file mode 100644 index 0000000..60b752a --- /dev/null +++ b/trajectoryOpt/src/simulator/random_map_generator/launch/vis.launch @@ -0,0 +1,8 @@ + + + + + + + + \ No newline at end of file diff --git a/trajectoryOpt/src/simulator/random_map_generator/package.xml b/trajectoryOpt/src/simulator/random_map_generator/package.xml new file mode 100755 index 0000000..b7bdb76 --- /dev/null +++ b/trajectoryOpt/src/simulator/random_map_generator/package.xml @@ -0,0 +1,30 @@ + + + random_map_generator + 0.0.1 + a random map generator package + + xulong + + MIT + + catkin + roscpp + std_msgs + sensor_msgs + visualization_msgs + roslib + tools + roscpp + std_msgs + sensor_msgs + visualization_msgs + tools + roscpp + std_msgs + sensor_msgs + visualization_msgs + tools + roslib + + diff --git a/trajectoryOpt/src/simulator/random_map_generator/params/map.yaml b/trajectoryOpt/src/simulator/random_map_generator/params/map.yaml new file mode 100644 index 0000000..8f0fb0f --- /dev/null +++ b/trajectoryOpt/src/simulator/random_map_generator/params/map.yaml @@ -0,0 +1,47 @@ +random_map: + map: + obs_num: [0, 50, 55] # num of Triangle, Quadrangle, Pentagon, ... 20~30 + resolution: 0.01 + size_x: 20.0 + size_y: 20.0 + min_width: 0.4 + max_width: 0.5 + min_dis: 1.5 + sensor_rate: 10.0 + sensor_range: 5.0 + +egeneration_node: + map: + obs_num: [0, 25, 25] # num of Triangle, Quadrangle, Pentagon, ... 20~30 + resolution: 0.01 + size_x: 20.0 + size_y: 20.0 + min_width: 0.4 + max_width: 0.5 + min_dis: 1.8 + sensor_rate: 10.0 + sensor_range: 5.0 + + +# image_node: +# map: +# obs_num: [23, 23, 23] # num of Triangle, Quadrangle, Pentagon, ... 20~30 +# resolution: 0.01 +# size_x: 20.0 +# size_y: 20.0 +# min_width: 0.8 +# max_width: 0.9 +# min_dis: 1.7 +# sensor_rate: 10.0 +# sensor_range: 5.0 +# corridor_node: +# map: +# obs_num: [23, 23, 23] # num of Triangle, Quadrangle, Pentagon, ... 20~30 +# resolution: 0.01 +# size_x: 20.0 +# size_y: 20.0 +# min_width: 0.8 +# max_width: 0.9 +# min_dis: 1.7 +# sensor_rate: 10.0 +# sensor_range: 5.0 \ No newline at end of file diff --git a/trajectoryOpt/src/simulator/random_map_generator/rviz/vis.rviz b/trajectoryOpt/src/simulator/random_map_generator/rviz/vis.rviz new file mode 100644 index 0000000..5895860 --- /dev/null +++ b/trajectoryOpt/src/simulator/random_map_generator/rviz/vis.rviz @@ -0,0 +1,209 @@ +Panels: + - Class: rviz/Displays + Help Height: 78 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Status1 + - /Grid1 + - /PointCloud21 + - /dptraj1 + - /Path1 + Splitter Ratio: 0.5 + Tree Height: 719 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Name: Time + SyncMode: 0 + SyncSource: PointCloud2 +Preferences: + PromptSaveOnExit: true +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 85; 87; 83 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Min Color: 85; 87; 83 + Name: PointCloud2 + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Boxes + Topic: /global_pcl + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /ugv/mesh + Name: Marker + Namespaces: + "": true + Queue Size: 100 + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 32; 74; 135 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.029999999329447746 + Name: dptraj + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /visualization/refinedTraj_dptraj + Unreliable: false + Value: true + - Alpha: 1 + Buffer Length: 1 + Class: rviz/Path + Color: 164; 0; 0 + Enabled: true + Head Diameter: 0.30000001192092896 + Head Length: 0.20000000298023224 + Length: 0.30000001192092896 + Line Style: Billboards + Line Width: 0.029999999329447746 + Name: Path + Offset: + X: 0 + Y: 0 + Z: 0 + Pose Color: 255; 85; 255 + Pose Style: None + Queue Size: 10 + Radius: 0.029999999329447746 + Shaft Diameter: 0.10000000149011612 + Shaft Length: 0.10000000149011612 + Topic: /visualization/refinedTraj_dftpav + Unreliable: false + Value: true + - Class: rviz/Marker + Enabled: false + Marker Topic: /visualization/fullshapeTraj_kinoastar + Name: Marker + Namespaces: + {} + Queue Size: 100 + Value: false + Enabled: true + Global Options: + Background Color: 238; 238; 236 + Default Light: true + Fixed Frame: world + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Theta std deviation: 0.2617993950843811 + Topic: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: -0.009999876841902733 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 66.69723510742188 + Target Frame: + X: -2.9230759143829346 + Y: 5.27029275894165 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1016 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 1848 + X: 72 + Y: 27 diff --git a/trajectoryOpt/src/simulator/random_map_generator/src/env.pcd b/trajectoryOpt/src/simulator/random_map_generator/src/env.pcd new file mode 100644 index 0000000..ed6b187 --- /dev/null +++ b/trajectoryOpt/src/simulator/random_map_generator/src/env.pcd @@ -0,0 +1,552409 @@ +# .PCD v0.7 - Point Cloud Data file format +VERSION 0.7 +FIELDS x y z +SIZE 4 4 4 +TYPE F F F +COUNT 1 1 1 +WIDTH 552398 +HEIGHT 1 +VIEWPOINT 0 0 0 1 0 0 0 +POINTS 552398 +DATA ascii +-10 0.19919291 0 +-10 0.20919292 0 +-10 0.21919292 0 +-10 0.19919291 0 +-10 0.20919292 0 +-10 0.21919292 0 +-10 0.22919291 0 +-10 0.23919292 0 +-10 0.24919292 0 +-10 0.18919292 0 +-10 0.19919291 0 +-10 0.20919292 0 +-10 0.21919292 0 +-10 0.22919291 0 +-10 0.23919292 0 +-10 0.24919292 0 +-10 0.25919291 0 +-10 0.2691929 0 +-10 0.27919292 0 +-10 0.18919292 0 +-10 0.19919291 0 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0000000..a0ca81e --- /dev/null +++ b/trajectoryOpt/src/simulator/random_map_generator/src/random_map_node.cpp @@ -0,0 +1,1098 @@ +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +using namespace std; + +// pcl +pcl::PointCloud cloud_map; +pcl::KdTreeFLANN kd_tree; +pcl::PointXYZ sensor_pose; +vector pointIdxRadiusSearch; +vector pointRadiusSquaredDistance; +vector cors; + +// random +random_device rd; +default_random_engine eng(rd()); +uniform_real_distribution rand_x; +uniform_real_distribution rand_y; +uniform_real_distribution rand_w; +uniform_real_distribution rand_h; +uniform_real_distribution rand_theta; +uniform_real_distribution rand_radius; + +// ros +ros::Publisher local_map_pub; +ros::Publisher global_map_pub; +ros::Publisher mesh_map_pub; +ros::Subscriber odom_sub; +ros::Timer sensor_timer; +sensor_msgs::PointCloud2 global_msg; +visualization_msgs::Marker mesh_msg; + +// params +bool has_odom = false; +bool has_map = false; +vector obs_num = {1, 1, 1}; +double resolution = 0.1; +double size_x = 30.0; +double size_y = 30.0; +double min_width = 0.3; +double min_dis = 0.3; +double max_width = 0.8; +double sensor_rate = 1.0; +double sensor_range = 5.0; + +// laser +constexpr int LINE_NUM = 256; +double laser_res = 2.0 * M_PI / LINE_NUM; +Eigen::VectorXi idx_map = Eigen::VectorXi::Constant(LINE_NUM, -1); +Eigen::VectorXd dis_map = Eigen::VectorXd::Constant(LINE_NUM, 9999.0); + +bool crossBoolean2(Eigen::Vector2d a, Eigen::Vector2d b) +{ + return (a(0)*b(1)-b(0)*a(1) > 0); +} + +pcl::PointCloud fillConvexPolygon(vector poly_vs) +{ + pcl::PointCloud cloud_polygon; + + if (poly_vs.size() < 3) + return cloud_polygon; + + double down = 9999.0; + double up = -9999.0; + double left = 9999.0; + double right = -9999.0; + + // AABB box + for (size_t i=0; i right) + right = poly_vs[i][0]; + if (poly_vs[i][0] < left) + left = poly_vs[i][0]; + if (poly_vs[i][1] > up) + up = poly_vs[i][1]; + if (poly_vs[i][1] < down) + down = poly_vs[i][1]; + } + + for (double x=left; x, pcl::PointCloud> generatePolygon(int K) +{ + pcl::PointCloud cloud_polygon; + + rand_w = uniform_real_distribution(min_width, max_width); + rand_theta = uniform_real_distribution(-M_PI, M_PI); + + double radius = rand_w(eng); + double theta = rand_theta(eng); + double angle_res = 2.0 * M_PI / K; + double small_r = radius * sin(angle_res/2.0); + + rand_radius = uniform_real_distribution(-small_r, small_r); + + vector vs; + for (int i=0; i, pcl::PointCloud> generateRec() +{ + pcl::PointCloud cloud_polygon; + + rand_w = uniform_real_distribution(min_width, min_width); + rand_h = uniform_real_distribution(max_width, max_width); + double w = rand_w(eng); + double h = rand_h(eng); + vector vs; + vs.emplace_back(-w/2.0, h/2.0); + vs.emplace_back(-w/2.0, -h/2.0); + + vs.emplace_back(w/2.0, -h/2.0); + vs.emplace_back(w/2.0, h/2.0); + + cloud_polygon = fillConvexPolygon(vs); + + return std::make_pair(vs, cloud_polygon); +} +bool checkDis(double x, double y){ + bool result = false; + Eigen::Vector2d tmp(x, y); + for(const auto pt : cors){ + if((tmp-pt).norm() < min_dis){ + result = true; + return result; + } + } + return result; +} +void generateMap() +{ + // ROS_WARN("begin to generate map!"); + cors.clear(); + cloud_map.points.clear(); + mesh_msg.points.clear(); + + + + + + pcl::PointXYZ pt_random; + //add rectangle + uniform_real_distribution rand_ColorRow = uniform_real_distribution(-1, 1);//hanhan + double iscol = rand_ColorRow(eng); + // ROS_ERROR("1111111111111111111111111111111"); + // std::cout << "iscol = " << iscol << std::endl; + + // uniform_int_distribution gap = uniform_int_distribution(1, 3); + // uniform_real_distribution half = uniform_real_distribution(0.6, 0.6); + + // if(iscol>0){ + // int last_gapnum = -1; + // for(double rx = -6.0; rx<=6.1; ){ + // int gap_num = gap(eng); + // if(gap_num==last_gapnum||(last_gapnum+gap_num)%2==0){ + // continue; + // } + // else{ + // last_gapnum = gap_num; + // } + // double half_l = half(eng); + // std::cout << "gap:nunm"<= 1; idx--){ + // double center = 1.0*idx*20.0 / (1.0*(gap_num+1))-10.0; + // cors.push_back(Eigen::Vector2d(rx, center)); + // pcl::PointCloud cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(rx, last_y); + // vs.push_back(p1); + // Eigen::Vector2d p2(rx, center+half_l); + // vs.push_back(p2); + // Eigen::Vector2d p3(rx+0.2, center+half_l);//? + // vs.push_back(p3); + // Eigen::Vector2d p4(rx+0.2, last_y); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(rx, last_y); + // vs.push_back(p1); + // Eigen::Vector2d p2(rx, -10.0); + // vs.push_back(p2); + // Eigen::Vector2d p3(rx+0.2, -10.0);//? + // vs.push_back(p3); + // Eigen::Vector2d p4(rx+0.2, last_y); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(last_x, ry+0.2); + // vs.push_back(p1); + // Eigen::Vector2d p2(last_x, ry); + // vs.push_back(p2); + // Eigen::Vector2d p3(center-half_l, ry); + // vs.push_back(p3); + // Eigen::Vector2d p4(center-half_l, ry+0.2); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(last_x, ry+0.2); + // vs.push_back(p1); + // Eigen::Vector2d p2(last_x, ry); + // vs.push_back(p2); + // Eigen::Vector2d p3(10.0, ry); + // vs.push_back(p3); + // Eigen::Vector2d p4(10.0, ry+0.2); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i0){ + // for(double rx = -6.0; rx<=6.1; rx+=3.0){ + // uniform_real_distribution centergene = uniform_real_distribution(-7.0, 7.0); + // double center = centergene(eng); + // double half_l = 0.65; + // cors.push_back(Eigen::Vector2d(rx, center)); + // { + // pcl::PointCloud cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(rx, 10.0); + // vs.push_back(p1); + // Eigen::Vector2d p2(rx, center+half_l); + // vs.push_back(p2); + // Eigen::Vector2d p3(rx+0.2, center+half_l);//? + // vs.push_back(p3); + // Eigen::Vector2d p4(rx+0.2, 10.0); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + + // for (size_t i=0; i cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(rx, center-half_l); + // vs.push_back(p1); + // Eigen::Vector2d p2(rx, -10.0); + // vs.push_back(p2); + // Eigen::Vector2d p3(rx+0.2, -10.0);//? + // vs.push_back(p3); + // Eigen::Vector2d p4(rx+0.2,center-half_l); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i centergene = uniform_real_distribution(-7.0, 7.0); + // double center = centergene(eng); + // double half_l = 0.65; + // cors.push_back(Eigen::Vector2d(center, ry)); + // { + // pcl::PointCloud cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(-10.0, ry+0.2); + // vs.push_back(p1); + // Eigen::Vector2d p2(-10.0, ry); + // vs.push_back(p2); + // Eigen::Vector2d p3(center-half_l, ry); + // vs.push_back(p3); + // Eigen::Vector2d p4(center-half_l, ry+0.2); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(center+half_l, ry+0.2); + // vs.push_back(p1); + // Eigen::Vector2d p2(center+half_l, ry); + // vs.push_back(p2); + // Eigen::Vector2d p3(10.0, ry); + // vs.push_back(p3); + // Eigen::Vector2d p4(10.0, ry+0.2); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i(-size_x / 2.0, size_x / 2.0); + // rand_y = uniform_real_distribution(-size_y / 2.0, size_y / 2.0);//hanhan + + rand_x = uniform_real_distribution(-size_x / 2.0, size_x/2.0); + rand_y = uniform_real_distribution(-size_y / 2.0, size_y/2.0);//hanhan + // generate polygon obs + for (int k = 0; k, pcl::PointCloud> cloud_polygon = generatePolygon(k+3); + for (size_t p=0; p vector_polygon = cloud_polygon.first; + geometry_msgs::Point init_p; + init_p.x = vector_polygon[0].x() + x; + init_p.y = vector_polygon[0].y() + y; + init_p.z = 0.0; + for (int m=1; m cloud_polygon; + vector vs; + Eigen::Vector2d p1(-10, 5.6); + vs.push_back(p1); + Eigen::Vector2d p2(-10, 5.4); + vs.push_back(p2); + Eigen::Vector2d p3(-8.8, 5.4); + vs.push_back(p3); + Eigen::Vector2d p4(-8.8, 5.6); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(-10, 4.6); + vs.push_back(p1); + Eigen::Vector2d p2(-10, 4.4); + vs.push_back(p2); + Eigen::Vector2d p3(-8.8, 4.4); + vs.push_back(p3); + Eigen::Vector2d p4(-8.8, 4.6); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(-2.5-0.6, 10.0); + vs.push_back(p1); + Eigen::Vector2d p2(-2.5-0.6, 8.8); + vs.push_back(p2); + Eigen::Vector2d p3(-2.5-0.4, 8.8); + vs.push_back(p3); + Eigen::Vector2d p4(-2.5-0.4, 10.0); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(-2.5+0.4, 10.0); + vs.push_back(p1); + Eigen::Vector2d p2(-2.5+0.4, 8.8); + vs.push_back(p2); + Eigen::Vector2d p3(-2.5+0.6, 8.8); + vs.push_back(p3); + Eigen::Vector2d p4(-2.5+0.6, 10.0); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(5.0-1.2, 5+0.6); + vs.push_back(p1); + Eigen::Vector2d p2(5.0-1.2, 5+0.4); + vs.push_back(p2); + Eigen::Vector2d p3(5.0, 5+0.4); + vs.push_back(p3); + Eigen::Vector2d p4(5.0, 5+0.6); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(5.0-1.2, 5-0.4); + vs.push_back(p1); + Eigen::Vector2d p2(5.0-1.2, 5-0.6); + vs.push_back(p2); + Eigen::Vector2d p3(5.0,5-0.6); + vs.push_back(p3); + Eigen::Vector2d p4(5.0, 5-0.4); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(-2.5-0.6, 1.2); + vs.push_back(p1); + Eigen::Vector2d p2(-2.5-0.6, 0); + vs.push_back(p2); + Eigen::Vector2d p3(-2.5-0.4, 0); + vs.push_back(p3); + Eigen::Vector2d p4(-2.5-0.4, 1.2); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(-2.5+0.4, 1.2); + vs.push_back(p1); + Eigen::Vector2d p2(-2.5+0.4, 0); + vs.push_back(p2); + Eigen::Vector2d p3(-2.5+0.6, 0); + vs.push_back(p3); + Eigen::Vector2d p4(-2.5+0.6, 1.2); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(-1.998, 3.00); + // vs.push_back(p1); + // Eigen::Vector2d p2(-2.0000, 2.048); + // vs.push_back(p2); + // Eigen::Vector2d p3(-1.01, 2.012); + // vs.push_back(p3); + // Eigen::Vector2d p4(-1.018, 3.01); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(-10.2, 10); + vs.push_back(p1); + Eigen::Vector2d p2(-10.2, 0); + vs.push_back(p2); + Eigen::Vector2d p3(-10.1,0); + vs.push_back(p3); + Eigen::Vector2d p4(-10.1, 10); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(-10, -0.1); + vs.push_back(p1); + Eigen::Vector2d p2(-10, -0.2); + vs.push_back(p2); + Eigen::Vector2d p3(5,-0.2); + vs.push_back(p3); + Eigen::Vector2d p4(5, -0.1); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(5.1, 10); + vs.push_back(p1); + Eigen::Vector2d p2(5.1, 0); + vs.push_back(p2); + Eigen::Vector2d p3(5.2,0); + vs.push_back(p3); + Eigen::Vector2d p4(5.2, 10); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + vector vs; + Eigen::Vector2d p1(-10, 10.2); + vs.push_back(p1); + Eigen::Vector2d p2(-10, 10.1); + vs.push_back(p2); + Eigen::Vector2d p3(5,10.1); + vs.push_back(p3); + Eigen::Vector2d p4(5, 10.2); + vs.push_back(p4); + cloud_polygon = fillConvexPolygon(vs); + for (size_t i=0; i cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(-10, -9.9); + // vs.push_back(p1); + // Eigen::Vector2d p2(-10, -10); + // vs.push_back(p2); + // Eigen::Vector2d p3(10.0, -10); + // vs.push_back(p3); + // Eigen::Vector2d p4(10, -9.9); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(9.9, 10); + // vs.push_back(p1); + // Eigen::Vector2d p2(9.9, -10); + // vs.push_back(p2); + // Eigen::Vector2d p3(10, -10); + // vs.push_back(p3); + // Eigen::Vector2d p4(10, 10); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(-10, 10); + // vs.push_back(p1); + // Eigen::Vector2d p2(-10, 9.9); + // vs.push_back(p2); + // Eigen::Vector2d p3(10, 9.9); + // vs.push_back(p3); + // Eigen::Vector2d p4(10, 10); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i vector_polygon = vs; + // geometry_msgs::Point init_p; + // init_p.x = vector_polygon[0].x(); + // init_p.y = vector_polygon[0].y(); + // init_p.z = 0.0; + // for (int i=1; i<3; i++) + // { + // mesh_msg.points.push_back(init_p); + // geometry_msgs::Point p; + // p.x = vector_polygon[i].x(); + // p.y = vector_polygon[i].y(); + // p.z = 0.0; + // mesh_msg.points.push_back(p); + // p.x = vector_polygon[i+1].x(); + // p.y = vector_polygon[i+1].y(); + // p.z = 0.0; + // mesh_msg.points.push_back(p); + // } + + // } + // { + // pcl::PointCloud cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(7, 20); + // vs.push_back(p1); + // Eigen::Vector2d p2(6, 20); + // vs.push_back(p2); + // Eigen::Vector2d p3(6, 4); + // vs.push_back(p3); + // Eigen::Vector2d p4(7, 4); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i vector_polygon = vs; + // geometry_msgs::Point init_p; + // init_p.x = vector_polygon[0].x(); + // init_p.y = vector_polygon[0].y(); + // init_p.z = 0.0; + // for (int i=1; i<3; i++) + // { + // mesh_msg.points.push_back(init_p); + // geometry_msgs::Point p; + // p.x = vector_polygon[i].x(); + // p.y = vector_polygon[i].y(); + // p.z = 0.0; + // mesh_msg.points.push_back(p); + // p.x = vector_polygon[i+1].x(); + // p.y = vector_polygon[i+1].y(); + // p.z = 0.0; + // mesh_msg.points.push_back(p); + // } + + + + cloud_map.width = cloud_map.points.size(); + cloud_map.height = 1; + cloud_map.is_dense = true; + has_map = true; + + pcl::toROSMsg(cloud_map, global_msg); + global_msg.header.frame_id = "world"; + + mesh_msg.id = 0; + mesh_msg.type = visualization_msgs::Marker::TRIANGLE_LIST; + mesh_msg.action = visualization_msgs::Marker::ADD; + mesh_msg.scale.x = 1.0; + mesh_msg.scale.y = 1.0; + mesh_msg.scale.z = 1.0; + mesh_msg.color.r = 0.2; + mesh_msg.color.g = 0.2; + mesh_msg.color.b = 0.2; + mesh_msg.color.a = 1.0; + mesh_msg.header.frame_id = "world"; +} + +void rcvOdomCallBack(const nav_msgs::OdometryConstPtr msg) +{ + sensor_pose.x = msg->pose.pose.position.x; + sensor_pose.y = msg->pose.pose.position.y; + sensor_pose.z = 0.0; + has_odom = true; +} + +void sensorCallback(const ros::TimerEvent &e) +{ + if (!has_map || !has_odom) + return; + static int count = 