Obstacle avoidance refactoring
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@ -5,532 +5,63 @@
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package space.kscience.trajectory
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import space.kscience.kmath.geometry.*
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import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
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import space.kscience.kmath.geometry.Euclidean2DSpace.minus
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import space.kscience.kmath.geometry.Euclidean2DSpace.norm
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import space.kscience.kmath.geometry.Euclidean2DSpace.plus
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import space.kscience.kmath.geometry.Euclidean2DSpace.times
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import space.kscience.kmath.geometry.Euclidean2DSpace.vector
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import space.kscience.kmath.misc.zipWithNextCircular
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import space.kscience.kmath.operations.DoubleField.pow
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import kotlin.math.*
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internal data class Tangent(
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val startCircle: Circle2D,
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val endCircle: Circle2D,
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val startObstacle: Obstacle,
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val endObstacle: Obstacle,
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val lineSegment: LineSegment2D,
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val startDirection: Trajectory2D.Direction,
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val endDirection: Trajectory2D.Direction = startDirection,
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) : LineSegment2D by lineSegment
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import space.kscience.kmath.geometry.Circle2D
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import space.kscience.kmath.geometry.LineSegment2D
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import space.kscience.kmath.geometry.Polygon
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import space.kscience.kmath.geometry.Vector2D
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private class LR<T>(val l: T, val r: T) {
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operator fun get(direction: Trajectory2D.Direction) = when (direction) {
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Trajectory2D.L -> l
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Trajectory2D.R -> r
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}
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}
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public interface Obstacle {
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public val circles: List<Circle2D>
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public val center: Vector2D<Double>
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private class TangentPath(val tangents: List<Tangent>) {
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fun last() = tangents.last()
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}
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public fun intersects(segment: LineSegment2D): Boolean
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private fun TangentPath(vararg tangents: Tangent) = TangentPath(listOf(*tangents))
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/**
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* Create inner and outer tangents between two circles.
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* This method returns a map of segments using [DubinsPath] connection type notation.
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*/
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internal fun tangentsBetweenCircles(
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first: Circle2D,
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second: Circle2D,
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): Map<DubinsPath.Type, LineSegment2D> = with(Euclidean2DSpace) {
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//return empty map for concentric circles
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if (first.center.equalsVector(second.center)) return emptyMap()
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// A line connecting centers
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val line = LineSegment(first.center, second.center)
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// Distance between centers
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val distance = line.begin.distanceTo(line.end)
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val angle1 = atan2(second.center.x - first.center.x, second.center.y - first.center.y)
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var angle2: Double
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return listOf(
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DubinsPath.Type.RSR,
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DubinsPath.Type.RSL,
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DubinsPath.Type.LSR,
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DubinsPath.Type.LSL
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).associateWith { route ->
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val r1 = when (route.first) {
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Trajectory2D.L -> -first.radius
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Trajectory2D.R -> first.radius
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}
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val r2 = when (route.third) {
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Trajectory2D.L -> -second.radius
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Trajectory2D.R -> second.radius
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}
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val r = if (r1.sign == r2.sign) {
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r1.absoluteValue - r2.absoluteValue
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} else {
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r1.absoluteValue + r2.absoluteValue
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}
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if (distance * distance < r * r) error("Circles should not intersect")
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val l = sqrt(distance * distance - r * r)
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angle2 = if (r1.absoluteValue > r2.absoluteValue) {
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angle1 + r1.sign * atan2(r.absoluteValue, l)
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} else {
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angle1 - r2.sign * atan2(r.absoluteValue, l)
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}
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val w = vector(-cos(angle2), sin(angle2))
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LineSegment(
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first.center + w * r1,
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second.center + w * r2
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)
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}
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}
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internal class Obstacle(
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public val circles: List<Circle2D>,
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) {
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public val center: Vector2D<Double> = vector(
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circles.sumOf { it.center.x } / circles.size,
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circles.sumOf { it.center.y } / circles.size
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)
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internal val tangents: List<LineSegment2D>
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public val direction: Trajectory2D.Direction
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init {
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if (circles.size < 2) {
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tangents = emptyList()
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direction = Trajectory2D.R
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} else {
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val lslTangents = circles.zipWithNextCircular { a, b ->
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tangentsBetweenCircles(a, b)[DubinsPath.Type.LSL]!!
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}
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val rsrTangents = circles.zipWithNextCircular { a, b ->
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tangentsBetweenCircles(a, b)[DubinsPath.Type.RSR]!!