0; + count++; + + global_map_pub.publish(global_msg); + mesh_map_pub.publish(mesh_msg); + +} + +int main (int argc, char** argv) +{ + ros::init (argc, argv, "random_map_node"); + ros::NodeHandle nh("~"); + + nh.param>("map/obs_num", obs_num, std::vector()); + nh.getParam("map/resolution", resolution); + nh.getParam("map/size_x", size_x); + nh.getParam("map/size_y", size_y); + nh.getParam("map/min_width", min_width); + nh.getParam("map/max_width", max_width); + nh.getParam("map/min_dis", min_dis); + nh.getParam("map/sensor_rate", sensor_rate); + nh.getParam("map/sensor_range", sensor_range); + + odom_sub = nh.subscribe("odom", 1000, rcvOdomCallBack); + local_map_pub = nh.advertise("local_cloud", 1); + global_map_pub = nh.advertise("global_cloud", 1); + mesh_map_pub = nh.advertise("mesh_obstacles", 1); + generateMap(); + + sensor_timer = nh.createTimer(ros::Duration(1.0/sensor_rate), sensorCallback); + + pcl::PCDReader reader; + std::string package_path = ros::package::getPath("random_map_generator"); + std::cout << "package_path = " << package_path << std::endl; + reader.read(package_path + std::string("/src/env.pcd"), cloud_map); + pcl::PointXYZ pt_random; +// { +// pcl::PointCloud cloud_polygon; +// vector vs; +// Eigen::Vector2d p1(5.0-1.2, 10); +// vs.push_back(p1); +// Eigen::Vector2d p2(5.0-1.2, 5+0.4); +// vs.push_back(p2); +// Eigen::Vector2d p3(5.0, 5+0.4); +// vs.push_back(p3); +// Eigen::Vector2d p4(5.0, 10); +// vs.push_back(p4); +// cloud_polygon = fillConvexPolygon(vs); +// for (size_t i=0; i cloud_polygon; +// vector vs; +// Eigen::Vector2d p1(5.0-1.2, 5-0.4); +// vs.push_back(p1); +// Eigen::Vector2d p2(5.0-1.2, 0); +// vs.push_back(p2); +// Eigen::Vector2d p3(5.0,0); +// vs.push_back(p3); +// Eigen::Vector2d p4(5.0, 5-0.4); +// vs.push_back(p4); +// cloud_polygon = fillConvexPolygon(vs); +// for (size_t i=0; i cloud_polygon; +// vector vs; +// Eigen::Vector2d p1(-10, 1.2); +// vs.push_back(p1); +// Eigen::Vector2d p2(-10, 0); +// vs.push_back(p2); +// Eigen::Vector2d p3(-2.5-0.4, 0); +// vs.push_back(p3); +// Eigen::Vector2d p4(-2.5-0.4, 1.2); +// vs.push_back(p4); +// cloud_polygon = fillConvexPolygon(vs); +// for (size_t i=0; i cloud_polygon; +// vector vs; +// Eigen::Vector2d p1(-5.0, 2.9); +// vs.push_back(p1); +// Eigen::Vector2d p2(-5.0, 2.8); +// vs.push_back(p2); +// Eigen::Vector2d p3(-2.5, 2.8); +// vs.push_back(p3); +// Eigen::Vector2d p4(-2.5, 2.9); +// vs.push_back(p4); +// cloud_polygon = fillConvexPolygon(vs); +// for (size_t i=0; i cloud_polygon; + // vector vs; + // Eigen::Vector2d p1(-2.5-0.6, 1.2); + // vs.push_back(p1); + // Eigen::Vector2d p2(-2.5-0.6, 0); + // vs.push_back(p2); + // Eigen::Vector2d p3(-2.5-0.3, 0); + // vs.push_back(p3); + // Eigen::Vector2d p4(-2.5-0.3, 1.2); + // vs.push_back(p4); + // cloud_polygon = fillConvexPolygon(vs); + // for (size_t i=0; i("/home/han/2023codes/NeuralTraj/env.pcd", cloud_map); + + ros::spin(); + + return 0; +} \ No newline at end of file diff --git a/trajectoryOpt/src/utils/DecompROS/LICENSE b/trajectoryOpt/src/utils/DecompROS/LICENSE new file mode 100644 index 0000000..e64d4a1 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/LICENSE @@ -0,0 +1,29 @@ +BSD 3-Clause License + +Copyright (c) 2018, sikang +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 HOLDER 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. diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/CMakeLists.txt b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/CMakeLists.txt new file mode 100644 index 0000000..a7b141e --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/CMakeLists.txt @@ -0,0 +1,10 @@ +cmake_minimum_required(VERSION 2.8.3) +project(decomp_ros_msgs) + +find_package(catkin_simple REQUIRED) + +catkin_simple() + +cs_install() + +cs_export() diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/Ellipsoid.msg b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/Ellipsoid.msg new file mode 100644 index 0000000..8461f52 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/Ellipsoid.msg @@ -0,0 +1,2 @@ +float64[3] d +float64[9] E diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/EllipsoidArray.msg b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/EllipsoidArray.msg new file mode 100644 index 0000000..0973f68 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/EllipsoidArray.msg @@ -0,0 +1,2 @@ +Header header +Ellipsoid[] ellipsoids diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/Polyhedron.msg b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/Polyhedron.msg new file mode 100644 index 0000000..7716832 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/Polyhedron.msg @@ -0,0 +1,2 @@ +geometry_msgs/Point[] points +geometry_msgs/Point[] normals #norm is an outer vector diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/PolyhedronArray.msg b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/PolyhedronArray.msg new file mode 100644 index 0000000..d3f561e --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/msg/PolyhedronArray.msg @@ -0,0 +1,2 @@ +Header header +Polyhedron[] polyhedrons diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/package.xml b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/package.xml new file mode 100644 index 0000000..5ce8f30 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_msgs/package.xml @@ -0,0 +1,26 @@ + + + decomp_ros_msgs + 0.0.0 + The decomp_ros_msgs package + + + + + sikang + + TODO + + catkin + catkin_simple + geometry_msgs + message_generation + message_runtime + + + + + + + + diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/CMakeLists.txt b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/CMakeLists.txt new file mode 100644 index 0000000..9729fe2 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/CMakeLists.txt @@ -0,0 +1,47 @@ +cmake_minimum_required(VERSION 2.8.3) +project(decomp_ros_utils) + +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++14 -O3 -Wall -Wno-deprecated-declarations") +find_package(catkin REQUIRED COMPONENTS rviz roscpp) +find_package(catkin_simple REQUIRED) +find_package(cmake_modules) +find_package(Eigen3 REQUIRED) + + +include_directories(${EIGEN3_INCLUDE_DIRS} ${DECOMP_UTIL_INCLUDE_DIRS}) + +add_definitions(-DQT_NO_KEYWORDS) + +## This setting causes Qt's "MOC" generation to happen automatically. +## this does not moc things in include!!!!!!! only in src +set(CMAKE_AUTOMOC ON) + +## We'll use the version that rviz used so they are compatible. +if(rviz_QT_VERSION VERSION_LESS "5") + message(STATUS "Using Qt4 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt4 ${rviz_QT_VERSION} EXACT REQUIRED QtCore QtGui) + include(${QT_USE_FILE}) +else() + message(STATUS "Using Qt5 based on the rviz_QT_VERSION: ${rviz_QT_VERSION}") + find_package(Qt5 ${rviz_QT_VERSION} EXACT REQUIRED Core Widgets) + set(QT_LIBRARIES Qt5::Widgets) +endif() + +catkin_simple() + +set(SOURCE_FILES + src/bound_visual.cpp + src/mesh_visual.cpp + src/vector_visual.cpp + src/ellipsoid_array_visual.cpp + src/ellipsoid_array_display.cpp + src/polyhedron_array_display.cpp + ${MOC_FILES}) + +cs_add_library(decomp_rviz_plugins ${SOURCE_FILES}) +target_link_libraries(decomp_rviz_plugins ${QT_LIBRARIES} ${catkin_LIBRARIES} ${rviz_DEFAULT_PLUGIN_LIBRARIES}) + +cs_install() + +cs_export() + diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/icons/classes/EllipsoidArray.png b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/icons/classes/EllipsoidArray.png new file mode 100644 index 0000000..64317f8 Binary files /dev/null and b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/icons/classes/EllipsoidArray.png differ diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/icons/classes/PolyhedronArray.png b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/icons/classes/PolyhedronArray.png new file mode 100644 index 0000000..19420bc Binary files /dev/null and b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/icons/classes/PolyhedronArray.png differ diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_basis/data_type.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_basis/data_type.h new file mode 100644 index 0000000..6d20765 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_basis/data_type.h @@ -0,0 +1,130 @@ +/** + * @file data_type.h + * @brief Defines all data types used in this lib + + * Mostly alias from Eigen Library. + */ + +#include +#include +#include +#include +#include +#include + +///Set red font in printf funtion +#ifndef ANSI_COLOR_RED +#define ANSI_COLOR_RED "\x1b[1;31m" +#endif +///Set green font in printf funtion +#ifndef ANSI_COLOR_GREEN +#define ANSI_COLOR_GREEN "\x1b[1;32m" +#endif +///Set yellow font in printf funtion +#ifndef ANSI_COLOR_YELLOW +#define ANSI_COLOR_YELLOW "\x1b[1;33m" +#endif +///Set blue font in printf funtion +#ifndef ANSI_COLOR_BLUE +#define ANSI_COLOR_BLUE "\x1b[1;34m" +#endif +///Set magenta font in printf funtion +#ifndef ANSI_COLOR_MAGENTA +#define ANSI_COLOR_MAGENTA "\x1b[1;35m" +#endif +///Set cyan font in printf funtion +#ifndef ANSI_COLOR_CYAN +#define ANSI_COLOR_CYAN "\x1b[1;36m" +#endif +///Reset font color in printf funtion +#ifndef ANSI_COLOR_RESET +#define ANSI_COLOR_RESET "\x1b[0m" +#endif + +#ifndef DATA_TYPE_H +#define DATA_TYPE_H +/*! \brief Rename the float type used in lib + + Default is set to be double, but user can change it to float. +*/ +typedef double decimal_t; + +///Pre-allocated std::vector for Eigen using vec_E +template +using vec_E = std::vector>; +///Eigen 1D float vector +template +using Vecf = Eigen::Matrix; +///Eigen 1D int vector +template +using Veci = Eigen::Matrix; +///MxN Eigen matrix +template +using Matf = Eigen::Matrix; +///MxN Eigen matrix with M unknown +template +using MatDNf = Eigen::Matrix; +///Vector of Eigen 1D float vector +template +using vec_Vecf = vec_E>; +///Vector of Eigen 1D int vector +template +using vec_Veci = vec_E>; + +///Eigen 1D float vector of size 2 +typedef Vecf<2> Vec2f; +///Eigen 1D int vector of size 2 +typedef Veci<2> Vec2i; +///Eigen 1D float vector of size 3 +typedef Vecf<3> Vec3f; +///Eigen 1D int vector of size 3 +typedef Veci<3> Vec3i; +///Eigen 1D float vector of size 4 +typedef Vecf<4> Vec4f; +///Column vector in float of size 6 +typedef Vecf<6> Vec6f; + +///Vector of type Vec2f. +typedef vec_E vec_Vec2f; +///Vector of type Vec2i. +typedef vec_E vec_Vec2i; +///Vector of type Vec3f. +typedef vec_E vec_Vec3f; +///Vector of type Vec3i. +typedef vec_E vec_Vec3i; + +///2x2 Matrix in float +typedef Matf<2, 2> Mat2f; +///3x3 Matrix in float +typedef Matf<3, 3> Mat3f; +///4x4 Matrix in float +typedef Matf<4, 4> Mat4f; +///6x6 Matrix in float +typedef Matf<6, 6> Mat6f; + +///Dynamic Nx1 Eigen float vector +typedef Vecf VecDf; +///Nx2 Eigen float matrix +typedef MatDNf<2> MatD2f; +///Nx3 Eigen float matrix +typedef MatDNf<3> MatD3f; +///Dynamic MxN Eigen float matrix +typedef Matf MatDf; + +///Allias of Eigen::Affine2d +typedef Eigen::Transform Aff2f; +///Allias of Eigen::Affine3d +typedef Eigen::Transform Aff3f; +#endif + +#ifndef EIGEN_QUAT +#define EIGEN_QUAT +///Allias of Eigen::Quaterniond +typedef Eigen::Quaternion Quatf; +#endif + +#ifndef EIGEN_EPSILON +#define EIGEN_EPSILON +///Compensate for numerical error +constexpr decimal_t epsilon_ = 1e-10; // numerical calculation error +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_basis/data_utils.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_basis/data_utils.h new file mode 100644 index 0000000..e0ba4c6 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_basis/data_utils.h @@ -0,0 +1,36 @@ +/** + * @file data_utils.h + * @brief Provide a few widely used function for basic type + */ +#ifndef DATA_UTILS_H +#define DATA_UTILS_H + +#include + +///Template for transforming a vector +template +vec_E transform_vec(const vec_E &t, const TF &tf) { + vec_E new_t; + for (const auto &it : t) + new_t.push_back(tf * it); + return new_t; +} + +///Template for calculating distance +template +decimal_t total_distance(const vec_E& vs){ + decimal_t dist = 0; + for(unsigned int i = 1; i < vs.size(); i++) + dist += (vs[i] - vs[i-1]).norm(); + + return dist; +} + + +///Transform all entries in a vector using given TF +#define transform_vec3 transform_vec +///Sum up total distance for Vec3f +#define total_distance3f total_distance +///Sum up total distance for Vec3i +#define total_distance3i total_distance +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_geometry/ellipsoid.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_geometry/ellipsoid.h new file mode 100644 index 0000000..748d353 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_geometry/ellipsoid.h @@ -0,0 +1,102 @@ +/** + * @file ellipsoid.h + * @brief Ellipsoid class + */ + +#ifndef DECOMP_ELLIPSOID_H +#define DECOMP_ELLIPSOID_H + +#include +#include +#include + +template +struct Ellipsoid { + Ellipsoid() {} + Ellipsoid(const Matf& C, const Vecf& d) : C_(C), d_(d) {} + + /// Calculate distance to the center + decimal_t dist(const Vecf& pt) const { + return (C_.inverse() * (pt - d_)).norm(); + } + + /// Check if the point is inside, non-exclusive + bool inside(const Vecf& pt) const { + return dist(pt) <= 1; + } + + /// Calculate points inside ellipsoid, non-exclusive + vec_Vecf points_inside(const vec_Vecf &O) const { + vec_Vecf new_O; + for (const auto &it : O) { + if (inside(it)) + new_O.push_back(it); + } + return new_O; + } + + ///Find the closest point + Vecf closest_point(const vec_Vecf &O) const { + Vecf pt = Vecf::Zero(); + decimal_t min_dist = std::numeric_limits::max(); + for (const auto &it : O) { + decimal_t d = dist(it); + if (d < min_dist) { + min_dist = d; + pt = it; + } + } + return pt; + } + + ///Find the closest hyperplane from the closest point + Hyperplane closest_hyperplane(const vec_Vecf &O) const { + const auto closest_pt = closest_point(O); + const auto n = C_.inverse() * C_.inverse().transpose() * + (closest_pt - d_); + return Hyperplane(closest_pt, n.normalized()); + } + + /// Sample n points along the contour + template + typename std::enable_if>::type + sample(int num) const { + vec_Vecf pts; + decimal_t dyaw = M_PI*2/num; + for(decimal_t yaw = 0; yaw < M_PI*2; yaw+=dyaw) { + Vecf pt; + pt << cos(yaw), sin(yaw); + pts.push_back(C_ * pt + d_); + } + return pts; + } + + void print() const { + std::cout << "C: " << C_ << std::endl; + std::cout << "d: " << d_ << std::endl; + } + + /// Get ellipsoid volume + decimal_t volume() const { + return C_.determinant(); + } + + /// Get C matrix + Matf C() const { + return C_; + } + + /// Get center + Vecf d() const { + return d_; + } + + Matf C_; + Vecf d_; +}; + +typedef Ellipsoid<2> Ellipsoid2D; + +typedef Ellipsoid<3> Ellipsoid3D; + +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_geometry/geometric_utils.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_geometry/geometric_utils.h new file mode 100644 index 0000000..db6a6a8 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_geometry/geometric_utils.h @@ -0,0 +1,258 @@ +/** + * @file geometric_utils.h + * @brief basic geometry utils + */ +#ifndef DECOMP_GEOMETRIC_UTILS_H +#define DECOMP_GEOMETRIC_UTILS_H + +#include +#include +#include +#include + +/// Calculate eigen values +template Vecf eigen_value(const Matf &A) { + Eigen::SelfAdjointEigenSolver> es(A); + return es.eigenvalues(); +} + +/// Calculate rotation matrix from a vector (aligned with x-axis) +inline Mat2f vec2_to_rotation(const Vec2f &v) { + decimal_t yaw = std::atan2(v(1), v(0)); + Mat2f R; + R << cos(yaw), -sin(yaw), sin(yaw), cos(yaw); + return R; +} + +inline Mat3f vec3_to_rotation(const Vec3f &v) { + // zero roll + Vec3f rpy(0, std::atan2(-v(2), v.topRows<2>().norm()), + std::atan2(v(1), v(0))); + Quatf qx(cos(rpy(0) / 2), sin(rpy(0) / 2), 0, 0); + Quatf qy(cos(rpy(1) / 2), 0, sin(rpy(1) / 2), 0); + Quatf qz(cos(rpy(2) / 2), 0, 0, sin(rpy(2) / 2)); + return Mat3f(qz * qy * qx); +} + +/// Sort plannar points in the counter-clockwise order +inline vec_Vec2f sort_pts(const vec_Vec2f &pts) { + /// if empty, dont sort + if (pts.empty()) + return pts; + /// calculate center point + Vec2f avg = Vec2f::Zero(); + for (const auto &pt : pts) + avg += pt; + avg /= pts.size(); + + /// sort in body frame + vec_E> pts_valued; + pts_valued.resize(pts.size()); + for (unsigned int i = 0; i < pts.size(); i++) { + decimal_t theta = atan2(pts[i](1) - avg(1), pts[i](0) - avg(0)); + pts_valued[i] = std::make_pair(theta, pts[i]); + } + + std::sort( + pts_valued.begin(), pts_valued.end(), + [](const std::pair &i, + const std::pair &j) { return i.first < j.first; }); + vec_Vec2f pts_sorted(pts_valued.size()); + for (size_t i = 0; i < pts_valued.size(); i++) + pts_sorted[i] = pts_valued[i].second; + return pts_sorted; +} + +/// Find intersection between two lines on the same plane, return false if they +/// are not intersected +inline bool line_intersect(const std::pair &v1, + const std::pair &v2, Vec2f &pi) { + decimal_t a1 = -v1.first(1); + decimal_t b1 = v1.first(0); + decimal_t c1 = a1 * v1.second(0) + b1 * v1.second(1); + + decimal_t a2 = -v2.first(1); + decimal_t b2 = v2.first(0); + decimal_t c2 = a2 * v2.second(0) + b2 * v2.second(1); + + decimal_t x = (c1 * b2 - c2 * b1) / (a1 * b2 - a2 * b1); + decimal_t y = (c1 * a2 - c2 * a1) / (a2 * b1 - a1 * b2); + + if (std::isnan(x) || std::isnan(y) || std::isinf(x) || std::isinf(y)) + return false; + else { + pi << x, y; + return true; + } +} + +/// Find intersection between multiple lines +inline vec_Vec2f line_intersects(const vec_E> &lines) { + vec_Vec2f pts; + for (unsigned int i = 0; i < lines.size(); i++) { + for (unsigned int j = i + 1; j < lines.size(); j++) { + Vec2f pi; + if (line_intersect(lines[i], lines[j], pi)) { + pts.push_back(pi); + } + } + } + return pts; +} + +/// Find extreme points of Polyhedron2D +inline vec_Vec2f cal_vertices(const Polyhedron2D &poly) { + vec_E> lines; + const auto vs = poly.hyperplanes(); + for (unsigned int i = 0; i < vs.size(); i++) { + Vec2f n = vs[i].n_; + Vec2f v(-n(1), n(0)); + v = v.normalized(); + + lines.push_back(std::make_pair(v, vs[i].p_)); + /* + std::cout << "add p: " << lines.back().second.transpose() << + " v: " << lines.back().first.transpose() << std::endl; + */ + } + + auto vts = line_intersects(lines); + // for(const auto& it: vts) + // std::cout << "vertice: " << it.transpose() << std::endl; + + vec_Vec2f vts_inside = poly.points_inside(vts); + vts_inside = sort_pts(vts_inside); + + return vts_inside; +} + +/// Find extreme points of Polyhedron3D +inline vec_E cal_vertices(const Polyhedron3D &poly) { + vec_E bds; + const auto vts = poly.hyperplanes(); + //**** for each plane, find lines on it + for (unsigned int i = 0; i < vts.size(); i++) { + const Vec3f t = vts[i].p_; + const Vec3f n = vts[i].n_; + const Quatf q = Quatf::FromTwoVectors(Vec3f(0, 0, 1), n); + const Mat3f R(q); // body to world + vec_E> lines; + for (unsigned int j = 0; j < vts.size(); j++) { + if (j == i) + continue; + Vec3f nw = vts[j].n_; + Vec3f nb = R.transpose() * nw; + decimal_t bb = vts[j].p_.dot(nw) - nw.dot(t); + Vec2f v = Vec3f(0, 0, 1).cross(nb).topRows<2>(); // line direction + Vec2f p; // point on the line + if (nb(1) != 0) + p << 0, bb / nb(1); + else if (nb(0) != 0) + p << bb / nb(0), 0; + else + continue; + lines.push_back(std::make_pair(v, p)); + } + + //**** find all intersect points + vec_Vec2f pts = line_intersects(lines); + //**** filter out points inside polytope + vec_Vec2f pts_inside; + for (const auto &it : pts) { + Vec3f p = R * Vec3f(it(0), it(1), 0) + t; // convert to world frame + if (poly.inside(p)) + pts_inside.push_back(it); + } + + if (pts_inside.size() > 2) { + //**** sort in plane frame + pts_inside = sort_pts(pts_inside); + + //**** transform to world frame + vec_Vec3f points_valid; + for (auto &it : pts_inside) + points_valid.push_back(R * Vec3f(it(0), it(1), 0) + t); + + //**** insert resulting polygon + bds.push_back(points_valid); + } + } + return bds; +} + +/// Get the convex hull of a 2D points array, use wrapping method +inline vec_Vec2f cal_convex_hull(const vec_Vec2f &pts) { + /// find left most point + Vec2f p0; + decimal_t min_x = std::numeric_limits::infinity(); + for (const auto &it : pts) { + if (min_x > it(0) || (min_x == it(0) && it(1) < p0(1))) { + min_x = it(0); + p0 = it; + } + } + + vec_Vec2f vs; + vs.push_back(p0); + + while (vs.back() != p0 || vs.size() == 1) { + const auto ref_pt = vs.back(); + Vec2f end_pt = p0; + for (size_t i = 0; i < pts.size(); i++) { + if (pts[i] == ref_pt) + continue; + Vec2f dir = (pts[i] - ref_pt).normalized(); + Hyperplane2D hp(ref_pt, Vec2f(-dir(1), dir(0))); + bool most_left_hp = true; + for (size_t j = 0; j < pts.size(); j++) { + if (hp.signed_dist(pts[j]) > 0 && pts[j] != pts[i] && + pts[j] != ref_pt) { + // if(hp.signed_dist(pts[j]) > 0) { + most_left_hp = false; + break; + } + } + + if (most_left_hp) { + end_pt = pts[i]; + break; + } + } + // std::cout << "add: " << end_pt.transpose() << std::endl; + vs.push_back(end_pt); + } + + return vs; +} + +inline Polyhedron2D get_convex_hull(const vec_Vec2f &pts) { + Polyhedron2D poly; + Vec2f prev_dir(-1, -1); + for (size_t i = 0; i < pts.size() - 1; i++) { + size_t j = i + 1; + Vec2f dir = (pts[j] - pts[i]).normalized(); + if (dir != prev_dir) { + poly.add(Hyperplane2D((pts[i] + pts[j]) / 2, Vec2f(-dir(1), dir(0)))); + prev_dir = dir; + } + } + + return poly; +} + +/// Minkowski sum, add B to A with center Bc +inline Polyhedron2D minkowski_sum(const Polyhedron2D &A, const Polyhedron2D &B, + const Vec2f &Bc) { + const auto A_vertices = cal_vertices(A); + const auto B_vertices = cal_vertices(B); + + vec_Vec2f C_vertices; + for (const auto &it : A_vertices) { + for (const auto &itt : B_vertices) + C_vertices.push_back(it + itt - Bc); + } + + return get_convex_hull(cal_convex_hull(C_vertices)); +} + +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_geometry/polyhedron.