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}
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val center = vector(
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circles.sumOf { it.center.x } / circles.size,
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circles.sumOf { it.center.y } / circles.size
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)
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val lslToCenter =
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lslTangents.sumOf { it.begin.distanceTo(center) } + lslTangents.sumOf { it.end.distanceTo(center) }
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val rsrToCenter =
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rsrTangents.sumOf { it.begin.distanceTo(center) } + rsrTangents.sumOf { it.end.distanceTo(center) }
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if (rsrToCenter >= lslToCenter) {
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this.tangents = rsrTangents
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this.direction = Trajectory2D.R
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} else {
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this.tangents = lslTangents
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this.direction = Trajectory2D.L
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}
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}
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}
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internal fun nextTangent(circle: Circle2D, direction: Trajectory2D.Direction): Tangent {
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val circleIndex = circles.indexOf(circle)
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if (circleIndex == -1) error("Circle does not belong to this tangent")
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val nextCircleIndex = if (direction == this.direction) {
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if (circleIndex == circles.lastIndex) 0 else circleIndex + 1
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} else {
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if (circleIndex == 0) circles.lastIndex else circleIndex - 1
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}
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return Tangent(
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circle,
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circles[nextCircleIndex],
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this,
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this,
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LineSegment(
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tangents[nextCircleIndex].end,
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tangents[nextCircleIndex].begin
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),
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direction
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)
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}
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override fun equals(other: Any?): Boolean {
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if (other == null || other !is Obstacle) return false
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return circles == other.circles
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}
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override fun hashCode(): Int {
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return circles.hashCode()
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}
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}
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internal fun Obstacle(vararg circles: Circle2D): Obstacle = Obstacle(listOf(*circles))
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private fun LineSegment2D.intersectsSegment(other: LineSegment2D): Boolean {
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fun crossProduct(v1: DoubleVector2D, v2: DoubleVector2D): Double {
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return v1.x * v2.y - v1.y * v2.x
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}
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return if (crossProduct(other.begin - begin, other.end - begin).sign ==
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crossProduct(other.begin - end, other.end - end).sign
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) {
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false
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} else {
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crossProduct(begin - other.begin, end - other.begin).sign != crossProduct(
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begin - other.end,
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end - other.end
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).sign
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}
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}
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private fun LineSegment2D.intersectsCircle(circle: Circle2D): Boolean {
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val a = (begin.x - end.x).pow(2.0) + (begin.y - end.y).pow(2.0)
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val b = 2 * ((begin.x - end.x) * (end.x - circle.center.x) +
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(begin.y - end.y) * (end.y - circle.center.y))
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val c = (end.x - circle.center.x).pow(2.0) + (end.y - circle.center.y).pow(2.0) -
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circle.radius.pow(2.0)
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val d = b.pow(2.0) - 4 * a * c
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if (d < 1e-6) {
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return false
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} else {
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val t1 = (-b - d.pow(0.5)) * 0.5 / a
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val t2 = (-b + d.pow(0.5)) * 0.5 / a
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if (((0 < t1) and (t1 < 1)) or ((0 < t2) and (t2 < 1))) {
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return true
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}
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}
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return false
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}
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/**
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* Check if segment has any intersections with an obstacle
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*/
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private fun LineSegment2D.intersectsObstacle(obstacle: Obstacle): Boolean =
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obstacle.tangents.any { tangent -> intersectsSegment(tangent) }
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|| obstacle.circles.any { circle -> intersectsCircle(circle) }
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/**
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* All tangents between two obstacles
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*
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* In general generates 4 paths.
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* TODO check intersections.
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*/
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private fun outerTangents(first: Obstacle, second: Obstacle): Map<DubinsPath.Type, Tangent> = buildMap {
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for (firstCircle in first.circles) {
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for (secondCircle in second.circles) {
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for ((pathType, segment) in tangentsBetweenCircles(firstCircle, secondCircle)) {
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val tangent = Tangent(
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firstCircle,
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secondCircle,
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first,
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second,
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segment,
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pathType.first,
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pathType.third
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)
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if (!(tangent.intersectsObstacle(first)) && !(tangent.intersectsObstacle(second))) {
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put(
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pathType,
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tangent
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)
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}
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}
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}
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}
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}
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private fun arcLength(
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circle: Circle2D,
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point1: DoubleVector2D,
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point2: DoubleVector2D,
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direction: Trajectory2D.Direction,
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): Double {
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val phi1 = atan2(point1.y - circle.center.y, point1.x - circle.center.x)
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val phi2 = atan2(point2.y - circle.center.y, point2.x - circle.center.x)