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_geometry/polyhedron.h new file mode 100644 index 0000000..8a95b38 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_geometry/polyhedron.h @@ -0,0 +1,154 @@ +/** + * @file polygon.h + * @brief Polygon class + */ + +#ifndef DECOMP_POLYGON_H +#define DECOMP_POLYGON_H + +#include + +///Hyperplane class +template +struct Hyperplane { + Hyperplane() {} + Hyperplane(const Vecf& p, const Vecf& n) : p_(p), n_(n) {} + + /// Calculate the signed distance from point + decimal_t signed_dist(const Vecf& pt) const { + return n_.dot(pt - p_); + } + + /// Calculate the distance from point + decimal_t dist(const Vecf& pt) const { + return std::abs(signed_dist(pt)); + } + + /// Point on the plane + Vecf p_; + /// Normal of the plane, directional + Vecf n_; +}; + +///Hyperplane2D: first is the point on the hyperplane, second is the normal +typedef Hyperplane<2> Hyperplane2D; +///Hyperplane3D: first is the point on the hyperplane, second is the normal +typedef Hyperplane<3> Hyperplane3D; + + +///Polyhedron class +template +struct Polyhedron { + ///Null constructor + Polyhedron() {} + ///Construct from Hyperplane array + Polyhedron(const vec_E>& vs) : vs_(vs) {} + + + ///Append Hyperplane + void add(const Hyperplane& v) { + vs_.push_back(v); + } + + /// Check if the point is inside polyhedron, non-exclusive + bool inside(const Vecf& pt) const { + for (const auto& v : vs_) { + if (v.signed_dist(pt) > epsilon_) { + //printf("rejected pt: (%f, %f), d: %f\n",pt(0), pt(1), v.signed_dist(pt)); + return false; + } + } + return true; + } + + /// Calculate points inside polyhedron, non-exclusive + vec_Vecf points_inside(const vec_Vecf &O) const { + vec_Vecf new_O; + for (const auto &it : O) { + if (inside(it)) + new_O.push_back(it); + } + return new_O; + } + + /// Calculate normals, used for visualization + vec_E, Vecf>> cal_normals() const { + vec_E, Vecf>> ns(vs_.size()); + for (size_t i = 0; i < vs_.size(); i++) + ns[i] = std::make_pair(vs_[i].p_, vs_[i].n_); // fist is point, second is normal + return ns; + } + + /// Get the hyperplane array + vec_E> hyperplanes() const { + return vs_; + } + + /// Hyperplane array + vec_E> vs_; // normal must go outside + +}; + +///Polyhedron2D, consists of 2D hyperplane +typedef Polyhedron<2> Polyhedron2D; +///Polyhedron3D, consists of 3D hyperplane +typedef Polyhedron<3> Polyhedron3D; + +///[A, b] for \f$Ax < b\f$ +template +struct LinearConstraint { + ///Null constructor + LinearConstraint() {} + /// Construct from \f$A, b\f$ directly, s.t \f$Ax < b\f$ + LinearConstraint(const MatDNf& A, const VecDf& b) : A_(A), b_(b) {} + /** + * @brief Construct from a inside point and hyperplane array + * @param p0 point that is inside + * @param vs hyperplane array, normal should go outside + */ + LinearConstraint(const Vecf p0, const vec_E>& vs) { + const unsigned int size = vs.size(); + MatDNf A(size, Dim); + VecDf b(size); + + for (unsigned int i = 0; i < size; i++) { + auto n = vs[i].n_; + decimal_t c = vs[i].p_.dot(n); + if (n.dot(p0) - c > 0) { + n = -n; + c = -c; + } + A.row(i) = n; + b(i) = c; + } + + A_ = A; + b_ = b; + } + + /// Check if the point is inside polyhedron using linear constraint + bool inside(const Vecf &pt) { + VecDf d = A_ * pt - b_; + for (unsigned int i = 0; i < d.rows(); i++) { + if (d(i) > 0) + return false; + } + return true; + } + + /// Get \f$A\f$ matrix + MatDNf A() const { return A_; } + + /// Get \f$b\f$ matrix + VecDf b() const { return b_; } + + MatDNf A_; + VecDf b_; +}; + +///LinearConstraint 2D +typedef LinearConstraint<2> LinearConstraint2D; +///LinearConstraint 3D +typedef LinearConstraint<3> LinearConstraint3D; + +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_ros_utils/data_ros_utils.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_ros_utils/data_ros_utils.h new file mode 100644 index 0000000..db262dd --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_ros_utils/data_ros_utils.h @@ -0,0 +1,160 @@ +#ifndef DECOMP_ROS_UTILS_H +#define DECOMP_ROS_UTILS_H + +#include +#include +#include +#include +#include +#include + +namespace DecompROS { + +template nav_msgs::Path vec_to_path(const vec_Vecf &vs) { + nav_msgs::Path path; + for (const auto& it : vs) { + geometry_msgs::PoseStamped pose; + pose.pose.position.x = it(0); + pose.pose.position.y = it(1); + pose.pose.position.z = Dim == 2 ? 0 : it(2); + pose.pose.orientation.w = 1.0; + pose.pose.orientation.x = 0.0; + pose.pose.orientation.y = 0.0; + pose.pose.orientation.z = 0.0; + + path.poses.push_back(pose); + } + + return path; +} + +inline sensor_msgs::PointCloud vec_to_cloud(const vec_Vec3f &pts) { + sensor_msgs::PointCloud cloud; + cloud.points.resize(pts.size()); + + for (unsigned int i = 0; i < pts.size(); i++) { + cloud.points[i].x = pts[i](0); + cloud.points[i].y = pts[i](1); + cloud.points[i].z = pts[i](2); + } + return cloud; +} + +inline vec_Vec3f cloud_to_vec(const sensor_msgs::PointCloud &cloud) { + vec_Vec3f pts; + pts.resize(cloud.points.size()); + for (unsigned int i = 0; i < cloud.points.size(); i++) { + pts[i](0) = cloud.points[i].x; + pts[i](1) = cloud.points[i].y; + pts[i](2) = cloud.points[i].z; + } + + return pts; +} + +inline Polyhedron3D ros_to_polyhedron(const decomp_ros_msgs::Polyhedron& msg){ + Polyhedron3D poly; + for(unsigned int i = 0; i < msg.points.size(); i++){ + Vec3f pt(msg.points[i].x, + msg.points[i].y, + msg.points[i].z); + Vec3f n(msg.normals[i].x, + msg.normals[i].y, + msg.normals[i].z); + poly.add(Hyperplane3D(pt, n)); + } + return poly; +} + +inline vec_E ros_to_polyhedron_array(const decomp_ros_msgs::PolyhedronArray& msg) { + vec_E polys(msg.polyhedrons.size()); + + for(size_t i = 0; i < msg.polyhedrons.size(); i++) + polys[i] = ros_to_polyhedron(msg.polyhedrons[i]); + + return polys; +} + +inline decomp_ros_msgs::Polyhedron polyhedron_to_ros(const Polyhedron2D& poly){ + decomp_ros_msgs::Polyhedron msg; + for (const auto &p : poly.hyperplanes()) { + geometry_msgs::Point pt, n; + pt.x = p.p_(0); + pt.y = p.p_(1); + pt.z = 0; + n.x = p.n_(0); + n.y = p.n_(1); + n.z = 0; + msg.points.push_back(pt); + msg.normals.push_back(n); + } + + geometry_msgs::Point pt1, n1; + pt1.x = 0, pt1.y = 0, pt1.z = 0.01; + n1.x = 0, n1.y = 0, n1.z = 1; + msg.points.push_back(pt1); + msg.normals.push_back(n1); + + geometry_msgs::Point pt2, n2; + pt2.x = 0, pt2.y = 0, pt2.z = -0.01; + n2.x = 0, n2.y = 0, n2.z = -1; + msg.points.push_back(pt2); + msg.normals.push_back(n2); + + return msg; +} + +inline decomp_ros_msgs::Polyhedron polyhedron_to_ros(const Polyhedron3D& poly){ + decomp_ros_msgs::Polyhedron msg; + for (const auto &p : poly.hyperplanes()) { + geometry_msgs::Point pt, n; + pt.x = p.p_(0); + pt.y = p.p_(1); + pt.z = p.p_(2); + n.x = p.n_(0); + n.y = p.n_(1); + n.z = p.n_(2); + msg.points.push_back(pt); + msg.normals.push_back(n); + } + + return msg; +} + + +template +decomp_ros_msgs::PolyhedronArray polyhedron_array_to_ros(const vec_E>& vs){ + decomp_ros_msgs::PolyhedronArray msg; + for (const auto &v : vs) + msg.polyhedrons.push_back(polyhedron_to_ros(v)); + return msg; +} + +template +decomp_ros_msgs::EllipsoidArray ellipsoid_array_to_ros(const vec_E>& Es) { + decomp_ros_msgs::EllipsoidArray ellipsoids; + for (unsigned int i = 0; i < Es.size(); i++) { + decomp_ros_msgs::Ellipsoid ellipsoid; + auto d = Es[i].d(); + ellipsoid.d[0] = d(0); + ellipsoid.d[1] = d(1); + ellipsoid.d[2] = Dim == 2 ? 0:d(2); + + auto C = Es[i].C(); + for (int x = 0; x < 3; x++) { + for (int y = 0; y < 3; y++) { + if(x < Dim && y < Dim) + ellipsoid.E[3 * x + y] = C(x, y); + else + ellipsoid.E[3 * x + y] = 0; + } + } + ellipsoids.ellipsoids.push_back(ellipsoid); + } + + return ellipsoids; +} + +} + +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/decomp_base.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/decomp_base.h new file mode 100644 index 0000000..6296e68 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/decomp_base.h @@ -0,0 +1,96 @@ +/** + * @file decomp_base.h + * @brief Decomp Base Class + */ +#ifndef DECOMP_BASE_H +#define DECOMP_BASE_H + +#include +#include +//#include + +/** + * @brief Line Segment Class + * + * The basic element in EllipsoidDecomp + */ +template +class DecompBase { + public: + ///Null constructor + DecompBase() {} + /** + * @brief Adding local bounding box around line seg + * @param Dim Distance in corresponding axis + * + * This virtual bounding box is parallel to the line segment, the x,y,z axes are not w.r.t the world coordinate system, but instead, x-axis is parallel to the line, y-axis is perpendicular to the line and world z-axis, z-axis is perpendiculat to the line and y-axis + */ + void set_local_bbox(const Vecf& bbox) { + local_bbox_ = bbox; + } + + ///Import obstacle points + void set_obs(const vec_Vecf &obs) { + // only consider points inside local bbox + Polyhedron vs; + add_local_bbox(vs); + obs_ = vs.points_inside(obs); + } + + ///Get obstacel points + vec_Vecf get_obs() const { return obs_; } + + ///Get ellipsoid + Ellipsoid get_ellipsoid() const { return ellipsoid_; } + + ///Get polyhedron + Polyhedron get_polyhedron() const { return polyhedron_; } + + /** + * @brief Inflate the line segment + * @param radius the offset added to the long semi-axis + */ + virtual void dilate(decimal_t radius = 0) = 0; + + /** + * @brief Shrink the polyhedron + * @param shrink_distance Shrink distance + */ + virtual void shrink(double shrink_distance) {} + protected: + virtual void add_local_bbox(Polyhedron &Vs) = 0; + + void find_polyhedron() { + //**** find half-space + Polyhedron Vs; + vec_Vecf obs_remain = obs_; + while (!obs_remain.empty()) { + const auto v = ellipsoid_.closest_hyperplane(obs_remain); + Vs.add(v); + vec_Vecf obs_tmp; + for (const auto &it : obs_remain) { + if (v.signed_dist(it) < 0) + obs_tmp.push_back(it); + } + obs_remain = obs_tmp; + /* + std::cout << "a: " << a.transpose() << std::endl; + std::cout << "b: " << b << std::endl; + */ + } + + polyhedron_ = Vs; + } + + /// Obstacles, input + vec_Vecf obs_; + + /// Output ellipsoid + Ellipsoid ellipsoid_; + /// Output polyhedron + Polyhedron polyhedron_; + + /// Local bounding box along the line segment + Vecf local_bbox_{Vecf::Zero()}; +}; +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/ellipsoid_decomp.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/ellipsoid_decomp.h new file mode 100644 index 0000000..b6f1ccc --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/ellipsoid_decomp.h @@ -0,0 +1,134 @@ +/** + * @file ellipsoid_decomp.h + * @brief EllipsoidDecomp Class + */ +#ifndef ELLIPSOID_DECOMP_H +#define ELLIPSOID_DECOMP_H + +#include +#include + +/** + * @brief EllipsoidDecomp Class + * + * EllipsoidDecomp takes input as a given path and find the Safe Flight Corridor around it using Ellipsoids + */ +template +class EllipsoidDecomp { +public: + ///Simple constructor + EllipsoidDecomp() {} + /** + * @brief Basic constructor + * @param origin The origin of the global bounding box + * @param dim The dimension of the global bounding box + */ + EllipsoidDecomp(const Vecf &origin, const Vecf &dim) { + global_bbox_min_ = origin; + global_bbox_max_ = origin + dim; + } + + ///Set obstacle points + void set_obs(const vec_Vecf &obs) { obs_ = obs; } + + ///Set dimension of bounding box + void set_local_bbox(const Vecf& bbox) { local_bbox_ = bbox; } + + ///Get the path that is used for dilation + vec_Vecf get_path() const { return path_; } + + ///Get the Safe Flight Corridor + vec_E> get_polyhedrons() const { return polyhedrons_; } + + ///Get the ellipsoids + vec_E> get_ellipsoids() const { return ellipsoids_; } + + ///Get the constraints of SFC as \f$Ax\leq b \f$ + vec_E> get_constraints() const { + vec_E> constraints; + constraints.resize(polyhedrons_.size()); + for (unsigned int i = 0; i < polyhedrons_.size(); i++){ + const Vecf pt = (path_[i] + path_[i+1])/2; + constraints[i] = LinearConstraint(pt, polyhedrons_[i].hyperplanes()); + } + return constraints; + } + + /** + * @brief Decomposition thread + * @param path The path to dilate + * @param offset_x offset added to the long semi-axis, default is 0 + */ + void dilate(const vec_Vecf &path, double offset_x = 0) { + const unsigned int N = path.size() - 1; + lines_.resize(N); + ellipsoids_.resize(N); + polyhedrons_.resize(N); + + for (unsigned int i = 0; i < N; i++) { + lines_[i] = std::make_shared>(path[i], path[i+1]); + lines_[i]->set_local_bbox(local_bbox_); + lines_[i]->set_obs(obs_); + lines_[i]->dilate(offset_x); + + ellipsoids_[i] = lines_[i]->get_ellipsoid(); + polyhedrons_[i] = lines_[i]->get_polyhedron(); + } + + + path_ = path; + + if(global_bbox_min_.norm() != 0 || global_bbox_max_.norm() != 0) { + for(auto& it: polyhedrons_) + add_global_bbox(it); + } + + } + +protected: + template + typename std::enable_if::type + add_global_bbox(Polyhedron &Vs) { + //**** add bound along X, Y axis + + //*** X + Vs.add(Hyperplane2D(Vec2f(global_bbox_max_(0), 0), Vec2f(1, 0))); + Vs.add(Hyperplane2D(Vec2f(global_bbox_min_(0), 0), Vec2f(-1, 0))); + //*** Y + Vs.add(Hyperplane2D(Vec2f(0, global_bbox_max_(1)), Vec2f(0, 1))); + Vs.add(Hyperplane2D(Vec2f(0, global_bbox_min_(1)), Vec2f(0, -1))); + } + + template + typename std::enable_if::type + add_global_bbox(Polyhedron &Vs) { + //**** add bound along X, Y, Z axis + //*** Z + Vs.add(Hyperplane3D(Vec3f(0, 0, global_bbox_max_(2)), Vec3f(0, 0, 1))); + Vs.add(Hyperplane3D(Vec3f(0, 0, global_bbox_min_(2)), Vec3f(0, 0, -1))); + + //*** X + Vs.add(Hyperplane3D(Vec3f(global_bbox_max_(0), 0, 0), Vec3f(1, 0, 0))); + Vs.add(Hyperplane3D(Vec3f(global_bbox_min_(0), 0, 0), Vec3f(-1, 0, 0))); + //*** Y + Vs.add(Hyperplane3D(Vec3f(0, global_bbox_max_(1), 0), Vec3f(0, 1, 0))); + Vs.add(Hyperplane3D(Vec3f(0, global_bbox_max_(1), 0), Vec3f(0, -1, 0))); + } + + vec_Vecf path_; + vec_Vecf obs_; + + vec_E> ellipsoids_; + vec_E> polyhedrons_; + std::vector>> lines_; + + Vecf local_bbox_{Vecf::Zero()}; + Vecf global_bbox_min_{Vecf::Zero()}; // bounding box params + Vecf global_bbox_max_{Vecf::Zero()}; + +}; + +typedef EllipsoidDecomp<2> EllipsoidDecomp2D; + +typedef EllipsoidDecomp<3> EllipsoidDecomp3D; +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/iterative_decomp.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/iterative_decomp.h new file mode 100644 index 0000000..b37507e --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/iterative_decomp.h @@ -0,0 +1,105 @@ +/** + * @file iterative_decomp.h + * @brief IterativeDecomp Class + */ +#ifndef ITERATIVE_DECOMP_H +#define ITERATIVE_DECOMP_H + +#include + +/** + * @brief IterativeDecomp Class + * + * Iteratively calls ElliseDecomp to form a safer Safe Flight Corridor that is away from obstacles + */ +template +class IterativeDecomp : public EllipsoidDecomp +{ + public: + ///Simple constructor + IterativeDecomp() {} + /** + * @brief Basic constructor + * @param origin The origin of the global bounding box + * @param dim The dimension of the global bounding box + */ + IterativeDecomp(const Vecf &origin, const Vecf &dim) : + EllipsoidDecomp(origin, dim) {} + /** + * @brief Decomposition thread + * @param path_raw The path to dilate + * @param iter_num Max iteration number + * @param offset_x offset added to the long semi-axis, default is 0 + * @param res Resolution to downsample the path + */ + void dilate_iter(const vec_Vecf &path_raw, int iter_num = 5, + decimal_t res = 0, decimal_t offset_x = 0) { + vec_Vecf path = res > 0 ? downsample(path_raw, res) : path_raw; + this->dilate(path, offset_x); + vec_Vecf new_path = simplify(path); + for (int i = 0; i < iter_num; i++) { + if (new_path.size() == path.size()) + break; + else { + path = new_path; + this->dilate(path, offset_x); + new_path = simplify(path); + } + } + } + + protected: + /// Uniformly sample path into many segments + vec_Vecf downsample(const vec_Vecf &ps, decimal_t d) { + // subdivide according to length + if (ps.size() < 2) + return ps; + vec_Vecf path; + for (unsigned int i = 1; i < ps.size(); i++) { + decimal_t dist = (ps[i] - ps[i - 1]).norm(); + int cnt = std::ceil(dist / d); + for (int j = 0; j < cnt; j++) + path.push_back(ps[i - 1] + j * (ps[i] - ps[i - 1]) / cnt); + } + path.push_back(ps.back()); + return path; + } + + /// Get closest distance + decimal_t cal_closest_dist(const Vecf& pt, const Polyhedron& vs){ + decimal_t dist = std::numeric_limits::infinity(); + for(const auto& it: vs.hyperplanes()){ + decimal_t d = std::abs(it.n_.dot(pt - it.p_)); + if(d < dist) + dist = d; + } + return dist; + } + + /// Remove redundant waypoints + vec_Vecf simplify(const vec_Vecf& path) { + if(path.size() <= 2) + return path; + + Vecf ref_pt = path.front(); + vec_Vecf new_path; + new_path.push_back(ref_pt); + + for(size_t i = 2; i < path.size(); i ++){ + if(this->polyhedrons_[i-1].inside(ref_pt) && + cal_closest_dist(ref_pt, this->polyhedrons_[i-1]) > 0.1) { + } + else{ + ref_pt = path[i-1]; + new_path.push_back(ref_pt); + } + } + new_path.push_back(path.back()); + return new_path; + } +}; + +typedef IterativeDecomp<2> IterativeDecomp2D; + +typedef IterativeDecomp<3> IterativeDecomp3D; +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/line_segment.