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var angle = 0.0
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when (direction) {
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Trajectory2D.L -> {
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angle = if (phi2 >= phi1) {
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phi2 - phi1
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} else {
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2 * PI + phi2 - phi1
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}
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}
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Trajectory2D.R -> {
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angle = if (phi2 >= phi1) {
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2 * PI - (phi2 - phi1)
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} else {
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-(phi2 - phi1)
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}
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}
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}
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return circle.radius * angle
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}
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private fun normalVectors(v: DoubleVector2D, r: Double): Pair<DoubleVector2D, DoubleVector2D> {
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return Pair(
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r * vector(v.y / norm(v), -v.x / norm(v)),
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r * vector(-v.y / norm(v), v.x / norm(v))
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)
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}
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private fun constructTangentCircles(
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point: DoubleVector2D,
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direction: DoubleVector2D,
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r: Double,
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): LR<Circle2D> {
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val center1 = point + normalVectors(direction, r).first
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val center2 = point + normalVectors(direction, r).second
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val p1 = center1 - point
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return if (atan2(p1.y, p1.x) - atan2(direction.y, direction.x) in listOf(PI / 2, -3 * PI / 2)) {
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LR(
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Circle2D(center1, r),
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Circle2D(center2, r)
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)
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} else {
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LR(
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Circle2D(center2, r),
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Circle2D(center1, r)
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)
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}
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}
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private fun sortedObstacles(
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currentObstacle: Obstacle,
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obstacles: List<Obstacle>,
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): List<Obstacle> {
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return obstacles.sortedBy { norm(it.center - currentObstacle.center) }
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}
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private fun tangentsAlongTheObstacle(
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initialCircle: Circle2D,
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direction: Trajectory2D.Direction,
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finalCircle: Circle2D,
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obstacle: Obstacle,
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): List<Tangent> {
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val dubinsTangents = mutableListOf<Tangent>()
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var tangent = obstacle.nextTangent(initialCircle, direction)
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dubinsTangents.add(tangent)
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while (tangent.endCircle != finalCircle) {
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tangent = obstacle.nextTangent(tangent.endCircle, direction)
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dubinsTangents.add(tangent)
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}
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return dubinsTangents
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}
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/**
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* Check if all proposed paths have ended at [finalObstacle]
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*/
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private fun allFinished(
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paths: List<TangentPath>,
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finalObstacle: Obstacle,
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): Boolean {
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for (path in paths) {
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if (path.last().endObstacle != finalObstacle) {
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return false
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}
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}
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return true
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}
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private fun LineSegment2D.toTrajectory() = StraightTrajectory2D(begin, end)
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private fun TangentPath.toTrajectory(): CompositeTrajectory2D = CompositeTrajectory2D(
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buildList {
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tangents.zipWithNext().forEach { (left, right) ->
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add(left.lineSegment.toTrajectory())
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add(
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CircleTrajectory2D.of(
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right.startCircle.center,
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left.lineSegment.end,
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right.lineSegment.begin,
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right.startDirection
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)
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)
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}
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add(tangents.last().lineSegment.toTrajectory())
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}
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)
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internal fun findAllPaths(
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start: DubinsPose2D,
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startingRadius: Double,
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finish: DubinsPose2D,
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finalRadius: Double,
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obstacles: List<Obstacle>,
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): List<CompositeTrajectory2D> {
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fun DubinsPose2D.direction() = vector(cos(bearing), sin(bearing))
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// two circles for the initial point
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val initialCircles = constructTangentCircles(
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start,
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start.direction(),
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startingRadius
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)
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//two circles for the final point
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val finalCircles = constructTangentCircles(
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finish,
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finish.direction(),
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finalRadius
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)
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//all valid trajectories
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val trajectories = mutableListOf<CompositeTrajectory2D>()
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for (i in listOf(Trajectory2D.L, Trajectory2D.R)) {
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for (j in listOf(Trajectory2D.L, Trajectory2D.R)) {
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//Using obstacle to minimize code bloat
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val finalObstacle = Obstacle(finalCircles[j])
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var currentPaths: List<TangentPath> = listOf(
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TangentPath(
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//We need only the direction of the final segment from this
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Tangent(
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initialCircles[i],
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initialCircles[i],
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Obstacle(initialCircles[i]),
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Obstacle(initialCircles[i]),
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LineSegment(start, start),
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i
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)
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)
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)
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while (!allFinished(currentPaths, finalObstacle)) {
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// paths after next obstacle iteration
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val newPaths = mutableListOf<TangentPath>()
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// for each path propagate it one obstacle further
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for (tangentPath: TangentPath in currentPaths) {
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val currentCircle = tangentPath.last().endCircle
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val currentDirection: Trajectory2D.Direction = tangentPath.last().endDirection
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val currentObstacle = tangentPath.last().endObstacle
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// If path is finished, ignore it
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// TODO avoid returning to ignored obstacle on the next cycle
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if (currentObstacle == finalObstacle) {
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newPaths.add(tangentPath)
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} else {
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val tangentToFinal: Tangent = outerTangents(currentObstacle, finalObstacle)[DubinsPath.Type(
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currentDirection,
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Trajectory2D.S,
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j
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)] ?: TODO("Intersecting obstacles are not supported")
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// searching for the nearest obstacle that intersects with the direct path
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val nextObstacle = sortedObstacles(currentObstacle, obstacles).find { obstacle ->
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tangentToFinal.intersectsObstacle(obstacle)
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} ?: finalObstacle
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//TODO add break check for end of path
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// All valid tangents from current obstacle to the next one
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val nextTangents: Collection<Tangent> = outerTangents(
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currentObstacle,
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nextObstacle
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).filter { (key, tangent) ->
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obstacles.none { obstacle -> tangent.intersectsObstacle(obstacle) } && // does not intersect other obstacles
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key.first == currentDirection && // initial direction is the same as end of previous segment direction
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(nextObstacle != finalObstacle || key.third == j) // if it is the last, it should be the same as the one we are searching for
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}.values
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for (tangent in nextTangents) {
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val tangentsAlong = if (tangent.startCircle == tangentPath.last().endCircle) {
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//if the previous segment last circle is the same as first circle of the next segment
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//If obstacle consists of single circle, do not walk around
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if (tangent.startObstacle.circles.size < 2){
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emptyList()
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} else {
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val lengthMaxPossible = arcLength(
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tangent.startCircle,
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tangentPath.last().lineSegment.end,
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tangent.startObstacle.nextTangent(
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tangent.startCircle,
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currentDirection
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).lineSegment.begin,
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currentDirection
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)
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val lengthCalculated = arcLength(
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tangent.startCircle,
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tangentPath.last().lineSegment.end,
|
||||
tangent.lineSegment.begin,
|
||||
currentDirection
|
||||
)
|
||||
// ensure that path does not go inside the obstacle
|
||||
if (lengthCalculated > lengthMaxPossible) {
|
||||
tangentsAlongTheObstacle(
|
||||
currentCircle,
|
||||
currentDirection,
|
||||
tangent.startCircle,
|
||||
currentObstacle
|
||||
)
|
||||
} else {
|
||||
emptyList()
|
||||
}
|
||||
}
|
||||
} else {
|
||||
tangentsAlongTheObstacle(
|
||||
currentCircle,
|
||||
currentDirection,
|
||||
tangent.startCircle,
|
||||
currentObstacle
|
||||
)
|
||||
}
|
||||
newPaths.add(TangentPath(tangentPath.tangents + tangentsAlong + tangent))
|
||||
}
|
||||
}
|
||||
}
|
||||
currentPaths = newPaths
|
||||
}
|
||||
|
||||
trajectories += currentPaths.map { tangentPath ->
|
||||
val lastDirection: Trajectory2D.Direction = tangentPath.last().endDirection
|
||||
val end = finalCircles[j]
|
||||
TangentPath(
|
||||
tangentPath.tangents +
|
||||
Tangent(
|
||||
end,
|
||||
end,
|
||||
Obstacle(end),
|
||||
Obstacle(end),
|
||||
LineSegment(finish, finish),
|
||||
startDirection = lastDirection,
|
||||
endDirection = j
|
||||
)
|
||||
)
|
||||
}.map { it.toTrajectory() }
|
||||
}
|
||||
}
|
||||
return trajectories
|
||||
}
|
||||
|
||||
|
||||
public object Obstacles {
|
||||
public companion object {
|
||||
public fun allPathsAvoiding(
|
||||
start: DubinsPose2D,
|
||||
finish: DubinsPose2D,
|
||||
trajectoryRadius: Double,
|
||||
obstaclePolygons: List<Polygon<Double>>,
|
||||
vararg obstacles: Obstacle,
|
||||
): List<CompositeTrajectory2D> {
|
||||
val obstacles: List<Obstacle> = obstaclePolygons.map { polygon ->
|
||||
Obstacle(polygon.points.map { point -> Circle2D(point, trajectoryRadius) })
|
||||
val obstacleShells: List<ObstacleShell> = obstacles.map { polygon ->
|
||||
ObstacleShell(polygon.circles)
|
||||
}
|
||||
return findAllPaths(start, trajectoryRadius, finish, trajectoryRadius, obstacles)
|
||||
return findAllPaths(start, trajectoryRadius, finish, trajectoryRadius, obstacleShells)
|
||||
}
|
||||
|
||||
public fun allPathsAvoiding(
|
||||
start: DubinsPose2D,
|
||||
finish: DubinsPose2D,
|
||||
trajectoryRadius: Double,
|
||||
vararg obstacles: Polygon<Double>,
|
||||
): List<CompositeTrajectory2D> {
|
||||
val obstacleShells: List<ObstacleShell> = obstacles.map { polygon ->
|
||||
ObstacleShell(polygon.points.map { Circle2D(it, trajectoryRadius) })
|
||||
}
|
||||
return findAllPaths(start, trajectoryRadius, finish, trajectoryRadius, obstacleShells)
|
||||
}
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
public fun Obstacle(vararg circles: Circle2D): Obstacle = ObstacleShell(listOf(*circles))
|
||||
|
||||
//public fun Trajectory2D.intersects(
|
||||
// polygon: Polygon<Double>,
|
||||
// radius: Double,
|
||||
//): Boolean {
|
||||
// val obstacle = Obstacle(polygon.points.map { point -> Circle2D(point, radius) })
|
||||
// return when (this) {
|
||||
// is CircleTrajectory2D -> {
|
||||
// val nearestCircle = obstacle.circles.minBy { it.center.distanceTo(circle.center) }
|
||||
//
|
||||
// }
|
||||
// is StraightTrajectory2D -> obstacle.intersects(this)
|
||||
// is CompositeTrajectory2D -> segments.any { it.intersects(polygon, radius) }
|
||||
// }
|
||||
//}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -0,0 +1,526 @@
|
||||
package space.kscience.trajectory
|
||||
|
||||
import space.kscience.kmath.geometry.*
|
||||
import space.kscience.kmath.geometry.Euclidean2DSpace.distanceTo
|
||||
import space.kscience.kmath.geometry.Euclidean2DSpace.minus
|
||||
import space.kscience.kmath.geometry.Euclidean2DSpace.plus
|
||||
import space.kscience.kmath.geometry.Euclidean2DSpace.times
|
||||
import space.kscience.kmath.misc.zipWithNextCircular
|
||||
import space.kscience.kmath.operations.DoubleField.pow
|
||||
import kotlin.math.*
|
||||
|
||||
|
||||
internal data class Tangent(
|
||||
val startCircle: Circle2D,
|
||||
val endCircle: Circle2D,
|
||||
val startObstacle: ObstacleShell,
|
||||
val endObstacle: ObstacleShell,
|
||||
val lineSegment: LineSegment2D,
|
||||
val startDirection: Trajectory2D.Direction,
|
||||
val endDirection: Trajectory2D.Direction = startDirection,
|
||||
) : LineSegment2D by lineSegment
|
||||
|
||||
|
||||
private class LR<T>(val l: T, val r: T) {
|
||||
operator fun get(direction: Trajectory2D.Direction) = when (direction) {
|
||||
Trajectory2D.L -> l
|
||||
Trajectory2D.R -> r
|
||||
}
|
||||
}
|
||||
|
||||
private class TangentPath(val tangents: List<Tangent>) {
|
||||
fun last() = tangents.last()
|
||||
}
|
||||
|
||||
private fun TangentPath(vararg tangents: Tangent) = TangentPath(listOf(*tangents))
|
||||
|
||||
/**
|
||||
* Create inner and outer tangents between two circles.
|
||||
* This method returns a map of segments using [DubinsPath] connection type notation.