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/line_segment.h new file mode 100644 index 0000000..edb8557 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/line_segment.h @@ -0,0 +1,222 @@ +/** + * @file line_segment.h + * @brief LineSegment Class + */ +#ifndef LINE_SEGMENT_H +#define LINE_SEGMENT_H + +#include +#include + +/** + * @brief Line Segment Class + * + * The basic element in EllipsoidDecomp + */ +template +class LineSegment : public DecompBase { + public: + ///Simple constructor + LineSegment() {}; + /** + * @brief Basic constructor + * @param p1 One end of the line seg + * @param p2 The other end of the line seg + */ + LineSegment(const Vecf &p1, const Vecf &p2) : p1_(p1), p2_(p2) {} + /** + * @brief Infalte the line segment + * @param radius the offset added to the long semi-axis + */ + void dilate(decimal_t radius) { + find_ellipsoid(radius); + this->find_polyhedron(); + add_local_bbox(this->polyhedron_); + } + + /// Get the line + vec_Vecf get_line_segment() const { + vec_Vecf line; + line.push_back(p1_); + line.push_back(p2_); + return line; + } + + protected: + ///Add the bounding box + void add_local_bbox(Polyhedron &Vs) { + if(this->local_bbox_.norm() == 0) + return; + //**** virtual walls parallel to path p1->p2 + Vecf dir = (p2_ - p1_).normalized(); + Vecf dir_h = Vecf::Zero(); + dir_h(0) = dir(1), dir_h(1) = -dir(0); + if (dir_h.norm() == 0) { + if(Dim == 2) + dir_h << -1, 0; + else + dir_h << -1, 0, 0; + } + dir_h = dir_h.normalized(); + + // along x + Vecf pp1 = p1_ + dir_h * this->local_bbox_(1); + Vecf pp2 = p1_ - dir_h * this->local_bbox_(1); + Vs.add(Hyperplane(pp1, dir_h)); + Vs.add(Hyperplane(pp2, -dir_h)); + + // along y + Vecf pp3 = p2_ + dir * this->local_bbox_(0); + Vecf pp4 = p1_ - dir * this->local_bbox_(0); + Vs.add(Hyperplane(pp3, dir)); + Vs.add(Hyperplane(pp4, -dir)); + + // along z + if(Dim > 2) { + Vecf dir_v; + dir_v(0) = dir(1) * dir_h(2) - dir(2) * dir_h(1); + dir_v(1) = dir(2) * dir_h(0) - dir(0) * dir_h(2); + dir_v(2) = dir(0) * dir_h(1) - dir(1) * dir_h(0); + Vecf pp5 = p1_ + dir_v * this->local_bbox_(2); + Vecf pp6 = p1_ - dir_v * this->local_bbox_(2); + Vs.add(Hyperplane(pp5, dir_v)); + Vs.add(Hyperplane(pp6, -dir_v)); + } + } + + /// Find ellipsoid in 2D + template + typename std::enable_if::type + find_ellipsoid(double offset_x) { + const decimal_t f = (p1_ - p2_).norm() / 2; + Matf C = f * Matf::Identity(); + Vecf axes = Vecf::Constant(f); + C(0, 0) += offset_x; + axes(0) += offset_x; + + if(axes(0) > 0) { + double ratio = axes(1) / axes(0); + axes *= ratio; + C *= ratio; + } + + const auto Ri = vec2_to_rotation(p2_ - p1_); + C = Ri * C * Ri.transpose(); + + Ellipsoid E(C, (p1_ + p2_) / 2); + + auto obs = E.points_inside(this->obs_); + + auto obs_inside = obs; + //**** decide short axes + while (!obs_inside.empty()) { + const auto pw = E.closest_point(obs_inside); + Vecf p = Ri.transpose() * (pw - E.d()); // to ellipsoid frame + if(p(0) < axes(0)) + axes(1) = std::abs(p(1)) / std::sqrt(1 - std::pow(p(0) / axes(0), 2)); + Matf new_C = Matf::Identity(); + new_C(0, 0) = axes(0); + new_C(1, 1) = axes(1); + E.C_ = Ri * new_C * Ri.transpose(); + + vec_Vecf obs_new; + for(const auto &it: obs_inside) { + if(1 - E.dist(it) > epsilon_) + obs_new.push_back(it); + } + obs_inside = obs_new; + } + + this->ellipsoid_ = E; + } + + /// Find ellipsoid in 3D + template + typename std::enable_if::type + find_ellipsoid(double offset_x) { + const decimal_t f = (p1_ - p2_).norm() / 2; + Matf C = f * Matf::Identity(); + Vecf axes = Vecf::Constant(f); + C(0, 0) += offset_x; + axes(0) += offset_x; + + if(axes(0) > 0) { + double ratio = axes(1) / axes(0); + axes *= ratio; + C *= ratio; + } + + const auto Ri = vec3_to_rotation(p2_ - p1_); + C = Ri * C * Ri.transpose(); + + Ellipsoid E(C, (p1_ + p2_) / 2); + auto Rf = Ri; + + auto obs = E.points_inside(this->obs_); + auto obs_inside = obs; + //**** decide short axes + while (!obs_inside.empty()) { + const auto pw = E.closest_point(obs_inside); + Vecf p = Ri.transpose() * (pw - E.d()); // to ellipsoid frame + const decimal_t roll = atan2(p(2), p(1)); + Rf = Ri * Quatf(cos(roll / 2), sin(roll / 2), 0, 0); + p = Rf.transpose() * (pw - E.d()); + + if(p(0) < axes(0)) + axes(1) = std::abs(p(1)) / std::sqrt(1 - std::pow(p(0) / axes(0), 2)); + Matf new_C = Matf::Identity(); + new_C(0, 0) = axes(0); + new_C(1, 1) = axes(1); + new_C(2, 2) = axes(1); + E.C_ = Rf * new_C * Rf.transpose(); + + vec_Vecf obs_new; + for(const auto &it: obs_inside) { + if(1 - E.dist(it) > epsilon_) + obs_new.push_back(it); + } + obs_inside = obs_new; + } + + //**** reset ellipsoid with old axes(2) + C = f * Matf::Identity(); + C(0, 0) = axes(0); + C(1, 1) = axes(1); + C(2, 2) = axes(2); + E.C_ = Rf * C * Rf.transpose(); + obs_inside = E.points_inside(obs); + + while (!obs_inside.empty()) { + const auto pw = E.closest_point(obs_inside); + Vec3f p = Rf.transpose() * (pw - E.d()); + decimal_t dd = 1 - std::pow(p(0) / axes(0), 2) - + std::pow(p(1) / axes(1), 2); + if(dd > epsilon_) + axes(2) = std::abs(p(2)) / std::sqrt(dd); + Matf new_C = Matf::Identity(); + new_C(0, 0) = axes(0); + new_C(1, 1) = axes(1); + new_C(2, 2) = axes(2); + E.C_ = Rf * new_C * Rf.transpose(); + + vec_Vecf obs_new; + for(const auto &it: obs_inside) { + if(1 - E.dist(it) > epsilon_) + obs_new.push_back(it); + } + obs_inside = obs_new; + } + + this->ellipsoid_ = E; + } + + /// One end of line segment, input + Vecf p1_; + /// The other end of line segment, input + Vecf p2_; +}; + +typedef LineSegment<2> LineSegment2D; + +typedef LineSegment<3> LineSegment3D; +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/seed_decomp.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/seed_decomp.h new file mode 100644 index 0000000..557080f --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/include/decomp_util/seed_decomp.h @@ -0,0 +1,80 @@ +/** + * @file seed_decomp.h + * @brief SeedDecomp Class + */ +#ifndef SEED_DECOMP_H +#define SEED_DECOMP_H + +#include + +/** + * @brief Seed Decomp Class + * + * Dilate around the given point + */ +template +class SeedDecomp : public DecompBase { + public: + ///Simple constructor + SeedDecomp() {}; + /** + * @brief Basic constructor + * @param p1 One end of the line seg + * @param p2 The other end of the line seg + */ + SeedDecomp(const Vecf &p) : p_(p) {} + /** + * @brief Inflate the seed with a sphere + * @param radius Robot radius + */ + void dilate(decimal_t radius) { + this->ellipsoid_ = Ellipsoid(radius * Matf::Identity(), p_); + this->find_polyhedron(); + add_local_bbox(this->polyhedron_); + } + + /// Get the center + Vecf get_seed() const { + return p_; + } + + protected: + ///Add the bounding box + void add_local_bbox(Polyhedron &Vs) { + if(this->local_bbox_.norm() == 0) + return; + + //**** virtual walls x-y-z + Vecf dir = Vecf::UnitX(); + Vecf dir_h = Vecf::UnitY(); + + Vecf pp1 = p_ + dir_h * this->local_bbox_(1); + Vecf pp2 = p_ - dir_h * this->local_bbox_(1); + Vs.add(Hyperplane(pp1, dir_h)); + Vs.add(Hyperplane(pp2, -dir_h)); + + // along y + Vecf pp3 = p_ + dir * this->local_bbox_(0); + Vecf pp4 = p_ - dir * this->local_bbox_(0); + Vs.add(Hyperplane(pp3, dir)); + Vs.add(Hyperplane(pp4, -dir)); + + // along z + if(Dim > 2) { + Vecf dir_v = Vecf::UnitZ(); + Vecf pp5 = p_ + dir_v * this->local_bbox_(2); + Vecf pp6 = p_ - dir_v * this->local_bbox_(2); + Vs.add(Hyperplane(pp5, dir_v)); + Vs.add(Hyperplane(pp6, -dir_v)); + } + } + + ///Seed location + Vecf p_; +}; + +typedef SeedDecomp<2> SeedDecomp2D; + +typedef SeedDecomp<3> SeedDecomp3D; + +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/package.xml b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/package.xml new file mode 100644 index 0000000..034206c --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/package.xml @@ -0,0 +1,20 @@ + + + decomp_ros_utils + 0.0.0 + The decomp_ros_utils package + + sikang + + TODO + + catkin + catkin_simple + roscpp + rviz + decomp_ros_msgs + + + + + diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/plugin_description.xml b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/plugin_description.xml new file mode 100644 index 0000000..38d5dc8 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/plugin_description.xml @@ -0,0 +1,18 @@ + + + + visualize decomp_ros_msgs/EllipsoidArray msg. + + + + + + visualize decomp_ros_msgs/PolyhedronArray msg. + + + + diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/bound_visual.cpp b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/bound_visual.cpp new file mode 100644 index 0000000..76131d9 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/bound_visual.cpp @@ -0,0 +1,56 @@ +#include "bound_visual.h" + +namespace decomp_rviz_plugins { + BoundVisual::BoundVisual(Ogre::SceneManager *scene_manager, + Ogre::SceneNode *parent_node) { + scene_manager_ = scene_manager; + frame_node_ = parent_node->createChildSceneNode(); + } + + BoundVisual::~BoundVisual() { scene_manager_->destroySceneNode(frame_node_); } + + void BoundVisual::setMessage(const vec_E& bds) { + objs_.clear(); + + if (bds.empty()) + return; + + size_t num_faces = bds.size(); + objs_.resize(num_faces); + for (auto &it : objs_) + it.reset(new rviz::BillboardLine(scene_manager_, frame_node_)); + + int cnt = 0; + for (const auto &vs : bds) { + for (unsigned int i = 0; i <= vs.size(); i++) { + if (i < vs.size()) { + if(!std::isnan(vs[i](0))) + objs_[cnt]->addPoint(Ogre::Vector3(vs[i](0), vs[i](1), vs[i](2))); + } + else { + if(!std::isnan(vs[0](0))) + objs_[cnt]->addPoint(Ogre::Vector3(vs[0](0), vs[0](1), vs[0](2))); + } + } + cnt++; + } + } + + void BoundVisual::setFramePosition(const Ogre::Vector3 &position) { + frame_node_->setPosition(position); + } + + void BoundVisual::setFrameOrientation(const Ogre::Quaternion &orientation) { + frame_node_->setOrientation(orientation); + } + + void BoundVisual::setColor(float r, float g, float b, float a) { + for (auto &it : objs_) + it->setColor(r, g, b, a); + } + + void BoundVisual::setScale(float s) { + for (auto &it : objs_) + it->setLineWidth(s); + } +} diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/bound_visual.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/bound_visual.h new file mode 100644 index 0000000..0c4445d --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/bound_visual.h @@ -0,0 +1,35 @@ +#ifndef BOUND_VISUAL_H +#define BOUND_VISUAL_H + +#include + +#include +#include +#include + +#include + + +namespace decomp_rviz_plugins { +class BoundVisual { +public: + BoundVisual(Ogre::SceneManager *scene_manager, Ogre::SceneNode *parent_node); + ~BoundVisual(); + + void setMessage(const vec_E &bds); + void setFramePosition(const Ogre::Vector3 &position); + void setFrameOrientation(const Ogre::Quaternion &orientation); + + void setColor(float r, float g, float b, float a); + void setScale(float s); + +private: + std::vector> objs_; + + Ogre::SceneNode *frame_node_; + + Ogre::SceneManager *scene_manager_; +}; +} + +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_display.cpp b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_display.cpp new file mode 100644 index 0000000..136a03c --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_display.cpp @@ -0,0 +1,62 @@ +#include +#include "ellipsoid_array_display.h" + +namespace decomp_rviz_plugins { + +EllipsoidArrayDisplay::EllipsoidArrayDisplay() { + color_property_ = new rviz::ColorProperty("Color", QColor(204, 51, 204), + "Color of ellipsoids.", + this, SLOT(updateColorAndAlpha())); + alpha_property_ = new rviz::FloatProperty( + "Alpha", 0.5, "0 is fully transparent, 1.0 is fully opaque.", this, + SLOT(updateColorAndAlpha())); + +} + +void EllipsoidArrayDisplay::onInitialize() { + MFDClass::onInitialize(); +} + +EllipsoidArrayDisplay::~EllipsoidArrayDisplay() {} + +void EllipsoidArrayDisplay::reset() { + MFDClass::reset(); + visual_ = nullptr; +} + +void EllipsoidArrayDisplay::updateColorAndAlpha() { + float alpha = alpha_property_->getFloat(); + Ogre::ColourValue color = color_property_->getOgreColor(); + + if (visual_) + visual_->setColor(color.r, color.g, color.b, alpha); +} + +void EllipsoidArrayDisplay::processMessage(const decomp_ros_msgs::EllipsoidArray::ConstPtr &msg) { + Ogre::Quaternion orientation; + Ogre::Vector3 position; + if (!context_->getFrameManager()->getTransform( + msg->header.frame_id, msg->header.stamp, position, orientation)) { + ROS_DEBUG("Error transforming from frame '%s' to frame '%s'", + msg->header.frame_id.c_str(), qPrintable(fixed_frame_)); + return; + } + + std::shared_ptr visual; + visual.reset(new EllipsoidArrayVisual(context_->getSceneManager(), scene_node_)); + + visual->setMessage(msg); + visual->setFramePosition(position); + visual->setFrameOrientation(orientation); + + float alpha = alpha_property_->getFloat(); + Ogre::ColourValue color = color_property_->getOgreColor(); + visual->setColor(color.r, color.g, color.b, alpha); + + visual_ = visual; +} + +} + +#include +PLUGINLIB_EXPORT_CLASS(decomp_rviz_plugins::EllipsoidArrayDisplay, rviz::Display) diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_display.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_display.h new file mode 100644 index 0000000..ca89706 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_display.h @@ -0,0 +1,41 @@ +#include +#include +#include +#include +#include +#include + +#include + +#include +#include +#include "ellipsoid_array_visual.h" + +namespace decomp_rviz_plugins { + +class EllipsoidArrayVisual; + +class EllipsoidArrayDisplay + : public rviz::MessageFilterDisplay { + Q_OBJECT +public: + EllipsoidArrayDisplay(); + ~EllipsoidArrayDisplay(); + +protected: + void onInitialize(); + + void reset(); + +private Q_SLOTS: + void updateColorAndAlpha(); + +private: + void processMessage(const decomp_ros_msgs::EllipsoidArray::ConstPtr &msg); + + std::shared_ptr visual_; + + rviz::ColorProperty *color_property_; + rviz::FloatProperty *alpha_property_; +}; +} diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_visual.cpp b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_visual.cpp new file mode 100644 index 0000000..17bcce9 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_visual.cpp @@ -0,0 +1,72 @@ +#include "ellipsoid_array_visual.h" + +namespace decomp_rviz_plugins { + EllipsoidArrayVisual::EllipsoidArrayVisual(Ogre::SceneManager *scene_manager, + Ogre::SceneNode *parent_node) { + scene_manager_ = scene_manager; + frame_node_ = parent_node->createChildSceneNode(); + } + + EllipsoidArrayVisual::~EllipsoidArrayVisual() { + scene_manager_->destroySceneNode(frame_node_); + } + + void EllipsoidArrayVisual::setMessage(const decomp_ros_msgs::EllipsoidArray::ConstPtr &msg) { + objs_.clear(); + + if (msg->ellipsoids.empty()) + return; + + for (const auto& it: msg->ellipsoids) { + if(std::isnan(it.d[0]) || + std::isnan(it.d[1]) || + std::isnan(it.d[2])) + return; + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + if(std::isnan(it.E[3 * i + j])) + return; + } + + objs_.resize(msg->ellipsoids.size()); + + for (auto &it : objs_) + it.reset(new rviz::Shape(rviz::Shape::Type::Sphere, scene_manager_, + frame_node_)); + + int cnt = 0; + for (const auto &it : msg->ellipsoids) { + Mat3f E; + for (int i = 0; i < 3; i++) + for (int j = 0; j < 3; j++) + E(i, j) = it.E[3 * i + j]; + Eigen::SelfAdjointEigenSolver es(E); + + Ogre::Vector3 scale(2 * es.eigenvalues()[0], 2 * es.eigenvalues()[1], + 2 * es.eigenvalues()[2]); + objs_[cnt]->setScale(scale); + + Ogre::Vector3 d(it.d[0], it.d[1], it.d[2]); + objs_[cnt]->setPosition(d); + + Quatf q(es.eigenvectors().determinant() * es.eigenvectors()); + Ogre::Quaternion o(q.w(), q.x(), q.y(), q.z()); + objs_[cnt]->setOrientation(o); + cnt++; + } + } + + void EllipsoidArrayVisual::setFramePosition(const Ogre::Vector3 &position) { + frame_node_->setPosition(position); + } + + void EllipsoidArrayVisual::setFrameOrientation( + const Ogre::Quaternion &orientation) { + frame_node_->setOrientation(orientation); + } + + void EllipsoidArrayVisual::setColor(float r, float g, float b, float a) { + for (auto &it : objs_) + it->setColor(r, g, b, a); + } +} diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_visual.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_visual.h new file mode 100644 index 0000000..7e652ab --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/ellipsoid_array_visual.h @@ -0,0 +1,37 @@ +#ifndef ELLIPSOIDS_VISUAL_H +#define ELLIPSOIDS_VISUAL_H + +#include +#include +#include + +#include +#include +#include + +#include + +namespace decomp_rviz_plugins { + class EllipsoidArrayVisual { + public: + EllipsoidArrayVisual(Ogre::SceneManager *scene_manager, + Ogre::SceneNode *parent_node); + + virtual ~EllipsoidArrayVisual(); + + void setMessage(const decomp_ros_msgs::EllipsoidArray::ConstPtr &msg); + + void setFramePosition(const Ogre::Vector3 &position); + void setFrameOrientation(const Ogre::Quaternion &orientation); + + void setColor(float r, float g, float b, float a); + + private: + std::vector> objs_; + + Ogre::SceneNode *frame_node_; + + Ogre::SceneManager *scene_manager_; + }; +} +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/mesh_visual.cpp b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/mesh_visual.cpp new file mode 100644 index 0000000..52ce943 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/mesh_visual.cpp @@ -0,0 +1,56 @@ +#include "mesh_visual.h" + +namespace decomp_rviz_plugins { + MeshVisual::MeshVisual(Ogre::SceneManager *scene_manager, + Ogre::SceneNode *parent_node) { + scene_manager_ = scene_manager; + frame_node_ = parent_node->createChildSceneNode(); + obj_.reset(new rviz::MeshShape(scene_manager_, frame_node_)); + } + + MeshVisual::~MeshVisual() { scene_manager_->destroySceneNode(frame_node_); } + + void MeshVisual::setMessage(const vec_E &bds) { + obj_->clear(); + + if (bds.empty()) + return; + + obj_->beginTriangles(); + int free_cnt = 0; + for (const auto &vs: bds) { + if (vs.size() > 2) { + Vec3f p0 = vs[0]; + Vec3f p1 = vs[1]; + Vec3f p2 = vs[2]; + Vec3f n = (p2-p0).cross(p1-p0); + n = n.normalized(); + if(std::isnan(n(0))) + n = Vec3f(0, 0, -1); + + int ref_cnt = free_cnt; + Ogre::Vector3 normal(n(0), n(1), n(2)); + for (unsigned int i = 0; i < vs.size(); i++) { + obj_->addVertex(Ogre::Vector3(vs[i](0), vs[i](1), vs[i](2)), normal); + if (i > 1 && i < vs.size()) + obj_->addTriangle(ref_cnt, free_cnt - 1, free_cnt); + free_cnt++; + } + } + } + obj_->endTriangles(); + } + + // Position and orientation are passed through to the SceneNode. + void MeshVisual::setFramePosition(const Ogre::Vector3 &position) { + frame_node_->setPosition(position); + } + + void MeshVisual::setFrameOrientation(const Ogre::Quaternion &orientation) { + frame_node_->setOrientation(orientation); + } + + void MeshVisual::setColor(float r, float g, float b, float a) { + obj_->setColor(r, g, b, a); + } +} diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/mesh_visual.