|
||||
*/
|
||||
internal fun tangentsBetweenCircles(
|
||||
first: Circle2D,
|
||||
second: Circle2D,
|
||||
): Map<DubinsPath.Type, LineSegment2D> = with(Euclidean2DSpace) {
|
||||
// Distance between centers
|
||||
val distanceBetweenCenters: Double = first.center.distanceTo(second.center)
|
||||
|
||||
// return empty map if one circle is inside another
|
||||
val minRadius = min(first.radius, second.radius)
|
||||
val maxRadius = max(first.radius, second.radius)
|
||||
|
||||
val listOfTangents = when {
|
||||
// one circle inside another, no tangents
|
||||
distanceBetweenCenters + minRadius <= maxRadius -> return emptyMap()
|
||||
// circles intersect, only outer tangents
|
||||
distanceBetweenCenters - minRadius <= maxRadius -> listOf(DubinsPath.Type.RSR, DubinsPath.Type.LSL)
|
||||
// no intersections all tangents
|
||||
else -> listOf(DubinsPath.Type.RSR, DubinsPath.Type.RSL, DubinsPath.Type.LSR, DubinsPath.Type.LSL)
|
||||
}
|
||||
|
||||
val angle1 = atan2(second.center.x - first.center.x, second.center.y - first.center.y)
|
||||
|
||||
return listOfTangents.associateWith { route ->
|
||||
val r1 = when (route.first) {
|
||||
Trajectory2D.L -> -first.radius
|
||||
Trajectory2D.R -> first.radius
|
||||
}
|
||||
val r2 = when (route.third) {
|
||||
Trajectory2D.L -> -second.radius
|
||||
Trajectory2D.R -> second.radius
|
||||
}
|
||||
val r = if (r1.sign == r2.sign) {
|
||||
r1.absoluteValue - r2.absoluteValue
|
||||
} else {
|
||||
r1.absoluteValue + r2.absoluteValue
|
||||
}
|
||||
|
||||
val l = sqrt(distanceBetweenCenters * distanceBetweenCenters - r * r)
|
||||
val angle2 = if (r1.absoluteValue > r2.absoluteValue) {
|
||||
angle1 + r1.sign * atan2(r.absoluteValue, l)
|
||||
} else {
|
||||
angle1 - r2.sign * atan2(r.absoluteValue, l)
|
||||
}
|
||||
val w = vector(-cos(angle2), sin(angle2))
|
||||
|
||||
LineSegment(
|
||||
first.center + w * r1,
|
||||
second.center + w * r2
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
private fun Circle2D.isInside(other: Circle2D): Boolean {
|
||||
return center.distanceTo(other.center) + radius <= other.radius
|
||||
}
|
||||
|
||||
|
||||
internal class ObstacleShell(
|
||||
nodes: List<Circle2D>,
|
||||
) : Obstacle {
|
||||
override val circles: List<Circle2D>
|
||||
override val center: Vector2D<Double>
|
||||
private val shell: List<LineSegment2D>
|
||||
private val shellDirection: Trajectory2D.Direction
|
||||
|
||||
init {
|
||||
this.center = Euclidean2DSpace.vector(
|
||||
nodes.sumOf { it.center.x } / nodes.size,
|
||||
nodes.sumOf { it.center.y } / nodes.size
|
||||
)
|
||||
|
||||
// this.circles = nodes.filter { node ->
|
||||
// //filter nodes inside other nodes
|
||||
// nodes.none{ node !== it && node.isInside(it) }
|
||||
// }
|
||||
|
||||
this.circles = nodes.distinct()
|
||||
|
||||
if (nodes.size < 2) {
|
||||
shell = emptyList()
|
||||
shellDirection = Trajectory2D.R
|
||||
} else {
|
||||
|
||||
//ignore cases when one circle is inside another one
|
||||
val lslTangents = circles.zipWithNextCircular { a, b ->
|
||||
tangentsBetweenCircles(a, b)[DubinsPath.Type.LSL] ?: error("Intersecting circles")
|
||||
}
|
||||
|
||||
val rsrTangents = circles.zipWithNextCircular { a, b ->
|
||||
tangentsBetweenCircles(a, b)[DubinsPath.Type.RSR] ?: error("Intersecting circles")
|
||||
}
|
||||
|
||||
|
||||
val lslToCenter = lslTangents.sumOf { it.begin.distanceTo(center) } +
|
||||
lslTangents.sumOf { it.end.distanceTo(center) }
|
||||
val rsrToCenter = rsrTangents.sumOf { it.begin.distanceTo(center) } +
|
||||
rsrTangents.sumOf { it.end.distanceTo(center) }
|
||||
|
||||
if (rsrToCenter >= lslToCenter) {
|
||||
this.shell = rsrTangents
|
||||
this.shellDirection = Trajectory2D.R
|
||||
} else {
|
||||
this.shell = lslTangents
|
||||
this.shellDirection = Trajectory2D.L
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* Check if segment has any intersections with this obstacle
|
||||
*/
|
||||
override fun intersects(segment: LineSegment2D): Boolean =
|
||||
shell.any { tangent -> segment.intersectsSegment(tangent) }
|
||||
|| circles.any { circle -> segment.intersectsCircle(circle) }
|
||||
|
||||
fun nextTangent(circle: Circle2D, direction: Trajectory2D.Direction): Tangent {
|
||||
val circleIndex = circles.indexOf(circle)
|
||||
if (circleIndex == -1) error("Circle does not belong to this tangent")
|
||||
|
||||
val nextCircleIndex = if (direction == this.shellDirection) {
|
||||
if (circleIndex == circles.lastIndex) 0 else circleIndex + 1
|
||||
} else {
|
||||
if (circleIndex == 0) circles.lastIndex else circleIndex - 1
|
||||
}
|
||||
|
||||
return Tangent(
|
||||
circle,
|
||||
circles[nextCircleIndex],
|
||||
this,
|
||||
this,
|
||||
LineSegment(
|
||||
shell[nextCircleIndex].end,
|
||||
shell[nextCircleIndex].begin
|
||||
),
|
||||
direction
|
||||
)
|
||||
}
|
||||
|
||||
internal fun tangentsAlong(
|
||||
initialCircle: Circle2D,
|
||||
direction: Trajectory2D.Direction,
|
||||
finalCircle: Circle2D,
|
||||
): List<Tangent> {
|
||||
val dubinsTangents = mutableListOf<Tangent>()
|
||||
var tangent = nextTangent(initialCircle, direction)
|
||||
dubinsTangents.add(tangent)
|
||||
while (tangent.endCircle != finalCircle) {
|
||||
tangent = nextTangent(tangent.endCircle, direction)
|
||||
dubinsTangents.add(tangent)
|
||||
}
|
||||
return dubinsTangents
|
||||
}
|
||||
|
||||
override fun equals(other: Any?): Boolean {
|
||||
if (other == null || other !is ObstacleShell) return false
|
||||
return circles == other.circles
|
||||
}
|
||||
|
||||
override fun hashCode(): Int {
|
||||
return circles.hashCode()
|
||||
}
|
||||
}
|
||||
|
||||
internal fun ObstacleShell(vararg circles: Circle2D): ObstacleShell = ObstacleShell(listOf(*circles))
|
||||
|
||||
|
||||
private fun LineSegment2D.intersectsSegment(other: LineSegment2D): Boolean {
|
||||
fun crossProduct(v1: DoubleVector2D, v2: DoubleVector2D): Double {
|
||||
return v1.x * v2.y - v1.y * v2.x
|
||||
}
|
||||
return if (crossProduct(other.begin - begin, other.end - begin).sign ==
|
||||
crossProduct(other.begin - end, other.end - end).sign
|
||||
) {
|
||||
false
|
||||
} else {
|
||||
crossProduct(begin - other.begin, end - other.begin).sign != crossProduct(
|
||||
begin - other.end,
|
||||
end - other.end
|
||||
).sign
|
||||
}
|
||||
}
|
||||
|
||||
private fun LineSegment2D.intersectsCircle(circle: Circle2D): Boolean {
|
||||
val a = (begin.x - end.x).pow(2.0) + (begin.y - end.y).pow(2.0)
|
||||
val b = 2 * ((begin.x - end.x) * (end.x - circle.center.x) +
|
||||
(begin.y - end.y) * (end.y - circle.center.y))
|
||||
val c = (end.x - circle.center.x).pow(2.0) + (end.y - circle.center.y).pow(2.0) -
|
||||
circle.radius.pow(2.0)
|
||||
val d = b.pow(2.0) - 4 * a * c
|
||||
if (d < 1e-6) {
|
||||
return false
|
||||
} else {
|
||||
val t1 = (-b - d.pow(0.5)) * 0.5 / a
|
||||
val t2 = (-b + d.pow(0.5)) * 0.5 / a
|
||||
if (((0 < t1) and (t1 < 1)) or ((0 < t2) and (t2 < 1))) {
|
||||
return true
|
||||
}
|
||||
}
|
||||
return false
|
||||
}
|
||||
|
||||
|
||||
/**
|
||||
* All tangents between two obstacles
|
||||
*
|
||||
* In general generates 4 paths.