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/mesh_visual.h new file mode 100644 index 0000000..13f2039 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/mesh_visual.h @@ -0,0 +1,35 @@ +#ifndef MESH_VISUAL_H +#define MESH_VISUAL_H + +#include +#include + +#include +#include +#include + +#include + +namespace decomp_rviz_plugins { + class MeshVisual { + public: + MeshVisual(Ogre::SceneManager *scene_manager, Ogre::SceneNode *parent_node); + + virtual ~MeshVisual(); + + void setMessage(const vec_E &bds); + void setFramePosition(const Ogre::Vector3 &position); + void setFrameOrientation(const Ogre::Quaternion &orientation); + + void setColor(float r, float g, float b, float a); + + private: + std::unique_ptr obj_; + + Ogre::SceneNode *frame_node_; + + Ogre::SceneManager *scene_manager_; + }; +} + +#endif diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/polyhedron_array_display.cpp b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/polyhedron_array_display.cpp new file mode 100644 index 0000000..e0ee7e5 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/polyhedron_array_display.cpp @@ -0,0 +1,186 @@ +#include "polyhedron_array_display.h" + +namespace decomp_rviz_plugins { + +PolyhedronArrayDisplay::PolyhedronArrayDisplay() { + mesh_color_property_ = + new rviz::ColorProperty("MeshColor", QColor(0, 170, 255), "Mesh color.", + this, SLOT(updateMeshColorAndAlpha())); + bound_color_property_ = + new rviz::ColorProperty("BoundColor", QColor(255, 0, 0), "Bound color.", + this, SLOT(updateBoundColorAndAlpha())); + + alpha_property_ = new rviz::FloatProperty( + "Alpha", 0.2, + "0 is fully transparent, 1.0 is fully opaque, only affect mesh", this, + SLOT(updateMeshColorAndAlpha())); + + scale_property_ = new rviz::FloatProperty("Scale", 0.1, "bound scale.", this, + SLOT(updateScale())); + + vs_scale_property_ = new rviz::FloatProperty("VsScale", 1.0, "Vs scale.", this, + SLOT(updateVsScale())); + + vs_color_property_ = + new rviz::ColorProperty("VsColor", QColor(0, 255, 0), "Vs color.", + this, SLOT(updateVsColorAndAlpha())); + + + + state_property_ = new rviz::EnumProperty( + "State", "Mesh", "A Polygon can be represented as two states: Mesh and " + "Bound, this option allows selecting visualizing Polygon" + "in corresponding state", + this, SLOT(updateState())); + state_property_->addOption("Mesh", 0); + state_property_->addOption("Bound", 1); + state_property_->addOption("Both", 2); + state_property_->addOption("Vs", 3); + +} + +void PolyhedronArrayDisplay::onInitialize() { MFDClass::onInitialize(); } + +PolyhedronArrayDisplay::~PolyhedronArrayDisplay() {} + +void PolyhedronArrayDisplay::reset() { + MFDClass::reset(); + visual_mesh_ = nullptr; + visual_bound_ = nullptr; + visual_vector_ = nullptr; +} + +void PolyhedronArrayDisplay::processMessage(const decomp_ros_msgs::PolyhedronArray::ConstPtr &msg) { + if (!context_->getFrameManager()->getTransform( + msg->header.frame_id, msg->header.stamp, position_, orientation_)) { + ROS_DEBUG("Error transforming from frame '%s' to frame '%s'", + msg->header.frame_id.c_str(), qPrintable(fixed_frame_)); + return; + } + + vertices_.clear(); + vs_.clear(); + + const auto polys = DecompROS::ros_to_polyhedron_array(*msg); + + for(const auto& polyhedron: polys){ + vec_E bds = cal_vertices(polyhedron); + vertices_.insert(vertices_.end(), bds.begin(), bds.end()); + const auto vs = polyhedron.cal_normals(); + vs_.insert(vs_.end(), vs.begin(), vs.end()); + } + + int state = state_property_->getOptionInt(); + visualizeMessage(state); +} + +void PolyhedronArrayDisplay::visualizeMesh() { + std::shared_ptr visual_mesh; + visual_mesh.reset(new MeshVisual(context_->getSceneManager(), scene_node_)); + + visual_mesh->setMessage(vertices_); + visual_mesh->setFramePosition(position_); + visual_mesh->setFrameOrientation(orientation_); + + float alpha = alpha_property_->getFloat(); + Ogre::ColourValue color = mesh_color_property_->getOgreColor(); + visual_mesh->setColor(color.r, color.g, color.b, alpha); + visual_mesh_ = visual_mesh; +} + +void PolyhedronArrayDisplay::visualizeBound() { + std::shared_ptr visual_bound; + visual_bound.reset(new BoundVisual(context_->getSceneManager(), scene_node_)); + + visual_bound->setMessage(vertices_); + visual_bound->setFramePosition(position_); + visual_bound->setFrameOrientation(orientation_); + + Ogre::ColourValue color = bound_color_property_->getOgreColor(); + visual_bound->setColor(color.r, color.g, color.b, 1.0); + float scale = scale_property_->getFloat(); + visual_bound->setScale(scale); + + visual_bound_ = visual_bound; +} + +void PolyhedronArrayDisplay::visualizeVs() { + std::shared_ptr visual_vector; + visual_vector.reset(new VectorVisual(context_->getSceneManager(), scene_node_)); + + visual_vector->setMessage(vs_); + visual_vector->setFramePosition(position_); + visual_vector->setFrameOrientation(orientation_); + + Ogre::ColourValue color = vs_color_property_->getOgreColor(); + visual_vector->setColor(color.r, color.g, color.b, 1.0); + + visual_vector_ = visual_vector; +} + +void PolyhedronArrayDisplay::visualizeMessage(int state) { + switch (state) { + case 0: + visual_bound_ = nullptr; + visual_vector_ = nullptr; + visualizeMesh(); + break; + case 1: + visual_mesh_ = nullptr; + visual_vector_ = nullptr; + visualizeBound(); + break; + case 2: + visual_vector_ = nullptr; + visualizeMesh(); + visualizeBound(); + break; + case 3: + visualizeVs(); + break; + default: + std::cout << "Invalid State: " << state << std::endl; + } +} + +void PolyhedronArrayDisplay::updateMeshColorAndAlpha() { + float alpha = alpha_property_->getFloat(); + Ogre::ColourValue color = mesh_color_property_->getOgreColor(); + + if(visual_mesh_) + visual_mesh_->setColor(color.r, color.g, color.b, alpha); +} + +void PolyhedronArrayDisplay::updateBoundColorAndAlpha() { + Ogre::ColourValue color = bound_color_property_->getOgreColor(); + if(visual_bound_) + visual_bound_->setColor(color.r, color.g, color.b, 1.0); +} + + +void PolyhedronArrayDisplay::updateState() { + int state = state_property_->getOptionInt(); + visualizeMessage(state); +} + +void PolyhedronArrayDisplay::updateScale() { + float s = scale_property_->getFloat(); + if(visual_bound_) + visual_bound_->setScale(s); +} + +void PolyhedronArrayDisplay::updateVsScale() { + float s = vs_scale_property_->getFloat(); + if(visual_vector_) + visual_vector_->setScale(s); +} + +void PolyhedronArrayDisplay::updateVsColorAndAlpha() { + Ogre::ColourValue color = vs_color_property_->getOgreColor(); + if(visual_vector_) + visual_vector_->setColor(color.r, color.g, color.b, 1); +} +} + +#include +PLUGINLIB_EXPORT_CLASS(decomp_rviz_plugins::PolyhedronArrayDisplay, rviz::Display) diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/polyhedron_array_display.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/polyhedron_array_display.h new file mode 100644 index 0000000..c854b83 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/polyhedron_array_display.h @@ -0,0 +1,68 @@ +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include + +#include + +#include "mesh_visual.h" +#include "bound_visual.h" +#include "vector_visual.h" +#include +#include + +namespace decomp_rviz_plugins { +class PolyhedronArrayDisplay + : public rviz::MessageFilterDisplay { + Q_OBJECT +public: + PolyhedronArrayDisplay(); + virtual ~PolyhedronArrayDisplay(); + +protected: + virtual void onInitialize(); + + virtual void reset(); + +private Q_SLOTS: + void updateMeshColorAndAlpha(); + void updateBoundColorAndAlpha(); + void updateVsColorAndAlpha(); + void updateState(); + void updateScale(); + void updateVsScale(); + +private: + void processMessage(const decomp_ros_msgs::PolyhedronArray::ConstPtr &msg); + void visualizeMessage(int state); + void visualizeMesh(); + void visualizeBound(); + void visualizeVs(); + + std::shared_ptr visual_mesh_; + std::shared_ptr visual_bound_; + std::shared_ptr visual_vector_; + + rviz::ColorProperty *mesh_color_property_; + rviz::ColorProperty *bound_color_property_; + rviz::ColorProperty *vs_color_property_; + rviz::FloatProperty *alpha_property_; + rviz::FloatProperty *scale_property_; + rviz::FloatProperty *vs_scale_property_; + rviz::EnumProperty *state_property_; + + Ogre::Vector3 position_; + Ogre::Quaternion orientation_; + + vec_E vertices_; + vec_E> vs_; +}; + +} diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/vector_visual.cpp b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/vector_visual.cpp new file mode 100644 index 0000000..9b36a68 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/vector_visual.cpp @@ -0,0 +1,58 @@ +#include "vector_visual.h" + +namespace decomp_rviz_plugins { + VectorVisual::VectorVisual(Ogre::SceneManager *scene_manager, + Ogre::SceneNode *parent_node) { + scene_manager_ = scene_manager; + frame_node_ = parent_node->createChildSceneNode(); + } + + VectorVisual::~VectorVisual() { scene_manager_->destroySceneNode(frame_node_); } + + void VectorVisual::setMessage(const vec_E> &vs) { + objs_.clear(); + vs_ = vs; + if (vs.empty()) + return; + objs_.resize(vs.size()); + for (auto &it : objs_) + it.reset(new rviz::Arrow(scene_manager_, frame_node_)); + + int cnt = 0; + for (const auto &v : vs) { + Vec3f n = v.second.normalized(); + objs_[cnt]->setDirection(Ogre::Vector3(n(0), n(1), n(2))); + objs_[cnt]->setPosition(Ogre::Vector3(v.first(0), v.first(1), v.first(2))); + objs_[cnt]->setScale(s_ * Ogre::Vector3(1.0, 1.0, 1.0)); + + float d = s_ * v.second.norm(); + float shaft_length = 0.7 * d; + float head_length = 0.3 * d; + objs_[cnt]->set(shaft_length, d / 8, head_length, d / 5); + cnt ++; + } + } + + void VectorVisual::setFramePosition(const Ogre::Vector3 &position) { + frame_node_->setPosition(position); + } + + void VectorVisual::setFrameOrientation(const Ogre::Quaternion &orientation) { + frame_node_->setOrientation(orientation); + } + + void VectorVisual::setColor(float r, float g, float b, float a) { + for (auto &it : objs_) + it->setColor(r, g, b, a); + } + + void VectorVisual::setScale(float s) { + s_ = s; + for (unsigned int i = 0; i < objs_.size(); i++){ + float d = s_ * vs_[i].second.norm(); + float shaft_length = 0.7 * d; + float head_length = 0.3 * d; + objs_[i]->set(shaft_length, d / 8, head_length, d / 5); + } + } +} diff --git a/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/vector_visual.h b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/vector_visual.h new file mode 100644 index 0000000..d493f30 --- /dev/null +++ b/trajectoryOpt/src/utils/DecompROS/decomp_ros_utils/src/vector_visual.h @@ -0,0 +1,35 @@ +#ifndef VECTOR_VISUAL_H +#define VECTOR_VISUAL_H + +#include +#include +#include +#include +#include + +namespace decomp_rviz_plugins { +class VectorVisual { +public: + VectorVisual(Ogre::SceneManager *scene_manager, Ogre::SceneNode *parent_node); + ~VectorVisual(); + + void setMessage(const vec_E> &vs); + void setFramePosition(const Ogre::Vector3 &position); + void setFrameOrientation(const Ogre::Quaternion &orientation); + + void setColor(float r, float g, float b, float a); + void setScale(float s); + +private: + std::vector> objs_; + + Ogre::SceneNode *frame_node_; + + Ogre::SceneManager *scene_manager_; + + float s_ = 1.0; + vec_E> vs_; +}; +} + +#endif diff --git a/trajectoryOpt/src/utils/catkin_simple/CMakeLists.txt b/trajectoryOpt/src/utils/catkin_simple/CMakeLists.txt new file mode 100644 index 0000000..2bb0702 --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(catkin_simple) + +find_package(catkin REQUIRED) + +catkin_package( + CATKIN_DEPENDS catkin + CFG_EXTRAS catkin_simple-extras.cmake +) diff --git a/trajectoryOpt/src/utils/catkin_simple/cmake/catkin_simple-extras.cmake.em b/trajectoryOpt/src/utils/catkin_simple/cmake/catkin_simple-extras.cmake.em new file mode 100644 index 0000000..989f9f9 --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/cmake/catkin_simple-extras.cmake.em @@ -0,0 +1,226 @@ +# Generated from: catkin_simple/cmake/catkin_simple-extras.cmake.em + +if(_CATKIN_SIMPLE_EXTRAS_INCLUDED_) + return() +endif() +set(_CATKIN_SIMPLE_EXTRAS_INCLUDED_ TRUE) + +include(CMakeParseArguments) + +@[if DEVELSPACE]@ +# cmake dir in develspace +set(catkin_simple_CMAKE_DIR "@(CMAKE_CURRENT_SOURCE_DIR)/cmake") +@[else]@ +# cmake dir in installspace +set(catkin_simple_CMAKE_DIR "@(PKG_CMAKE_DIR)") +@[end if]@ + +macro(catkin_simple) + # Arguments + # ALL_DEPS_REQUIRED -- Add the "REQUIRED" flag when calling + # FIND_PACKAGE() for each dependency + cmake_parse_arguments(cs_args "ALL_DEPS_REQUIRED" "" "" ${ARGN}) + + if(TARGET ${PROJECT_NAME}_package) + message(WARNING "Could not create target '${${PROJECT_NAME}_package}' for project ${PROJECT_NAME}, as it already exists.") + endif() + add_custom_target(${PROJECT_NAME}_package) + set(${PROJECT_NAME}_TARGETS) + set(${PROJECT_NAME}_LIBRARIES) + + find_package(catkin REQUIRED) + # call catkin_package_xml() if it has not been called before + if(NOT _CATKIN_CURRENT_PACKAGE) + catkin_package_xml() + endif() + + set(${PROJECT_NAME}_CATKIN_BUILD_DEPENDS) + set(${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS) + foreach(dep ${${PROJECT_NAME}_BUILD_DEPENDS}) + # If this flag is defined, add the "REQUIRED" flag + # to all FIND_PACKAGE calls + if(cs_args_ALL_DEPS_REQUIRED) + find_package(${dep} REQUIRED) + else() + find_package(${dep} QUIET) + endif() + + if(${dep}_FOUND_CATKIN_PROJECT) + list(APPEND ${PROJECT_NAME}_CATKIN_BUILD_DEPENDS ${dep}) + list(APPEND ${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS ${${dep}_EXPORTED_TARGETS}) + endif() + endforeach() + + # Let find_package(catkin ...) do the heavy lifting + find_package(catkin REQUIRED COMPONENTS ${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS}) + + # add include directory if available + set(${PROJECT_NAME}_LOCAL_INCLUDE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include) + if(NOT IS_DIRECTORY ${${PROJECT_NAME}_LOCAL_INCLUDE_DIR}) + set(${PROJECT_NAME}_LOCAL_INCLUDE_DIR) + endif() + include_directories(${${PROJECT_NAME}_LOCAL_INCLUDE_DIR} ${catkin_INCLUDE_DIRS}) + + # perform action/msg/srv generation if necessary + if(message_generation_FOUND_CATKIN_PROJECT) + set(${PROJECT_NAME}_DO_MESSAGE_GENERATION FALSE) + # add action files if available + set(${PROJECT_NAME}_LOCAL_ACTION_DIR ${CMAKE_CURRENT_SOURCE_DIR}/action) + if(NOT IS_DIRECTORY ${${PROJECT_NAME}_LOCAL_ACTION_DIR}) + set(${PROJECT_NAME}_LOCAL_ACTION_DIR) + endif() + if(${PROJECT_NAME}_LOCAL_ACTION_DIR) + add_action_files(DIRECTORY action) + set(${PROJECT_NAME}_DO_MESSAGE_GENERATION TRUE) + endif() + + # add message files if available + set(${PROJECT_NAME}_LOCAL_MSG_DIR ${CMAKE_CURRENT_SOURCE_DIR}/msg) + if(NOT IS_DIRECTORY ${${PROJECT_NAME}_LOCAL_MSG_DIR}) + set(${PROJECT_NAME}_LOCAL_MSG_DIR) + endif() + if(${PROJECT_NAME}_LOCAL_MSG_DIR) + add_message_files(DIRECTORY msg) + set(${PROJECT_NAME}_DO_MESSAGE_GENERATION TRUE) + endif() + + # add service files if available + set(${PROJECT_NAME}_LOCAL_SRV_DIR ${CMAKE_CURRENT_SOURCE_DIR}/srv) + if(NOT IS_DIRECTORY ${${PROJECT_NAME}_LOCAL_SRV_DIR}) + set(${PROJECT_NAME}_LOCAL_SRV_DIR) + endif() + if(${PROJECT_NAME}_LOCAL_SRV_DIR) + add_service_files(DIRECTORY srv) + set(${PROJECT_NAME}_DO_MESSAGE_GENERATION TRUE) + endif() + + # generate messages if necessary + if(${PROJECT_NAME}_DO_MESSAGE_GENERATION) + # identify all build dependencies which contain messages + set(${PROJECT_NAME}_MSG_PACKAGES) + foreach(dep ${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS}) + set(${PROJECT_NAME}_MSG_PACKAGE_FILE ${${dep}_DIR}/${dep}-msg-paths.cmake) + if(EXISTS ${${PROJECT_NAME}_MSG_PACKAGE_FILE}) + list(APPEND ${PROJECT_NAME}_MSG_PACKAGES ${dep}) + endif() + endforeach() + generate_messages(DEPENDENCIES ${${PROJECT_NAME}_MSG_PACKAGES}) + # add additional exported targets coming from generate_messages() + list(INSERT ${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS 0 ${${PROJECT_NAME}_EXPORTED_TARGETS}) + endif() + endif() + + # generate dynamic reconfigure files + if(dynamic_reconfigure_FOUND_CATKIN_PROJECT) + set(${PROJECT_NAME}_LOCAL_CFG_DIR ${CMAKE_CURRENT_SOURCE_DIR}/cfg) + if(IS_DIRECTORY ${${PROJECT_NAME}_LOCAL_CFG_DIR}) + # create a list containing all the cfg files + file(GLOB ${PROJECT_NAME}_LOCAL_CFG_FILES RELATIVE "${CMAKE_CURRENT_SOURCE_DIR}" "${${PROJECT_NAME}_LOCAL_CFG_DIR}/*.cfg") + if(${PROJECT_NAME}_LOCAL_CFG_FILES) + generate_dynamic_reconfigure_options(${${PROJECT_NAME}_LOCAL_CFG_FILES}) + # add build dep on gencfg + list(APPEND ${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS ${PROJECT_NAME}_gencfg) + endif() + endif() + endif() +endmacro() + +macro(cs_add_targets_to_package) + add_dependencies(${PROJECT_NAME}_package ${ARGN}) + list(APPEND ${PROJECT_NAME}_TARGETS ${ARGN}) +endmacro() + +macro(cs_add_executable _target) + if(${_target} STREQUAL ${PROJECT_NAME}_package) + message(WARNING "Could not create executable with name '${_target}' as '${PROJECT_NAME}_package' is reserved for the top level target name for this project.") + endif() + cmake_parse_arguments(cs_add_executable_args "NO_AUTO_LINK;NO_AUTO_DEP" "" "" ${ARGN}) + add_executable(${_target} ${cs_add_executable_args_UNPARSED_ARGUMENTS}) + if(NOT cs_add_executable_args_NO_AUTO_LINK) + target_link_libraries(${_target} ${catkin_LIBRARIES}) + endif() + if(NOT cs_add_executable_args_NO_AUTO_DEP) + if(NOT "${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS}" STREQUAL "") + add_dependencies(${_target} ${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS}) + endif() + endif() + cs_add_targets_to_package(${_target}) +endmacro() + +macro(cs_add_library _target) + if(${_target} STREQUAL ${PROJECT_NAME}_package) + message(WARNING "Could not create library with name '${_target}' as '${PROJECT_NAME}_package' is reserved for the top level target name for this project.") + endif() + cmake_parse_arguments(cs_add_library "NO_AUTO_LINK;NO_AUTO_DEP;NO_AUTO_EXPORT" "" "" ${ARGN}) + add_library(${_target} ${cs_add_library_UNPARSED_ARGUMENTS}) + if(NOT cs_add_library_NO_AUTO_LINK) + target_link_libraries(${_target} ${catkin_LIBRARIES}) + endif() + if(NOT cs_add_library_NO_AUTO_DEP) + if(NOT "${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS}" STREQUAL "") + add_dependencies(${_target} ${${PROJECT_NAME}_CATKIN_BUILD_DEPENDS_EXPORTED_TARGETS}) + endif() + endif() + if(NOT cs_add_library_NO_AUTO_EXPORT) + list(APPEND ${PROJECT_NAME}_LIBRARIES ${_target}) + endif() + cs_add_targets_to_package(${_target}) +endmacro() + +macro(cs_install) + # Install targets (exec's and lib's) + foreach(_target ${${PROJECT_NAME}_TARGETS}) + get_target_property(${_target}_type ${_target} TYPE) + message(STATUS "Marking ${${_target}_type} \"${_target}\" of package \"${PROJECT_NAME}\" for installation") + endforeach() + install(TARGETS ${${PROJECT_NAME}_TARGETS} ${ARGN} + ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} + RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} + ) + if(EXISTS ${${PROJECT_NAME}_LOCAL_INCLUDE_DIR}) + # Install include directory + message(STATUS "Marking HEADER FILES in \"include\" folder of package \"${PROJECT_NAME}\" for installation") + install(DIRECTORY ${${PROJECT_NAME}_LOCAL_INCLUDE_DIR}/ + DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION} + FILES_MATCHING PATTERN "*.h" PATTERN "*.hpp" + PATTERN ".svn" EXCLUDE + ) + endif() + # Install shared content located in commonly used folders + set(_shared_content_folders launch rviz urdf meshes maps worlds Media param) + foreach(_folder ${_shared_content_folders}) + if(IS_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/${_folder}) + message(STATUS "Marking SHARED CONTENT FOLDER \"${_folder}\" of package \"${PROJECT_NAME}\" for installation") + install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/${_folder}/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${_folder} + ) + endif() + endforeach() +endmacro() + +macro(cs_install_scripts) + install(PROGRAMS ${ARGN} DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}) +endmacro() + +macro(cs_export) + cmake_parse_arguments(CS_PROJECT + "" "" "INCLUDE_DIRS;LIBRARIES;CATKIN_DEPENDS;DEPENDS;CFG_EXTRAS" + ${ARGN}) + + set(${PROJECT_NAME}_CATKIN_RUN_DEPENDS) + foreach(dep ${${PROJECT_NAME}_RUN_DEPENDS}) + find_package(${dep} QUIET) + if(${dep}_FOUND_CATKIN_PROJECT) + list(APPEND ${PROJECT_NAME}_CATKIN_RUN_DEPENDS ${dep}) + endif() + endforeach() + + catkin_package( + INCLUDE_DIRS ${${PROJECT_NAME}_LOCAL_INCLUDE_DIR} ${CS_PROJECT_INCLUDE_DIRS} + LIBRARIES ${${PROJECT_NAME}_LIBRARIES} ${CS_PROJECT_LIBRARIES} + CATKIN_DEPENDS ${${PROJECT_NAME}_CATKIN_RUN_DEPENDS} ${CS_PROJECT_CATKIN_DEPENDS} + DEPENDS ${CS_PROJECT_DEPENDS} + CFG_EXTRAS ${CS_PROJECT_CFG_EXTRAS} + ) +endmacro() diff --git a/trajectoryOpt/src/utils/catkin_simple/package.xml b/trajectoryOpt/src/utils/catkin_simple/package.xml new file mode 100644 index 0000000..3f6e070 --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/package.xml @@ -0,0 +1,17 @@ + + + catkin_simple + 0.1.1 + catkin, simpler + + William Woodall + Dirk Thomas + BSD + + William Woodall + Dirk Thomas + + catkin + catkin + + \ No newline at end of file diff --git a/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/include/bar/hello.h b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/include/bar/hello.h new file mode 100644 index 0000000..9bb085a --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/include/bar/hello.h @@ -0,0 +1 @@ +void hello(); diff --git a/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/msg/HeaderString.msg b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/msg/HeaderString.msg new file mode 100644 index 0000000..9741bda --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/msg/HeaderString.msg @@ -0,0 +1,2 @@ +Header header +string data diff --git a/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/package.xml b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/package.xml new file mode 100644 index 0000000..d98d6e9 --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/package.xml @@ -0,0 +1,18 @@ + + + bar + 0.1.0 + The bar package + William Woodall + BSD + + catkin + catkin_simple + boost + message_runtime + std_msgs + boost-dev + message_generation + std_msgs + + \ No newline at end of file diff --git a/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/src/hello.cpp b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/src/hello.cpp new file mode 100644 index 0000000..3aed965 --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/bar/src/hello.cpp @@ -0,0 +1,16 @@ +#include +#include + +#include + +#include + + +inline void print_hello() { + std::cout << "Hello "; +} + +void hello() { + boost::thread t(print_hello); + t.join(); +} diff --git a/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/baz/include/baz/world.h b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/baz/include/baz/world.h new file mode 100644 index 0000000..766f82c --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/baz/include/baz/world.h @@ -0,0 +1,12 @@ +#include + +#include + +void print_world() { + std::cout << "world!" << std::endl; +} + +void world() { + boost::thread t(print_world); + t.join(); +} diff --git a/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/baz/package.xml b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/baz/package.xml new file mode 100644 index 0000000..db0518e --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/baz/package.xml @@ -0,0 +1,13 @@ + + + baz + 0.1.0 + The baz package + William Woodall + BSD + + catkin + boost + boost-dev + + \ No newline at end of file diff --git a/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/foo/package.xml b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/foo/package.xml new file mode 100644 index 0000000..16121e4 --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/foo/package.xml @@ -0,0 +1,18 @@ + + + foo + 0.1.0 + The foo package + William Woodall + BSD + + catkin + catkin_simple + bar + bar + baz + baz + boost + boost-dev + + \ No newline at end of file diff --git a/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/foo/src/main.cpp b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/foo/src/main.cpp new file mode 100644 index 0000000..3f59650 --- /dev/null +++ b/trajectoryOpt/src/utils/catkin_simple/test/scenarios/hello_world/foo/src/main.cpp @@ -0,0 +1,9 @@ +#include +#include + +int main(void) { + hello(); + world(); + + return 0; +} \ No newline at end of file diff --git a/trajectoryOpt/src/utils/tools/CMakeLists.txt b/trajectoryOpt/src/utils/tools/CMakeLists.txt new file mode 100644 index 0000000..7839ec7 --- /dev/null +++ b/trajectoryOpt/src/utils/tools/CMakeLists.txt @@ -0,0 +1,40 @@ +cmake_minimum_required(VERSION 2.8.3) +project(tools) + +set(CMAKE_VERBOSE_MAKEFILE "true") +set(CMAKE_BUILD_TYPE "Release") +set(CMAKE_CXX_FLAGS "-std=c++14 -g") +set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -fPIC") +set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -O3 -Wall") + +find_package(Eigen3 REQUIRED) + + + +find_package(PCL REQUIRED) +find_package(catkin REQUIRED COMPONENTS + roscpp + visualization_msgs + std_msgs + sensor_msgs + geometry_msgs + cv_bridge + decomp_ros_utils +) + +include_directories( + include + ${catkin_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIRS} + ${PCL_INCLUDE_DIRS} + ${DECOMP_UTIL_INCLUDE_DIRS} +) + + + +#if this catkin packge's header is used by other packages, use catkin_package to +#declare the include directories of this package. +catkin_package( + INCLUDE_DIRS include + CATKIN_DEPENDS decomp_ros_utils +) diff --git a/trajectoryOpt/src/utils/tools/include/tools/CorridorBuilder2d.hpp b/trajectoryOpt/src/utils/tools/include/tools/CorridorBuilder2d.hpp new file mode 100644 index 0000000..e9abbdb --- /dev/null +++ b/trajectoryOpt/src/utils/tools/include/tools/CorridorBuilder2d.hpp @@ -0,0 +1,330 @@ +#include +#include +#include +#include +#include +#include +#include "gridmap.hpp" + +namespace plan_utils +{ + + void corridorBuilder2d(Eigen::Vector2d origin, float radius, float max_x, float max_y, + vec_Vec2f &data, std::vector &add_data, + Eigen::MatrixXd &hPoly) { + + //max_x max_y may be the local map? + //why add_data? + //radius = inf? + //origin is the root point of the poly + float interior_x = 0.0; + float interior_y = 0.0; + float safe_radius = radius; + std::vector flipData; + + cv::Point2f point; + vec_Vec2f new_data; + + + for (size_t i=0; i max_x || abs(dy) > max_y) { + continue; + } + if (norm2 < safe_radius) safe_radius = norm2; //safe radius is the nearest distance between the root and obs + if (norm2 == 0) continue; + + point.x = dx + 2*(radius-norm2)*dx/norm2; + point.y = dy + 2*(radius-norm2)*dy/norm2; //radius is an enough large value + new_data.push_back(data[i]); + flipData.push_back(point); + } + + for (size_t i=0; i vertexIndice; + cv::convexHull(flipData,vertexIndice,false,false); + //obtain the poly containing flipData + + bool isOriginAVertex = false; + int OriginIndex = -1; + std::vector vertexData; + for (size_t i=0; i vIndex2; + cv::convexHull(vertexData,vIndex2,false,false); // counterclockwise right-hand + + + + std::vector constraints; // (a,b,c) a x + b y <= c + for (size_t j=0; j dualPoints(constraints.size(), cv::Point2f(0,0)); + for (size_t i=0; i dualVertex, finalVertex; + cv::convexHull(dualPoints,dualVertex,true,false); + + for (size_t i=0; i() = Eigen::Vector2d(finalVertex[i].x, finalVertex[i].y); // the points on the plane + hPoly.col(i).head<2>() = Eigen::Vector2d(-rayi.y, rayi.x); // outside + } + + } + Eigen::MatrixXd getDilateRec(Eigen::Vector3d state, map_util::OccMapUtil gridmap, int maxIndexL = 5, int maxIndexW = 8){ + + double resolution = gridmap.getRes(); + double step = resolution * 1.0; + double limitBoundHalfL = maxIndexL * resolution; + double limitBoundHalfW = maxIndexW * resolution; + //generate a rectangle for this state px py yaw + //generate a hPoly + Eigen::Matrix NotFinishTable = Eigen::Matrix(1,1,1,1); + Eigen::Vector2d sourcePt = state.head(2); + double yaw = state[2]; + Eigen::Vector4d expandLength; + expandLength << 0.0, 0.0, 0.0, 0.0; + Eigen::Matrix2d egoR; + egoR << cos(yaw), -sin(yaw), + sin(yaw), cos(yaw); + //dcr width length + while(NotFinishTable.norm()>0){ + //+dx -dy -dx +dy + for(int i = 0; i<4; i++){ + if(!NotFinishTable[i]) continue; + //get the new source and vp + Eigen::Vector4d tmp_expandLength = expandLength; + Eigen::Vector2d cor1, cor2, cor3, cor4, cor5; + bool isocc = false; + switch (i) + { + //+dx + case 0: + tmp_expandLength[0] += step; + cor1 = sourcePt + egoR * Eigen::Vector2d(tmp_expandLength[0],tmp_expandLength[3]); + cor2 = sourcePt + egoR * Eigen::Vector2d(tmp_expandLength[0],-tmp_expandLength[1]); + cor3 = sourcePt + egoR * Eigen::Vector2d(-tmp_expandLength[2],-tmp_expandLength[1]); + cor4 = sourcePt + egoR * Eigen::Vector2d(-tmp_expandLength[2],tmp_expandLength[3]); + cor5 = cor1; + //1 new1 new1 new2 new2 2 + isocc = gridmap.isBlocked(cor1, cor2); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor2, cor3); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor3, cor4); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor4, cor5); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + if(tmp_expandLength[0] > limitBoundHalfL){ + NotFinishTable[i] = 0.0; + break; + } + expandLength = tmp_expandLength; + break; + //-dy + case 1: + tmp_expandLength[1] += step; + cor1 = sourcePt + egoR * Eigen::Vector2d(tmp_expandLength[0],tmp_expandLength[3]); + cor2 = sourcePt + egoR * Eigen::Vector2d(tmp_expandLength[0],-tmp_expandLength[1]); + cor3 = sourcePt + egoR * Eigen::Vector2d(-tmp_expandLength[2],-tmp_expandLength[1]); + cor4 = sourcePt + egoR * Eigen::Vector2d(-tmp_expandLength[2],tmp_expandLength[3]); + cor5 = cor1; + //1 new1 new1 new2 new2 2 + isocc = gridmap.isBlocked(cor1, cor2); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor2, cor3); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor3, cor4); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor4, cor5); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + if(tmp_expandLength[1] > limitBoundHalfW){ + NotFinishTable[i] = 0.0; + break; + } + expandLength = tmp_expandLength; + break; + //-dx + case 2: + tmp_expandLength[2] += step; + cor1 = sourcePt + egoR * Eigen::Vector2d(tmp_expandLength[0],tmp_expandLength[3]); + cor2 = sourcePt + egoR * Eigen::Vector2d(tmp_expandLength[0],-tmp_expandLength[1]); + cor3 = sourcePt + egoR * Eigen::Vector2d(-tmp_expandLength[2],-tmp_expandLength[1]); + cor4 = sourcePt + egoR * Eigen::Vector2d(-tmp_expandLength[2],tmp_expandLength[3]); + cor5 = cor1; + //1 new1 new1 new2 new2 2 + isocc = gridmap.isBlocked(cor1, cor2); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor2, cor3); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor3, cor4); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor4, cor5); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + if(tmp_expandLength[2] > limitBoundHalfL){ + NotFinishTable[i] = 0.0; + break; + } + expandLength = tmp_expandLength; + break; + //dy + case 3: + tmp_expandLength[3] += step; + cor1 = sourcePt + egoR * Eigen::Vector2d(tmp_expandLength[0],tmp_expandLength[3]); + cor2 = sourcePt + egoR * Eigen::Vector2d(tmp_expandLength[0],-tmp_expandLength[1]); + cor3 = sourcePt + egoR * Eigen::Vector2d(-tmp_expandLength[2],-tmp_expandLength[1]); + cor4 = sourcePt + egoR * Eigen::Vector2d(-tmp_expandLength[2],tmp_expandLength[3]); + cor5 = cor1; + //1 new1 new1 new2 new2 2 + isocc = gridmap.isBlocked(cor1, cor2); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor2, cor3); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor3, cor4); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + isocc = gridmap.isBlocked(cor4, cor5); + if(isocc){ + NotFinishTable[i] = 0.0; + break; + } + if(tmp_expandLength[3] > limitBoundHalfW){ + NotFinishTable[i] = 0.0; + break; + } + expandLength = tmp_expandLength; + break; + } + } + } + Eigen::MatrixXd poly; + poly.resize(4,4); + std::vector cors; + cors.resize(4); + cors[0] = sourcePt + egoR * Eigen::Vector2d(expandLength[0],expandLength[3]); + cors[1] = sourcePt + egoR * Eigen::Vector2d(expandLength[0],-expandLength[1]); + cors[2] = sourcePt + egoR * Eigen::Vector2d(-expandLength[2],-expandLength[1]); + cors[3] = sourcePt + egoR * Eigen::Vector2d(-expandLength[2],expandLength[3]); + poly.col(0) << cors[0], cos(yaw), sin(yaw); + poly.col(1) << cors[1], sin(yaw), -cos(yaw); + poly.col(2) << cors[2], -cos(yaw), -sin(yaw); + poly.col(3) << cors[3],-sin(yaw), cos(yaw); + + return poly; + +} +bool ifInside(Eigen::Vector2d pt, Eigen::MatrixXd poly){ + for(int i = 0; i < poly.cols(); i++){ + Eigen::Vector2d p = poly.col(i).head(2); + Eigen::Vector2d n = poly.col(i).tail(2); + if((pt-p).dot(n)>0){ + return false; + } + } + return true; + +} +} // namespace plan_utils \ No newline at end of file diff --git a/trajectoryOpt/src/utils/tools/include/tools/config.hpp b/trajectoryOpt/src/utils/tools/include/tools/config.hpp new file mode 100644 index 0000000..62a91e9 --- /dev/null +++ b/trajectoryOpt/src/utils/tools/include/tools/config.hpp @@ -0,0 +1,144 @@ +#ifndef CONFIG.HPP +#define CONFIG.HPP +#include +#include +#include +#include +#include +#include +#include +struct Config +{ + double mini_T = 0.0; + double wei_time_ = 500.0; + double kmax = 0.45; + double vmax = 3.0; + double latAccmax = 3.0; + double lonAccmax = 3.0; + double accRatemax = 8.0; + double kdotmax = 5.0; + double yawdotmax = 3.14; + int traj_res = 16; + double scaling_wf_min_ = 0.01, scaling_wc_min_ = 0.01; + double rho = 1.0, rho_max =1000.0; + double gamma = 1; + double cons_eps_ = 0.20; + int mem_size = 256; + int past = 3; //3 + double g_epsilon = 1.0e-3; + double min_step = 1.0e-32; + double delta = 1.0e-4; + int max_iterations = 12000; + int amlMaxIter = 15; + double pieceTime = 0.7; + XmlRpc::XmlRpcValue xmlconpts; + std::vector conpts; + /*map parameters*/ + double mapRes = 0.1; + double mapX = 50.0, mapY = 50.0, mapZ = 10.0; + int expandSize = 1; + /*front end*/ + double wheel_base = 0.6; + double horizon_ = 50.0; + double yaw_resolution_ = 0.3; + double lambda_heu_ = 5.0; + int allocate_num_ = 100000; + int check_num_ = 5; + double max_seach_time = 1.0; + double step_arc = 0.9; + double checkl = 0.2; + double non_siguav = 0.0; + double backW = 2.0; + double penaWei = 500.0; + double esdfWei = 1000.0; + double miniS =0.9; + bool isdebug = true; + bool isfixGear = false; + bool isVis = false; + bool enable_shot = false; + double safeMargin = 0.1; + bool useDP = true; + double phimax = 0.785; + double omegamax = 0.3; + double steer_res = 0.5; + std::string model_path = "/home/han/2023codes/NeuralTraj/model/big_cock.pt"; + + + + Config(const ros::NodeHandle &nh_priv) + { + nh_priv.param("mini_T", mini_T, 0.0); + nh_priv.param("wei_time_", wei_time_, 500.0); + nh_priv.param("kmax", kmax, 0.45); + nh_priv.param("vmax", vmax, 3.0); + nh_priv.param("latAccmax", latAccmax, 3.0); + nh_priv.param("lonAccmax", lonAccmax, 3.0); + nh_priv.param("accRatemax", accRatemax, 8.0); + nh_priv.param("kdotmax", kdotmax, 1.0); + nh_priv.param("yawdotmax", yawdotmax, 3.14); + nh_priv.param("traj_res", traj_res, 16); + nh_priv.param("rho", rho, 1.0); + nh_priv.param("rho_max", rho_max, 1000.0); + nh_priv.param("gamma", gamma, 1.0); + nh_priv.param("cons_eps_", cons_eps_, 0.2); + nh_priv.param("mem_size", mem_size, 256); + nh_priv.param("past", past, 3); + nh_priv.param("g_epsilon", g_epsilon, 1.0e-3); + nh_priv.param("min_step", min_step, 1.0e-32); + nh_priv.param("delta", delta, 1.0e-4); + nh_priv.param("max_iterations", max_iterations, 10000); + nh_priv.param("amlMaxIter", amlMaxIter, 15); + nh_priv.param("pieceTime", pieceTime, 0.7); + nh_priv.getParam("conpts", xmlconpts); + nh_priv.getParam("penaWei", penaWei); + nh_priv.getParam("esdfWei", esdfWei); + nh_priv.getParam("miniS", miniS); + nh_priv.getParam("safeMargin", safeMargin); + nh_priv.getParam("phimax", phimax); + nh_priv.getParam("omegamax", omegamax); + nh_priv.getParam("useDP", useDP); + nh_priv.getParam("steer_res", steer_res); + for(int i = 0; i < xmlconpts.size(); ++i) + { + Eigen::Vector2d pt; + for(int j = 0; j < 2; ++j) + { + pt[j] = xmlconpts[i][j]; + } + conpts.push_back(pt); + } + nh_priv.param("mapRes", mapRes, 0.1); + nh_priv.param("mapX", mapX, 50.0); + nh_priv.param("mapY", mapY, 50.0); + nh_priv.param("expandSize", expandSize, 2); + nh_priv.param("wheel_base", wheel_base, 0.6); + nh_priv.param("horizon_", horizon_, 50.0); + nh_priv.param("yaw_resolution_", yaw_resolution_, 0.3); + nh_priv.param("lambda_heu_", lambda_heu_, 5.0); + nh_priv.param("allocate_num_", allocate_num_, 100000); + nh_priv.param("check_num_", check_num_, 5); + nh_priv.param("max_seach_time", max_seach_time, 1.0); + nh_priv.param("step_arc", step_arc, 0.9); + nh_priv.param("checkl", checkl, 0.2); + nh_priv.param("non_siguav", non_siguav, 0.0); + nh_priv.param("isdebug", isdebug, false); + nh_priv.param("isfixGear", isfixGear, false); + nh_priv.param("isVis", isVis, false); + nh_priv.param("enable_shot", enable_shot, false); + nh_priv.param("backW", backW, 2.0); + + } +}; +double normalize_angle(const double& theta) { + double theta_tmp = theta; + while(theta_tmp >= acos(-1.0)){ + theta_tmp -= 2 * acos(-1.0); + } + while(theta_tmp < -acos(-1.0)){ + theta_tmp += 2 * acos(-1.0); + } + return theta_tmp; +} +typedef std::shared_ptr ConfigPtr; + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/utils/tools/include/tools/gridmap.hpp b/trajectoryOpt/src/utils/tools/include/tools/gridmap.hpp new file mode 100644 index 0000000..d7f8a0b --- /dev/null +++ b/trajectoryOpt/src/utils/tools/include/tools/gridmap.hpp @@ -0,0 +1,792 @@ +#ifndef GRIDMAP_H +#define GRIDMAP_H + + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +namespace