|
||||
* TODO check intersections.
|
||||
*/
|
||||
private fun outerTangents(first: ObstacleShell, second: ObstacleShell): Map<DubinsPath.Type, Tangent> = buildMap {
|
||||
|
||||
for (firstCircle in first.circles) {
|
||||
for (secondCircle in second.circles) {
|
||||
for ((pathType, segment) in tangentsBetweenCircles(firstCircle, secondCircle)) {
|
||||
val tangent = Tangent(
|
||||
firstCircle,
|
||||
secondCircle,
|
||||
first,
|
||||
second,
|
||||
segment,
|
||||
pathType.first,
|
||||
pathType.third
|
||||
)
|
||||
|
||||
if (!(first.intersects(tangent)) && !(second.intersects(tangent))) {
|
||||
put(
|
||||
pathType,
|
||||
tangent
|
||||
)
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
private fun arcLength(
|
||||
circle: Circle2D,
|
||||
point1: DoubleVector2D,
|
||||
point2: DoubleVector2D,
|
||||
direction: Trajectory2D.Direction,
|
||||
): Double {
|
||||
val phi1 = atan2(point1.y - circle.center.y, point1.x - circle.center.x)
|
||||
val phi2 = atan2(point2.y - circle.center.y, point2.x - circle.center.x)
|
||||
var angle = 0.0
|
||||
when (direction) {
|
||||
Trajectory2D.L -> {
|
||||
angle = if (phi2 >= phi1) {
|
||||
phi2 - phi1
|
||||
} else {
|
||||
2 * PI + phi2 - phi1
|
||||
}
|
||||
}
|
||||
|
||||
Trajectory2D.R -> {
|
||||
angle = if (phi2 >= phi1) {
|
||||
2 * PI - (phi2 - phi1)
|
||||
} else {
|
||||
-(phi2 - phi1)
|
||||
}
|
||||
}
|
||||
}
|
||||
return circle.radius * angle
|
||||
}
|
||||
|
||||
private fun normalVectors(v: DoubleVector2D, r: Double): Pair<DoubleVector2D, DoubleVector2D> {
|
||||
return Pair(
|
||||
r * Euclidean2DSpace.vector(v.y / Euclidean2DSpace.norm(v), -v.x / Euclidean2DSpace.norm(v)),
|
||||
r * Euclidean2DSpace.vector(-v.y / Euclidean2DSpace.norm(v), v.x / Euclidean2DSpace.norm(v))
|
||||
)
|
||||
}
|
||||
|
||||
|
||||
private fun constructTangentCircles(
|
||||
point: DoubleVector2D,
|
||||
direction: DoubleVector2D,
|
||||
r: Double,
|
||||
): LR<Circle2D> {
|
||||
val center1 = point + normalVectors(direction, r).first
|
||||
val center2 = point + normalVectors(direction, r).second
|
||||
val p1 = center1 - point
|
||||
return if (atan2(p1.y, p1.x) - atan2(direction.y, direction.x) in listOf(PI / 2, -3 * PI / 2)) {
|
||||
LR(
|
||||
Circle2D(center1, r),
|
||||
Circle2D(center2, r)
|
||||
)
|
||||
} else {
|
||||
LR(
|
||||
Circle2D(center2, r),
|
||||
Circle2D(center1, r)
|
||||
)
|
||||
}
|
||||
}
|
||||
|
||||
private fun sortedObstacles(
|
||||
currentObstacle: ObstacleShell,
|
||||
obstacles: List<ObstacleShell>,
|
||||
): List<ObstacleShell> {
|
||||
return obstacles.sortedBy { Euclidean2DSpace.norm(it.center - currentObstacle.center) }
|
||||
}
|
||||
|
||||
/**
|
||||
* Check if all proposed paths have ended at [finalObstacle]
|
||||
*/
|
||||
private fun allFinished(
|
||||
paths: List<TangentPath>,
|
||||
finalObstacle: Obstacle,
|
||||
): Boolean {
|
||||
for (path in paths) {
|
||||
if (path.last().endObstacle != finalObstacle) {
|
||||
return false
|
||||
}
|
||||
}
|
||||
return true
|
||||
}
|
||||
|
||||
private fun LineSegment2D.toTrajectory() = StraightTrajectory2D(begin, end)
|
||||
|
||||
|
||||
private fun TangentPath.toTrajectory(): CompositeTrajectory2D = CompositeTrajectory2D(
|
||||
buildList {
|
||||
tangents.zipWithNext().forEach { (left, right) ->
|
||||
add(left.lineSegment.toTrajectory())
|
||||
add(
|
||||
CircleTrajectory2D.of(
|
||||
right.startCircle.center,
|
||||
left.lineSegment.end,
|
||||
right.lineSegment.begin,
|
||||
right.startDirection
|
||||
)
|
||||
)
|
||||
}
|
||||
|
||||
add(tangents.last().lineSegment.toTrajectory())
|
||||
}
|
||||
)
|
||||
|
||||
internal fun findAllPaths(
|
||||
start: DubinsPose2D,
|
||||
startingRadius: Double,
|
||||
finish: DubinsPose2D,
|
||||
finalRadius: Double,
|
||||
obstacles: List<ObstacleShell>,
|
||||
): List<CompositeTrajectory2D> {
|
||||
fun DubinsPose2D.direction() =
|
||||
Euclidean2DSpace.vector(space.kscience.kmath.geometry.cos(bearing), space.kscience.kmath.geometry.sin(bearing))