map_util{ + using Tmap = std::vector; + template class MapUtil { + public: + ///Simple constructor + MapUtil() {} + ///Get map data + Tmap getMap() { return map_; } + // + bool has_map_(){return has_map;} + ///Get resolution + double getRes() { return res_; } + ///Get dimensions + Veci getDim() { return dim_; } + ///Get origin + Vecf getOrigin() { return origin_d_; } + Vecf getMapSize() { return map_size; } + void setParam(ConfigPtr config_, ros::NodeHandle& nh){ + res_ = config_->mapRes; + int buffer_size; + expand_size = config_->expandSize; + priv_config_ = config_; + if(Dim == 3){ + map_size(0) = config_->mapX; + map_size(1) = config_->mapY; + map_size(2) = config_->mapZ; + origin_d_[0] = -map_size(0)/2; + origin_d_[1] = -map_size(1)/2; + origin_d_[2] = 0; + dim_(0) = map_size(0)/res_; + dim_(1) = map_size(1)/res_; + dim_(2) = map_size(2)/res_; + buffer_size = dim_(0)*dim_(1)*dim_(2); + } + else if(Dim==2){ + map_size(0) = config_->mapX + 1.0e-4; + map_size(1) = config_->mapY + 1.0e-4; + origin_d_[0] = -map_size(0)/2; + origin_d_[1] = -map_size(1)/2; + dim_(0) = map_size(0)/res_; + dim_(1) = map_size(1)/res_; + buffer_size = dim_(0)*dim_(1); + + /*ESDF*/ + distance_buffer_ = std::vector(buffer_size, 10000); + distance_buffer_neg_ = std::vector(buffer_size, 10000); + distance_buffer_all_ = std::vector(buffer_size, 10000); + tmp_buffer1_ = std::vector(buffer_size, 0); + occupancy_buffer_neg = std::vector(buffer_size, 0); + esdf_pub_ = nh.advertise("/global_esdf", 10); + pcl_pub_ = nh.advertise("/global_pcl", 10); + + } + else{ + ROS_ERROR("grid map dimensions must be 2 or 3!"); + } + map_.resize(buffer_size,val_free); + point_cloud_sub_ = nh.subscribe("/global_map", 10, &MapUtil::MapBuild, this); + } + void setEnv(const sensor_msgs::PointCloud2 & pointcloud_map){ + //only used in 2D environment + int buffer_size; + buffer_size = dim_(0)*dim_(1); + distance_buffer_ = std::vector(buffer_size, 10000); + distance_buffer_neg_ = std::vector(buffer_size, 10000); + distance_buffer_all_ = std::vector(buffer_size, 10000); + tmp_buffer1_ = std::vector(buffer_size, 0); + occupancy_buffer_neg = std::vector(buffer_size, 0); + std::fill(map_.begin(), map_.end(), val_free); + + + + pcl::PointCloud cloud; + pcl::fromROSMsg(pointcloud_map, cloud); + if( (int)cloud.points.size() == 0 ) return; + pcl::PointXYZ pt; + for (int idx = 0; idx < (int)cloud.points.size(); idx++) + { + pt = cloud.points[idx]; + setObs(pt); + } + has_map = true; + // std::cout << "!map build\n"; + updateESDF2d(); + publishESDF(); + publishPCL(); + } + void MapBuild(const sensor_msgs::PointCloud2 & pointcloud_map){ + if(has_map) { + publishESDF(); + return;} + pcl::PointCloud cloud; + pcl::fromROSMsg(pointcloud_map, cloud); + if( (int)cloud.points.size() == 0 ) return; + pcl::PointXYZ pt; + // cloud.points.clear();//data generaion + + for (int idx = 0; idx < (int)cloud.points.size(); idx++) + { + pt = cloud.points[idx]; + setObs(pt); + } + has_map = true; + updateESDF2d(); + publishESDF(); + } + void setObs(pcl::PointXYZ pt){ + if(Dim==3){ + double coord_x = pt.x; + double coord_y = pt.y; + double coord_z = pt.z; + Vec3f pt = Vec3f(coord_x,coord_y,coord_z); + Veci index3i; + for(int i = 0; i < Dim; i++) + index3i(i) = std::round((pt(i) - origin_d_(i)) / res_ - 0.5); + if(isOutside(index3i)) + return; + for (int i=-expand_size;i<=expand_size;i++) + for (int j=-expand_size;j<=expand_size;j++) + for (int k=-expand_size;k<=expand_size;k++) + { + Veci temp_index; + temp_index(0) = index3i(0)+i; + temp_index(1) = index3i(1)+j; + temp_index(2) = index3i(2)+k; + if(isOutside(temp_index)) continue; + map_[getIndex(temp_index)] = val_occ; + } + } + else{ + double coord_x = pt.x; + double coord_y = pt.y; + Vec2f pt = Vec2f(coord_x,coord_y); + Veci index2i; + for(int i = 0; i < Dim; i++) + index2i(i) = std::round((pt(i) - origin_d_(i)) / res_ - 0.5); + if(isOutside(index2i)) + return; + for (int i=-expand_size;i<=expand_size;i++) + for (int j=-expand_size;j<=expand_size;j++) + { + Veci temp_index; + temp_index(0) = index2i(0)+i; + temp_index(1) = index2i(1)+j; + if(isOutside(temp_index)) continue; + map_[getIndex(temp_index)] = val_occ; + } + + } + return; + + } + ///Get index of a cell + int getIndex(const Veci& pn) { + return Dim == 2 ? pn(0) + dim_(0) * pn(1) : + pn(0) + dim_(0) * pn(1) + dim_(0) * dim_(1) * pn(2); + } + ///Check if the given cell is outside of the map in i-the dimension + bool isOutsideXYZ(const Veci &n, int i) { return n(i) < 0 || n(i) >= dim_(i); } + ///Check if the cell is free by index + bool isFree(int idx) { return map_[idx] == val_free; } + ///Check if the cell is unknown by index + bool isUnknown(int idx) { return map_[idx] == val_unknown; } + ///Check if the cell is occupied by index + bool isOccupied(int idx) { return map_[idx] > val_free; } + //free 0 occ 100 unknow -1 + ///Check if the cell is outside by coordinate + bool isOutside(const Veci &pn) { + for(int i = 0; i < Dim; i++) + if (pn(i) < 0 || pn(i) >= dim_(i)) + return true; + return false; + } + ///Check if the given cell is free by coordinate + bool isFree(const Veci &pn) { + if (isOutside(pn)) + return false; + else + return isFree(getIndex(pn)); + } + ///Check if the given cell is occupied by coordinate + bool isOccupied(const Veci &pn) { + if (isOutside(pn)) + return true; + else + return isOccupied(getIndex(pn)); + } + bool isOccupied(const Vecf &pt) { + Veci pn = floatToInt(pt); + if (isOutside(pn)) + return true; + else + return isOccupied(getIndex(pn)); + } + + + ///Check if the given cell is unknown by coordinate + bool isUnknown(const Veci &pn) { + if (isOutside(pn)) + return false; + return map_[getIndex(pn)] == val_unknown; + } + + /** + * @brief Set map + * + * @param ori origin position + * @param dim number of cells in each dimension + * @param map array of cell values + * @param res map resolution + */ + void setMap(const Vecf& ori, const Veci& dim, const Tmap &map, double res) { + map_ = map; + dim_ = dim; + origin_d_ = ori; + res_ = res; + } + + ///Print basic information about the util + void info() { + Vecf range = dim_.template cast() * res_; + std::cout << "MapUtil Info ========================== " << std::endl; + std::cout << " res: [" << res_ << "]" << std::endl; + std::cout << " origin: [" << origin_d_.transpose() << "]" << std::endl; + std::cout << " range: [" << range.transpose() << "]" << std::endl; + std::cout << " dim: [" << dim_.transpose() << "]" << std::endl; + }; + + ///Float position to discrete cell coordinate + Veci floatToInt(const Vecf &pt) { + Veci pn; + for(int i = 0; i < Dim; i++) + pn(i) = floor((pt(i) - origin_d_(i)) / res_); + return pn; + } + ///Discrete cell coordinate to float position + Vecf intToFloat(const Veci &pn) { + //return pn.template cast() * res_ + origin_d_; + return (pn.template cast() + Vecf::Constant(0.5)) * res_ + origin_d_; + } + + ///Raytrace from float point pt1 to pt2 + vec_Veci rayTrace(const Vecf &pt1, const Vecf &pt2) { + Vecf diff = pt2 - pt1; + double k = 0.8; + int max_diff = (diff / res_).template lpNorm() / k; + double s = 1.0 / max_diff; + Vecf step = diff * s; + + vec_Veci pns; + Veci prev_pn = Veci::Constant(-1); + for (int n = 1; n < max_diff; n++) { + Vecf pt = pt1 + step * n; + Veci new_pn = floatToInt(pt); + if (isOutside(new_pn)) + break; + if (new_pn != prev_pn) + pns.push_back(new_pn); + prev_pn = new_pn; + } + return pns; + } + + ///Check if the ray from p1 to p2 is occluded + bool isBlocked(const Vecf& p1, const Vecf& p2, int8_t val = 100) { + vec_Veci pns = rayTrace(p1, p2); + for (const auto &pn : pns) { + if (map_[getIndex(pn)] >= val) + return true; + } + return false; + } + + ///Get occupied voxels + vec_Vecf getCloud() { + vec_Vecf cloud; + Veci n; + if(Dim == 3) { + for (n(0) = 0; n(0) < dim_(0); n(0)++) { + for (n(1) = 0; n(1) < dim_(1); n(1)++) { + for (n(2) = 0; n(2) < dim_(2); n(2)++) { + if (isOccupied(getIndex(n))) + cloud.push_back(intToFloat(n)); + } + } + } + } + else if (Dim == 2) { + for (n(0) = 0; n(0) < dim_(0); n(0)++) { + for (n(1) = 0; n(1) < dim_(1); n(1)++) { + if (isOccupied(getIndex(n))) + cloud.push_back(intToFloat(n)); + } + } + } + + return cloud; + } + void updateESDF2d() { + if(Dim != 2){ + ROS_ERROR("Dimension mismatch!"); + } + Eigen::Vector2i min_esdf = Eigen::Vector2i(0,0); + Eigen::Vector2i max_esdf = Eigen::Vector2i(dim_(0) - 1, dim_(1) - 1); + + /* ========== compute positive DT ========== */ + + for (int x = min_esdf[0]; x <= max_esdf[0]; x++) { + fillESDF( + [&](int y) { + return isOccupied(Vec2i(x, y))? + 0 : + std::numeric_limits::max(); + }, + [&](int y, double val) {tmp_buffer1_[getIndex(Vec2i(x, y))] = val; }, min_esdf[1], + max_esdf[1], 1); + } + + for (int y = min_esdf[1]; y <= max_esdf[1]; y++) { + fillESDF([&](int x) { return tmp_buffer1_[getIndex(Vec2i(x, y))]; }, + [&](int x, double val) { + distance_buffer_[getIndex(Vec2i(x, y))] = res_ * std::sqrt(val); + // min(mp_.resolution_ * std::sqrt(val), + // md_.distance_buffer_[toAddress(x, y, z)]); + }, + min_esdf[0], max_esdf[0], 0); + } + + /* ========== compute negative distance ========== */ + for (int x = min_esdf(0); x <= max_esdf(0); ++x) + for (int y = min_esdf(1); y <= max_esdf(1); ++y) + { + int idx = getIndex(Vec2i(x, y)); + if (isFree(idx)) { + occupancy_buffer_neg[idx] = 1; + + } else if (isOccupied(idx)) { + occupancy_buffer_neg[idx] = 0; + } else { + ROS_ERROR("what?"); + } + } + + ros::Time t1, t2; + + for (int x = min_esdf[0]; x <= max_esdf[0]; x++) { + fillESDF( + [&](int y) { + return occupancy_buffer_neg[getIndex(Vec2i(x, y))] == 1 ? + 0 : + std::numeric_limits::max(); + }, + [&](int y, double val) { tmp_buffer1_[getIndex(Vec2i(x, y))] = val; }, min_esdf[1], + max_esdf[1], 1); + } + + for (int y = min_esdf[1]; y <= max_esdf[1]; y++) { + fillESDF([&](int x) { return tmp_buffer1_[getIndex(Vec2i(x, y))]; }, + [&](int x, double val) { + distance_buffer_neg_[getIndex(Vec2i(x, y))] = res_ * std::sqrt(val); + }, + min_esdf[0], max_esdf[0], 0); + } + + /* ========== combine pos and neg DT ========== */ + for (int x = min_esdf(0); x <= max_esdf(0); ++x) + for (int y = min_esdf(1); y <= max_esdf(1); ++y) + { + int idx = getIndex(Vec2i(x, y)); + distance_buffer_all_[idx] = distance_buffer_[idx]; + + if (distance_buffer_neg_[idx] > 0.0){ + distance_buffer_all_[idx] += (-distance_buffer_neg_[idx] + res_); + } + } + + } + template + void fillESDF(F_get_val f_get_val, F_set_val f_set_val, int start, int end, int d) { + int v[dim_(d)]; + double z[dim_(d) + 1]; + + int k = start; + v[start] = start; + z[start] = -std::numeric_limits::max(); + z[start + 1] = std::numeric_limits::max(); + + for (int q = start + 1; q <= end; q++) { + k++; + double s; + + do { + k--; + s = ((f_get_val(q) + q * q) - (f_get_val(v[k]) + v[k] * v[k])) / (2 * q - 2 * v[k]); + } while (s <= z[k]); + + k++; + + v[k] = q; + z[k] = s; + z[k + 1] = std::numeric_limits::max(); + } + + k = start; + + for (int q = start; q <= end; q++) { + while (z[k + 1] < q) k++; + double val = (q - v[k]) * (q - v[k]) + f_get_val(v[k]); + f_set_val(q, val); + } + } + inline double getDistance(const Eigen::Vector2d& pos) { + Eigen::Vector2i id; + id = floatToInt(pos); + boundIndex(id); + return distance_buffer_all_[getIndex(id)]; + } + inline double getDistance(const Eigen::Vector2i& id) { + Eigen::Vector2i id1 = id; + boundIndex(id1); + return distance_buffer_all_[getIndex(id1)]; + } + inline void boundIndex(Eigen::Vector2i& id) { + Eigen::Vector2i id1; + id1(0) = std::max(std::min(id(0), dim_(0) - 1), 0); + id1(1) = std::max(std::min(id(1), dim_(1) - 1), 0); + id = id1; + } + void publishPCL(){ + vec_Vecf pcs = getCloud(); + pcl::PointCloud cloud; + pcl::PointXYZI pt; + for(const auto& pc : pcs){ + pt.x = pc[0]; + pt.y = pc[1]; + pt.z = 0.0; + cloud.push_back(pt); + } + cloud.width = cloud.points.size(); + cloud.height = 1; + cloud.is_dense = true; + cloud.header.frame_id = "world"; + sensor_msgs::PointCloud2 cloud_msg; + pcl::toROSMsg(cloud, cloud_msg); + pcl_pub_.publish(cloud_msg); + + } + void publishESDF() { + double dist; + pcl::PointCloud cloud; + pcl::PointXYZI pt; + const double min_dist = -4.0; + const double max_dist = 4.0; + Eigen::Vector2i min_cut = Eigen::Vector2i(0,0); + Eigen::Vector2i max_cut = Eigen::Vector2i(dim_(0)-1,dim_(1)-1); + + for (int x = min_cut(0); x <= max_cut(0); ++x) + for (int y = min_cut(1); y <= max_cut(1); ++y) { + Vec2f pos; + pos = intToFloat(Vec2i(x, y)); + dist = getDistance(pos); + // if(distmax_dist) dist = max_dist; + pt.x = pos(0); + pt.y = pos(1); + pt.z = dist; + pt.intensity = (dist - min_dist) / (max_dist - min_dist); + cloud.push_back(pt); + // } + } + cloud.width = cloud.points.size(); + cloud.height = 1; + cloud.is_dense = true; + cloud.header.frame_id = "world"; + sensor_msgs::PointCloud2 cloud_msg; + pcl::toROSMsg(cloud, cloud_msg); + esdf_pub_.publish(cloud_msg); + } + inline double getDistGrad(Eigen::Vector2d po, Eigen::Vector2d& grad) { + Eigen::Vector2d pos(po(0),po(1)); + if (isOutside(floatToInt(pos))) { + grad.setZero(); + return 0; + } + + /* use bilinear interpolation */ + Eigen::Vector2d pos_m = pos - 0.5 * res_ * Eigen::Vector2d::Ones(); + + Eigen::Vector2i idx; + idx = floatToInt(pos_m); + Eigen::Vector2d idx_pos, diff; + idx_pos = intToFloat(idx); + + diff = (pos - idx_pos) / res_; + + double values[2][2]; + for (int x = 0; x < 2; x++) { + for (int y = 0; y < 2; y++) { + Eigen::Vector2i current_idx = idx + Eigen::Vector2i(x, y); + values[x][y] = getDistance(current_idx); + } + } + double v00 = (1-diff(0)) * values[0][0] + diff(0) * values[1][0]; + double v10 = (1-diff(0)) * values[0][1] + diff(0) * values[1][1]; + double v0 = (1-diff(1)) * v00 + diff(1) * v10; + // double dist = v0; + grad[1] = (v10 - v00) / res_; + grad[0] = ((1-diff(1)) * (values[1][0]-values[0][0]) + diff(1) * (values[1][1]-values[0][1])) / res_; + + return v0; + } + + ///Get free voxels + vec_Vecf getFreeCloud() { + vec_Vecf cloud; + Veci n; + if(Dim == 3) { + for (n(0) = 0; n(0) < dim_(0); n(0)++) { + for (n(1) = 0; n(1) < dim_(1); n(1)++) { + for (n(2) = 0; n(2) < dim_(2); n(2)++) { + if (isFree(getIndex(n))) + cloud.push_back(intToFloat(n)); + } + } + } + } + else if (Dim == 2) { + for (n(0) = 0; n(0) < dim_(0); n(0)++) { + for (n(1) = 0; n(1) < dim_(1); n(1)++) { + if (isFree(getIndex(n))) + cloud.push_back(intToFloat(n)); + } + } + } + + return cloud; + } + + ///Get unknown voxels + vec_Vecf getUnknownCloud() { + vec_Vecf cloud; + Veci n; + if(Dim == 3) { + for (n(0) = 0; n(0) < dim_(0); n(0)++) { + for (n(1) = 0; n(1) < dim_(1); n(1)++) { + for (n(2) = 0; n(2) < dim_(2); n(2)++) { + if (isUnknown(getIndex(n))) + cloud.push_back(intToFloat(n)); + } + } + } + } + else if (Dim == 2) { + for (n(0) = 0; n(0) < dim_(0); n(0)++) { + for (n(1) = 0; n(1) < dim_(1); n(1)++) { + if (isUnknown(getIndex(n))) + cloud.push_back(intToFloat(n)); + } + } + } + + return cloud; + } + + ///Dilate occupied cells + void dilate(const vec_Veci& dilate_neighbor) { + Tmap map = map_; + Veci n = Veci::Zero(); + if(Dim == 3) { + for (n(0) = 0; n(0) < dim_(0); n(0)++) { + for (n(1) = 0; n(1) < dim_(1); n(1)++) { + for (n(2) = 0; n(2) < dim_(2); n(2)++) { + if (isOccupied(getIndex(n))) { + for (const auto &it : dilate_neighbor) { + if (!isOutside(n + it)) + map[getIndex(n + it)] = val_occ; + } + } + } + } + } + } + else if(Dim == 2) { + for (n(0) = 0; n(0) < dim_(0); n(0)++) { + for (n(1) = 0; n(1) < dim_(1); n(1)++) { + if (isOccupied(getIndex(n))) { + for (const auto &it : dilate_neighbor) { + if (!isOutside(n + it)) + map[getIndex(n + it)] = val_occ; + } + } + } + } + } + + map_ = map; + } + + ///Free unknown voxels + void freeUnknown() { + Veci n; + if(Dim == 3) { + for (n(0) = 0; n(0) < dim_(0); n(0)++) { + for (n(1) = 0; n(1) < dim_(1); n(1)++) { + for (n(2) = 0; n(2) < dim_(2); n(2)++) { + if (isUnknown(getIndex(n))) + map_[getIndex(n)] = val_free; + } + } + } + } + else if (Dim == 2) { + for (n(0) = 0; n(0) < dim_(0); n(0)++) { + for (n(1) = 0; n(1) < dim_(1); n(1)++) { + if (isUnknown(getIndex(n))) + map_[getIndex(n)] = val_free; + } + } + } + } + void CheckIfCollisionUsingPosAndYaw(const Eigen::Vector3d &state, bool *res, double flat = 0.0){ + if(Dim==3){ + ROS_ERROR("CheckIfCollisionUsingPosAndYaw Only works with Dimension = 2!"); + return; + } + else{ + Eigen::Matrix2d rotM; + double yaw = state[2]; + rotM << cos(yaw), -sin(yaw), + sin(yaw), cos(yaw); + Eigen::Vector2d p = state.head(2); + for(int i = 0; i < priv_config_->conpts.size(); i++){ + // Eigen::Vector2d rep1 = priv_config_->conpts[i]; + // Eigen::Vector2d rep2 = priv_config_->conpts[(i+1)%priv_config_->conpts.size()]; + // if(rep1[0] > 0){ + // rep1[0] += res_; + // } + // else{ + // rep1[0] -= res_; + // } + // if(rep1[1] > 0){ + // rep1[1] += res_; + // } + // else{ + // rep1[1] -= res_; + // } + // if(rep2[0] > 0){ + // rep2[0] += res_; + // } + // else{ + // rep2[0] -= res_; + // } + // if(rep2[1] > 0){ + // rep2[1] += res_; + // } + // else{ + // rep2[1] -= res_; + // } + // Eigen::Vector2d pt1 = p + rotM * rep1; + // Eigen::Vector2d pt2 = p + rotM * rep2; + // if(isBlocked(pt1, pt2)){ + // *res = true; + // return; + // } + + Eigen::Vector2d pt = p + rotM * priv_config_->conpts[i]; + Eigen::Vector2d grad; + // if(flat > 0){ + // std::cout << "dis: "<safeMargin + flat){ + *res = true; + return; + } + + } + } + *res = false; + return; + } + + + void CheckIfCollisionForBackEnd(const Eigen::Vector3d &state, bool *res){ + if(Dim==3){ + ROS_ERROR("CheckIfCollisionUsingPosAndYaw Only works with Dimension = 2!"); + return; + } + else{ + Eigen::Matrix2d rotM; + double yaw = state[2]; + rotM << cos(yaw), -sin(yaw), + sin(yaw), cos(yaw); + Eigen::Vector2d p = state.head(2); + for(int i = 0; i < priv_config_->conpts.size(); i++){ + // Eigen::Vector2d rep1 = priv_config_->conpts[i]; + // Eigen::Vector2d rep2 = priv_config_->conpts[(i+1)%priv_config_->conpts.size()]; + // if(rep1[0] > 0){ + // rep1[0] += res_; + // } + // else{ + // rep1[0] -= res_; + // } + // if(rep1[1] > 0){ + // rep1[1] += res_; + // } + // else{ + // rep1[1] -= res_; + // } + // if(rep2[0] > 0){ + // rep2[0] += res_; + // } + // else{ + // rep2[0] -= res_; + // } + // if(rep2[1] > 0){ + // rep2[1] += res_; + // } + // else{ + // rep2[1] -= res_; + // } + // Eigen::Vector2d pt1 = p + rotM * rep1; + // Eigen::Vector2d pt2 = p + rotM * rep2; + // if(isBlocked(pt1, pt2)){ + // *res = true; + // return; + // } + + Eigen::Vector2d pt = p + rotM * priv_config_->conpts[i]; + Eigen::Vector2d grad; + if(getDistGrad(pt, grad)safeMargin){ + *res = true; + return; + } + + } + } + *res = false; + return; + } + ///Map entity + Tmap map_; + std::vector distance_buffer_; + std::vector distance_buffer_neg_; + std::vector occupancy_buffer_neg; + std::vector distance_buffer_all_; + std::vector tmp_buffer1_; + std::string world_frame_id; + + protected: + ///Resolution + double res_; + ///Origin, float type + Vecf origin_d_; + ///Dimension, int type + Veci dim_; + Vecf map_size; + ///Assume occupied cell has value 100 + int8_t val_occ = 100; + ///Assume free cell has value 0 + int8_t val_free = 0; + ///Assume unknown cell has value -1 + int8_t