|
||||
|
||||
// two circles for the initial point
|
||||
val initialCircles = constructTangentCircles(
|
||||
start,
|
||||
start.direction(),
|
||||
startingRadius
|
||||
)
|
||||
|
||||
//two circles for the final point
|
||||
val finalCircles = constructTangentCircles(
|
||||
finish,
|
||||
finish.direction(),
|
||||
finalRadius
|
||||
)
|
||||
|
||||
//all valid trajectories
|
||||
val trajectories = mutableListOf<CompositeTrajectory2D>()
|
||||
|
||||
for (i in listOf(Trajectory2D.L, Trajectory2D.R)) {
|
||||
for (j in listOf(Trajectory2D.L, Trajectory2D.R)) {
|
||||
//Using obstacle to minimize code bloat
|
||||
val finalObstacle = ObstacleShell(finalCircles[j])
|
||||
|
||||
var currentPaths: List<TangentPath> = listOf(
|
||||
TangentPath(
|
||||
//We need only the direction of the final segment from this
|
||||
Tangent(
|
||||
initialCircles[i],
|
||||
initialCircles[i],
|
||||
ObstacleShell(initialCircles[i]),
|
||||
ObstacleShell(initialCircles[i]),
|
||||
LineSegment(start, start),
|
||||
i
|
||||
)
|
||||
)
|
||||
)
|
||||
while (!allFinished(currentPaths, finalObstacle)) {
|
||||
// paths after next obstacle iteration
|
||||
val newPaths = mutableListOf<TangentPath>()
|
||||
// for each path propagate it one obstacle further
|
||||
for (tangentPath: TangentPath in currentPaths) {
|
||||
val currentCircle = tangentPath.last().endCircle
|
||||
val currentDirection: Trajectory2D.Direction = tangentPath.last().endDirection
|
||||
val currentObstacle = tangentPath.last().endObstacle
|
||||
|
||||
// If path is finished, ignore it
|
||||
// TODO avoid returning to ignored obstacle on the next cycle
|
||||
if (currentObstacle == finalObstacle) {
|
||||
newPaths.add(tangentPath)
|
||||
} else {
|
||||
val tangentToFinal: Tangent = outerTangents(currentObstacle, finalObstacle)[DubinsPath.Type(
|
||||
currentDirection,
|
||||
Trajectory2D.S,
|
||||
j
|
||||
)] ?: break
|
||||
|
||||
// searching for the nearest obstacle that intersects with the direct path
|
||||
val nextObstacle = sortedObstacles(currentObstacle, obstacles).find { obstacle ->
|
||||
obstacle.intersects(tangentToFinal)
|
||||
} ?: finalObstacle
|
||||
|
||||
//TODO add break check for end of path
|
||||
|
||||
// All valid tangents from current obstacle to the next one
|
||||
val nextTangents: Collection<Tangent> = outerTangents(
|
||||
currentObstacle,
|
||||
nextObstacle
|
||||
).filter { (key, tangent) ->
|
||||
obstacles.none { obstacle -> obstacle.intersects(tangent) } && // does not intersect other obstacles
|
||||
key.first == currentDirection && // initial direction is the same as end of previous segment direction
|
||||
(nextObstacle != finalObstacle || key.third == j) // if it is the last, it should be the same as the one we are searching for
|
||||
}.values
|
||||
|
||||
for (tangent in nextTangents) {
|
||||
val tangentsAlong = if (tangent.startCircle == tangentPath.last().endCircle) {
|
||||
//if the previous segment last circle is the same as first circle of the next segment
|
||||
|
||||
//If obstacle consists of single circle, do not walk around
|
||||
if (tangent.startObstacle.circles.size < 2) {
|
||||
emptyList()
|
||||
} else {
|
||||
val lengthMaxPossible = arcLength(
|
||||
tangent.startCircle,
|
||||
tangentPath.last().lineSegment.end,
|
||||
tangent.startObstacle.nextTangent(
|
||||
tangent.startCircle,
|
||||
currentDirection
|
||||
).lineSegment.begin,
|
||||
currentDirection
|
||||
)
|
||||
|
||||
val lengthCalculated = arcLength(
|
||||
tangent.startCircle,
|
||||
tangentPath.last().lineSegment.end,
|
||||
tangent.lineSegment.begin,
|
||||
currentDirection
|
||||
)
|
||||
// ensure that path does not go inside the obstacle
|
||||
if (lengthCalculated > lengthMaxPossible) {
|
||||
currentObstacle.tangentsAlong(
|
||||
currentCircle,
|
||||
currentDirection,
|
||||
tangent.startCircle,
|
||||
)
|
||||
} else {
|
||||
emptyList()
|
||||
}
|
||||
}
|
||||
} else {
|
||||
currentObstacle.tangentsAlong(
|
||||
currentCircle,
|
||||
currentDirection,
|
||||
tangent.startCircle,
|
||||
)
|
||||
}
|
||||
newPaths.add(TangentPath(tangentPath.tangents + tangentsAlong + tangent))
|
||||
}
|
||||
}
|
||||
}
|
||||
currentPaths = newPaths
|
||||
}
|
||||
|
||||
trajectories += currentPaths.map { tangentPath ->
|
||||
val lastDirection: Trajectory2D.Direction = tangentPath.last().endDirection
|
||||
val end = finalCircles[j]
|
||||
TangentPath(
|
||||
tangentPath.tangents +
|
||||
Tangent(
|
||||
end,
|
||||
end,
|
||||
ObstacleShell(end),
|
||||
ObstacleShell(end),
|
||||
LineSegment(finish, finish),
|
||||
startDirection = lastDirection,
|
||||
endDirection = j
|
||||
)
|
||||
)
|
||||
}.map { it.toTrajectory() }
|
||||
}
|
||||
}
|
||||
return trajectories
|
||||
}
|
||||
@ -18,18 +18,12 @@ class ObstacleTest {
|
||||
val startRadius = 0.5
|
||||
val finalPoint = vector(20.0, 4.0)
|
||||
val finalDirection = vector(1.0, -1.0)
|
||||
val finalRadius = 0.5
|
||||
|
||||
val obstacles = listOf(
|
||||
Obstacle(Circle2D(vector(7.0, 1.0), 5.0))
|
||||
)
|
||||
|
||||
val outputTangents = findAllPaths(
|
||||
val outputTangents = Obstacle.allPathsAvoiding(
|
||||
DubinsPose2D.of(startPoint, startDirection),
|
||||
startRadius,
|
||||
DubinsPose2D.of(finalPoint, finalDirection),
|
||||
finalRadius,
|
||||
obstacles
|
||||
startRadius,
|
||||
Obstacle(Circle2D(vector(7.0, 1.0), 5.0))
|
||||
)
|
||||
val length = outputTangents.minOf { it.length }
|
||||
assertEquals(27.2113183, length, 1e-6)
|
||||
@ -39,46 +33,62 @@ class ObstacleTest {
|
||||
fun secondPath() {
|
||||
val startPoint = vector(-5.0, -1.0)
|
||||
val startDirection = vector(1.0, 1.0)
|
||||
val startRadius = 0.5
|
||||
val radius = 0.5
|
||||
val finalPoint = vector(20.0, 4.0)
|
||||
val finalDirection = vector(1.0, -1.0)
|
||||
val finalRadius = 0.5
|
||||
|
||||
val obstacles = listOf(
|
||||
val paths = Obstacle.allPathsAvoiding(
|
||||
DubinsPose2D.of(startPoint, startDirection),
|
||||
DubinsPose2D.of(finalPoint, finalDirection),
|
||||
radius,
|
||||
Obstacle(
|
||||
listOf(
|
||||
Circle2D(vector(1.0, 6.5), 0.5),
|
||||
Circle2D(vector(2.0, 1.0), 0.5),
|
||||
Circle2D(vector(6.0, 0.0), 0.5),
|
||||
Circle2D(vector(5.0, 5.0), 0.5)
|
||||
)
|
||||
), Obstacle(
|
||||
listOf(
|
||||
Circle2D(vector(10.0, 1.0), 0.5),
|
||||
Circle2D(vector(16.0, 0.0), 0.5),
|
||||
Circle2D(vector(14.0, 6.0), 0.5),
|
||||
Circle2D(vector(9.0, 4.0), 0.5)
|
||||
)
|
||||
)
|
||||
)
|
||||
val paths = findAllPaths(
|
||||
DubinsPose2D.of(startPoint, startDirection),
|
||||
startRadius,
|
||||
DubinsPose2D.of(finalPoint, finalDirection),
|
||||
finalRadius,
|
||||
obstacles
|
||||
)
|
||||
val length = paths.minOf { it.length }
|
||||
assertEquals(28.9678224, length, 1e-6)
|
||||
}
|
||||
|
||||
@Test
|
||||
fun nearPoints() {
|
||||
val startPoint = vector(-1.0, 0.0)
|
||||
val startDirection = vector(0.0, 1.0)
|
||||
val startRadius = 1.0
|
||||
val finalPoint = vector(0, -1)
|
||||
val finalDirection = vector(1.0, 0)
|
||||
|
||||
val paths = Obstacle.allPathsAvoiding(
|
||||
DubinsPose2D.of(startPoint, startDirection),
|
||||
DubinsPose2D.of(finalPoint, finalDirection),
|
||||
startRadius,
|
||||
Obstacle(
|
||||
Circle2D(vector(0.0, 0.0), 1.0),
|
||||
Circle2D(vector(0.0, 1.0), 1.0),
|
||||
Circle2D(vector(1.0, 1.0), 1.0),
|
||||
Circle2D(vector(1.0, 0.0), 1.0)
|
||||
)
|
||||
)
|
||||
val length = paths.minOf { it.length }
|
||||
println(length)
|
||||
//assertEquals(28.9678224, length, 1e-6)
|
||||
}
|
||||
|
||||
@Test
|
||||
fun equalObstacles() {
|
||||
val circle1 = Circle2D(vector(1.0, 6.5), 0.5)
|
||||
val circle2 = Circle2D(vector(1.0, 6.5), 0.5)
|
||||
assertEquals(circle1, circle2)
|
||||
val obstacle1 = Obstacle(listOf(circle1))
|
||||
val obstacle2 = Obstacle(listOf(circle2))
|
||||
val obstacle1 = ObstacleShell(listOf(circle1))
|
||||
val obstacle2 = ObstacleShell(listOf(circle2))
|
||||
assertEquals(obstacle1, obstacle2)
|
||||
}
|
||||
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user