val_unknown = -1; + ///inflate size + int expand_size = 1; + bool has_map = false; + ros::Subscriber point_cloud_sub_; + ConfigPtr priv_config_; + ros::Publisher esdf_pub_; + ros::Publisher pcl_pub_; + }; + typedef MapUtil<2> OccMapUtil; + typedef MapUtil<3> VoxelMapUtil; + + +} + + +#endif diff --git a/trajectoryOpt/src/utils/tools/include/tools/tic_toc.hpp b/trajectoryOpt/src/utils/tools/include/tools/tic_toc.hpp new file mode 100644 index 0000000..8b76efe --- /dev/null +++ b/trajectoryOpt/src/utils/tools/include/tools/tic_toc.hpp @@ -0,0 +1,53 @@ +/** + * @file tic_toc.h + * @author HKUST Aerial Robotics Group + * @brief + * @version 0.1 + * @date 2019-03-17 + * + * @copyright Copyright (c) 2019 + */ +#ifndef _COMMON_INC_COMMON_BASICS_TIC_TOC_H_ +#define _COMMON_INC_COMMON_BASICS_TIC_TOC_H_ + +#include +#include +#include + +class TicToc { + public: + TicToc() { tic(); } + + /** + * @brief start timing + * @note the unit of time is in millisecond (ms) + */ + void tic() { start = std::chrono::system_clock::now(); } + + /** + * @brief get time elapsed + * @note the unit of time is in millisecond (ms) + */ + double toc() { + end = std::chrono::system_clock::now(); + std::chrono::duration elapsed_seconds = end - start; + return elapsed_seconds.count() * 1000; + } + + /** + * @brief Convert chrono::system_clock::time_point to double + * + * @param t + * @return double + */ + static double TimePointToDouble( + const std::chrono::system_clock::time_point& t) { + auto tt = std::chrono::duration(t.time_since_epoch()); + return tt.count(); + } + + private: + std::chrono::time_point start, end; +}; + +#endif \ No newline at end of file diff --git a/trajectoryOpt/src/utils/tools/include/tools/visualization.hpp b/trajectoryOpt/src/utils/tools/include/tools/visualization.hpp new file mode 100755 index 0000000..7d4c85e --- /dev/null +++ b/trajectoryOpt/src/utils/tools/include/tools/visualization.hpp @@ -0,0 +1,619 @@ +/* + MIT License + + Copyright (c) 2020 Jialin Ji () + 2021 Hongkai Ye (kyle_yeh@163.com) + + Permission is hereby granted, free of charge, to any person obtaining a copy + of this software and associated documentation files (the "Software"), to deal + in the Software without restriction, including without limitation the rights + to use, copy, modify, merge, publish, distribute, sublicense, and/or sell + copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all + copies or substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR + IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, + FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE + AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER + LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE + SOFTWARE. +*/ +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +namespace visualization { +struct BALL { + Eigen::Vector3d center; + double radius; + BALL(const Eigen::Vector3d& c, double r) : center(c), radius(r){}; + BALL(){}; +}; + +using PublisherMap = std::unordered_map; +enum Color { white, + red, + green, + blue, + yellow, + chartreuse, + black, + gray, + orange, + purple, + pink, + steelblue }; + +class Visualization { + private: + ros::NodeHandle nh_; + PublisherMap publisher_map_; + + void setMarkerColor(visualization_msgs::Marker& marker, + Color color = blue, + double a = 1) { + marker.color.a = a; + switch (color) { + case white: + marker.color.r = 1; + marker.color.g = 1; + marker.color.b = 1; + break; + case red: + marker.color.r = 1; + marker.color.g = 0; + marker.color.b = 0; + break; + case green: + marker.color.r = 0; + marker.color.g = 1; + marker.color.b = 0; + break; + case blue: + marker.color.r = 0; + marker.color.g = 0; + marker.color.b = 1; + break; + case yellow: + marker.color.r = 1; + marker.color.g = 1; + marker.color.b = 0; + break; + case chartreuse: + marker.color.r = 0.5; + marker.color.g = 1; + marker.color.b = 0; + break; + case black: + marker.color.r = 0; + marker.color.g = 0; + marker.color.b = 0; + break; + case gray: + marker.color.r = 0.5; + marker.color.g = 0.5; + marker.color.b = 0.5; + break; + case orange: + marker.color.r = 1; + marker.color.g = 0.5; + marker.color.b = 0; + break; + case purple: + marker.color.r = 0.5; + marker.color.g = 0; + marker.color.b = 1; + break; + case pink: + marker.color.r = 1; + marker.color.g = 0; + marker.color.b = 0.6; + break; + case steelblue: + marker.color.r = 0.4; + marker.color.g = 0.7; + marker.color.b = 1; + break; + } + } + + void setMarkerColor(visualization_msgs::Marker& marker, + double a, + double r, + double g, + double b) { + marker.color.a = a; + marker.color.r = r; + marker.color.g = g; + marker.color.b = b; + } + + void setMarkerScale(visualization_msgs::Marker& marker, + const double& x, + const double& y, + const double& z) { + marker.scale.x = x; + marker.scale.y = y; + marker.scale.z = z; + } + + void setMarkerPose(visualization_msgs::Marker& marker, + const double& x, + const double& y, + const double& z) { + marker.pose.position.x = x; + marker.pose.position.y = y; + marker.pose.position.z = z; + marker.pose.orientation.w = 1; + marker.pose.orientation.x = 0; + marker.pose.orientation.y = 0; + marker.pose.orientation.z = 0; + } + template + void setMarkerPose(visualization_msgs::Marker& marker, + const double& x, + const double& y, + const double& z, + const ROTATION& R) { + marker.pose.position.x = x; + marker.pose.position.y = y; + marker.pose.position.z = z; + Eigen::Quaterniond r(R); + marker.pose.orientation.w = r.w(); + marker.pose.orientation.x = r.x(); + marker.pose.orientation.y = r.y(); + marker.pose.orientation.z = r.z(); + } + + public: + Visualization(ros::NodeHandle& nh) : nh_(nh) {} + + template + void visualize_a_ball(const CENTER& c, + const double& r, + const TOPIC& topic, + const Color color = blue, + const double a = 1) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + visualization_msgs::Marker marker; + marker.header.frame_id = "world"; + marker.type = visualization_msgs::Marker::SPHERE; + marker.action = visualization_msgs::Marker::ADD; + setMarkerColor(marker, color, a); + setMarkerScale(marker, 2 * r, 2 * r, 2 * r); + setMarkerPose(marker, c[0], c[1], c[2]); + marker.header.stamp = ros::Time::now(); + publisher_map_[topic].publish(marker); + } + + template + void visualize_pointcloud(const PC& pc, const TOPIC& topic) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + pcl::PointCloud point_cloud; + sensor_msgs::PointCloud2 point_cloud_msg; + point_cloud.reserve(pc.size()); + for (const auto& pt : pc) { + if(pt.size()==3){ + point_cloud.points.emplace_back(pt[0], pt[1], pt[2]); + } + else{ + point_cloud.points.emplace_back(pt[0], pt[1], 0.0); + } + } + pcl::toROSMsg(point_cloud, point_cloud_msg); + point_cloud_msg.header.frame_id = "world"; + point_cloud_msg.header.stamp = ros::Time::now(); + publisher_map_[topic].publish(point_cloud_msg); + } + + template + void visualize_path(const PATH& path, const TOPIC& topic) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + nav_msgs::Path path_msg; + geometry_msgs::PoseStamped tmpPose; + tmpPose.header.frame_id = "world"; + for (const auto& pt : path) { + if(pt.size() == 3){ + tmpPose.pose.position.x = pt[0]; + tmpPose.pose.position.y = pt[1]; + tmpPose.pose.position.z = pt[2]; + } + else if(pt.size()==2){ + tmpPose.pose.position.x = pt[0]; + tmpPose.pose.position.y = pt[1]; + tmpPose.pose.position.z = 0.0; + } + else{ + ROS_ERROR("Dim must be 2 or 3 "); + } + path_msg.poses.push_back(tmpPose); + } + path_msg.header.frame_id = "world"; + path_msg.header.stamp = ros::Time::now(); + publisher_map_[topic].publish(path_msg); + } + + template + void visualize_balls(const BALLS& balls, + const TOPIC& topic, + const Color color = blue, + const double a = 0.2) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = + nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + visualization_msgs::Marker marker; + marker.header.frame_id = "world"; + marker.type = visualization_msgs::Marker::SPHERE; + marker.action = visualization_msgs::Marker::ADD; + marker.id = 0; + setMarkerColor(marker, color, a); + visualization_msgs::MarkerArray marker_array; + marker_array.markers.reserve(balls.size() + 1); + marker.action = visualization_msgs::Marker::DELETEALL; + marker_array.markers.push_back(marker); + marker.action = visualization_msgs::Marker::ADD; + for (const auto& ball : balls) { + setMarkerPose(marker, ball.center[0], ball.center[1], ball.center[2]); + auto d = 2 * ball.radius; + setMarkerScale(marker, d, d, d); + marker_array.markers.push_back(marker); + marker.id++; + } + publisher_map_[topic].publish(marker_array); + } + + template + void visualize_ellipsoids(const ELLIPSOID& ellipsoids, + const TOPIC& topic, + const Color color = blue, + const double a = 0.2) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = + nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + visualization_msgs::Marker marker; + marker.header.frame_id = "world"; + marker.type = visualization_msgs::Marker::SPHERE; + marker.action = visualization_msgs::Marker::ADD; + marker.id = 0; + setMarkerColor(marker, color, a); + visualization_msgs::MarkerArray marker_array; + marker_array.markers.reserve(ellipsoids.size() + 1); + marker.action = visualization_msgs::Marker::DELETEALL; + marker_array.markers.push_back(marker); + marker.action = visualization_msgs::Marker::ADD; + for (const auto& e : ellipsoids) { + setMarkerPose(marker, e.c[0], e.c[1], e.c[2], e.R); + setMarkerScale(marker, 2 * e.rx, 2 * e.ry, 2 * e.rz); + marker_array.markers.push_back(marker); + marker.id++; + } + publisher_map_[topic].publish(marker_array); + } + + template + // eg for PAIRLINE: std::vector> + void visualize_pairline(const PAIRLINE& pairline, const TOPIC& topic, const Color& color = green, double scale = 0.1) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + visualization_msgs::Marker marker; + marker.header.frame_id = "world"; + marker.type = visualization_msgs::Marker::LINE_LIST; + marker.action = visualization_msgs::Marker::ADD; + setMarkerPose(marker, 0, 0, 0); + setMarkerColor(marker, color, 1); + setMarkerScale(marker, scale, scale, scale); + marker.points.resize(2 * pairline.size()); + for (size_t i = 0; i < pairline.size(); ++i) { + marker.points[2 * i + 0].x = pairline[i].first[0]; + marker.points[2 * i + 0].y = pairline[i].first[1]; + marker.points[2 * i + 0].z = pairline[i].first[2]; + marker.points[2 * i + 1].x = pairline[i].second[0]; + marker.points[2 * i + 1].y = pairline[i].second[1]; + marker.points[2 * i + 1].z = pairline[i].second[2]; + } + publisher_map_[topic].publish(marker); + } + + template + // ARROWS: pair + void visualize_arrows(const ARROWS& arrows, const TOPIC& topic, const Color& color) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = + nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + visualization_msgs::Marker clear_previous_msg; + clear_previous_msg.action = visualization_msgs::Marker::DELETEALL; + visualization_msgs::Marker arrow_msg; + arrow_msg.type = visualization_msgs::Marker::ARROW; + arrow_msg.action = visualization_msgs::Marker::ADD; + arrow_msg.header.frame_id = "world"; + arrow_msg.id = 0; + arrow_msg.points.resize(2); + setMarkerPose(arrow_msg, 0, 0, 0); + setMarkerScale(arrow_msg, 0.02, 0.12, 0); + setMarkerColor(arrow_msg, color, 0.7); + visualization_msgs::MarkerArray arrow_list_msg; + arrow_list_msg.markers.reserve(1 + arrows.size()); + arrow_list_msg.markers.push_back(clear_previous_msg); + for (const auto& arrow : arrows) { + if(arrow.first.size()==3){ + arrow_msg.points[0].x = arrow.first[0]; + arrow_msg.points[0].y = arrow.first[1]; + arrow_msg.points[0].z = arrow.first[2]; + arrow_msg.points[1].x = arrow.second[0]; + arrow_msg.points[1].y = arrow.second[1]; + arrow_msg.points[1].z = arrow.second[2]; + } + else{ + arrow_msg.points[0].x = arrow.first[0]; + arrow_msg.points[0].y = arrow.first[1]; + arrow_msg.points[0].z = 4.0; + arrow_msg.points[1].x = arrow.second[0]; + arrow_msg.points[1].y = arrow.second[1]; + arrow_msg.points[1].z = 4.0; + } + arrow_list_msg.markers.push_back(arrow_msg); + arrow_msg.id += 1; + } + publisher_map_[topic].publish(arrow_list_msg); + } + + template + // TRAJ: + void visualize_traj(const TRAJ& traj, const TOPIC& topic) { + std::vector path; + auto duration = traj.getTotalDuration(); + for (double t = 0; t < duration; t += 0.01) { + Eigen::VectorXd pos = traj.getPos(t); + if(pos.size()==3){ + Eigen::Vector3d p3; + p3 << pos; + path.push_back(p3); + } + else if (pos.size()==2){ + Eigen::Vector3d p3; + p3 << pos, 0.0; + path.push_back(p3); + } + else{ + ROS_ERROR("Dim must be 3 or 2!"); + } + } + visualize_path(path, topic); + // std::vector wayPts; + // for (const auto& piece : traj) { + // wayPts.push_back(piece.getPos(0)); + // } + // visualize_pointcloud(wayPts, std::string(topic) + "_wayPts"); + } + + template + // TRAJ: + void visualize_se2traj(const TRAJ& traj, const TOPIC& topic) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + visualization_msgs::Marker carMarkers; + auto duration = traj.getTotalDuration(); + for (double t = 0; t < duration; t += 0.3) { + Eigen::Vector2d pos = traj.getPos(t); + double yaw = traj.getYaw(t); + carMarkers.action = visualization_msgs::Marker::ADD; + carMarkers.id = 0; + carMarkers.type = visualization_msgs::Marker::LINE_LIST; + carMarkers.pose.orientation.w = 1.00; + carMarkers.ns = "se2traj"; + carMarkers.color.r = 0.00; + carMarkers.color.g = 0.00; + carMarkers.color.b = 0.5; + carMarkers.color.a = 1.00; + carMarkers.scale.x = 0.05; + carMarkers.header.frame_id = "world"; + geometry_msgs::Point point1; + geometry_msgs::Point point2; + geometry_msgs::Point point3; + geometry_msgs::Point point4; + Eigen::Matrix2d R; + R << cos(yaw),-sin(yaw), + sin(yaw),cos(yaw); + Eigen::Vector2d offset1, tmp1; + offset1 = R*Eigen::Vector2d(0.68,0.23); + tmp1 = pos+offset1; + point1.x = tmp1[0]; + point1.y = tmp1[1]; + point1.z = 0; + Eigen::Vector2d offset2, tmp2; + offset2 = R*Eigen::Vector2d(0.68, -0.23); + tmp2 = pos+offset2; + point2.x = tmp2[0]; + point2.y = tmp2[1]; + point2.z = 0; + Eigen::Vector2d offset3, tmp3; + offset3 = R*Eigen::Vector2d(-0.08, -0.23); + tmp3 = pos+offset3; + point3.x = tmp3[0]; + point3.y = tmp3[1]; + point3.z = 0; + Eigen::Vector2d offset4, tmp4; + offset4 = R*Eigen::Vector2d(-0.08, 0.23); + tmp4 = pos+offset4; + point4.x = tmp4[0]; + point4.y = tmp4[1]; + point4.z = 0; + carMarkers.points.push_back(point1); + carMarkers.points.push_back(point2); + carMarkers.points.push_back(point2); + carMarkers.points.push_back(point3); + carMarkers.points.push_back(point3); + carMarkers.points.push_back(point4); + carMarkers.points.push_back(point4); + carMarkers.points.push_back(point1); + + } + carMarkers.header.stamp = ros::Time::now(); + publisher_map_[topic].publish(carMarkers); + // std::vector wayPts; + // for (const auto& piece : traj) { + // wayPts.push_back(piece.getPos(0)); + // } + // visualize_pointcloud(wayPts, std::string(topic) + "_wayPts"); + } + + template + // TRAJLIST: std::vector + void visualize_traj_list(const TRAJLIST& traj_list, const TOPIC& topic, + const Color color = blue, double scale = 0.1) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = + nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + visualization_msgs::Marker clear_previous_msg; + clear_previous_msg.action = visualization_msgs::Marker::DELETEALL; + visualization_msgs::Marker path_msg; + path_msg.type = visualization_msgs::Marker::LINE_STRIP; + path_msg.action = visualization_msgs::Marker::ADD; + path_msg.header.frame_id = "world"; + path_msg.id = 0; + setMarkerPose(path_msg, 0, 0, 0); + setMarkerScale(path_msg, scale, scale, scale); + visualization_msgs::MarkerArray path_list_msg; + path_list_msg.markers.reserve(1 + traj_list.size()); + path_list_msg.markers.push_back(clear_previous_msg); + // double a_step = 0.8 / traj_list.size(); + double a = 1.0; + geometry_msgs::Point p_msg; + for (const auto& traj : traj_list) { + setMarkerColor(path_msg, color, a); + // a = a + a_step; + path_msg.points.clear(); + for (double t = 0; t < traj.getDuration(); t += 0.01) { + auto p = traj.getSigma(t); + if(p.size()==3){ + p_msg.x = p[0]; + p_msg.y = p[1]; + p_msg.z = p[2]; + } + else{ + p_msg.x = p[0]; + p_msg.y = p[1]; + p_msg.z = 0.0; + + } + path_msg.points.push_back(p_msg); + } + path_list_msg.markers.push_back(path_msg); + path_msg.id += 1; + } + publisher_map_[topic].publish(path_list_msg); + } + + template + // PATHLIST: std::vector + void visualize_path_list(const PATHLIST& path_list, const TOPIC& topic, + const Color color = steelblue, double scale = 0.1) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = + nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + visualization_msgs::Marker clear_previous_msg; + clear_previous_msg.action = visualization_msgs::Marker::DELETEALL; + visualization_msgs::Marker path_msg; + path_msg.type = visualization_msgs::Marker::LINE_STRIP; + path_msg.action = visualization_msgs::Marker::ADD; + path_msg.header.frame_id = "world"; + path_msg.id = 0; + setMarkerPose(path_msg, 0, 0, 0); + setMarkerScale(path_msg, scale, scale, scale); + visualization_msgs::MarkerArray path_list_msg; + path_list_msg.markers.reserve(1 + path_list.size()); + path_list_msg.markers.push_back(clear_previous_msg); + setMarkerColor(path_msg, color); + for (const auto& path : path_list) { + path_msg.points.resize(path.size()); + for (size_t i = 0; i < path.size(); ++i) { + path_msg.points[i].x = path[i].x(); + path_msg.points[i].y = path[i].y(); + path_msg.points[i].z = path[i].z(); + } + path_list_msg.markers.push_back(path_msg); + path_msg.id += 1; + } + publisher_map_[topic].publish(path_list_msg); + } + template + // SFCS: std::vector + void visualize_sfc(const SFCS& hPolys, const TOPIC& topic) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = + nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + vec_E polyhedra; + polyhedra.reserve(hPolys.size()); + for (const Eigen::MatrixXd &ele : hPolys){ + Polyhedron2D hPoly; + for (int i = 0; i < ele.cols(); i++){ + hPoly.add(Hyperplane2D(ele.col(i).tail<2>(), ele.col(i).head<2>())); + } + polyhedra.push_back(hPoly); + } + + decomp_ros_msgs::PolyhedronArray poly_msg = DecompROS::polyhedron_array_to_ros(polyhedra); + poly_msg.header.frame_id = "world"; + poly_msg.header.stamp = ros::Time::now(); + publisher_map_[topic].publish(poly_msg); + } + + template + void registe(const TOPIC& topic) { + auto got = publisher_map_.find(topic); + if (got == publisher_map_.end()) { + ros::Publisher pub = nh_.advertise(topic, 10); + publisher_map_[topic] = pub; + } + } +}; + +} // namespace visualization diff --git a/trajectoryOpt/src/utils/tools/package.xml b/trajectoryOpt/src/utils/tools/package.xml new file mode 100644 index 0000000..f1e24f8 --- /dev/null +++ b/trajectoryOpt/src/utils/tools/package.xml @@ -0,0 +1,34 @@ + + + tools + + zhichaohan + + 0.1.0 + useful tools + GPLV3 + + catkin + + roscpp + sensor_msgs + nav_msgs + geometry_msgs + visualization_msgs + tf + cv_bridge + decomp_ros_utils + + roscpp + sensor_msgs + nav_msgs + geometry_msgs + visualization_msgs + tf + cv_bridge + decomp_ros_utils + + + + +