for good measure

Author: AtsushiSakai

PathPlanning/VisibilityGraphPlanner/visibility_graph_planner.py

@@ -6,36 +6,127 @@
 
 """
 
+import os
+import sys
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../VoronoiRoadMap/")
+
+import math
+import numpy as np
 import matplotlib.pyplot as plt
+from dijkstra_search import DijkstraSearch
 
 show_animation = True
 
+
 class VisibilityGraphPlanner:
 
     def __init__(self, robot_radius):
         self.robot_radius = robot_radius
 
     def planning(self, start_x, start_y, goal_x, goal_y, obstacles):
-        nodes = self.exstract_graph_node(start_x, start_y, goal_x, goal_y,
-                                         obstacles)
-
+        nodes = self.extract_graph_node(start_x, start_y, goal_x, goal_y,
+                                        obstacles)
         graph = self.generate_graph(nodes, obstacles)
 
-        rx, ry = dijkstra_search(graph)
+        # rx, ry = DijkstraSearch().search(graph)
+
+        rx, ry = [], []
 
         return rx, ry
 
-    def exstract_graph_node(self, start_x, start_y, goal_x, goal_x, obstacles):
-        nodes = []
+    def extract_graph_node(self, start_x, start_y, goal_x, goal_y, obstacles):
+
+        # add start and goal as nodes
+        nodes = [DijkstraSearch.Node(start_x, start_y),
+                 DijkstraSearch.Node(goal_x, goal_y, 0, None)]
+
+        # add vertexes in configuration space as nodes
+        for obstacle in obstacles:
+
+            cvx_list, cvy_list = self.calc_vertexes_in_configuration_space(
+                obstacle.x_list, obstacle.y_list)
+
+            for (vx, vy) in zip(cvx_list, cvy_list):
+                nodes.append(DijkstraSearch.Node(vx, vy))
+
+        for node in nodes:
+            plt.plot(node.x, node.y, "xr")
 
         return nodes
 
+    def calc_vertexes_in_configuration_space(self, x_list, y_list):
+        x_list=x_list[0:-1]
+        y_list=y_list[0:-1]
+        cvx_list, cvy_list = [], []
+
+        n_data=len(x_list)
+
+        for index in range(n_data):
+            offset_x, offset_y = self.calc_offset_xy(
+                x_list[index - 1], y_list[index - 1],
+                x_list[index], y_list[index],
+                x_list[(index + 1) % n_data], y_list[(index + 1) % n_data],
+            )
+            cvx_list.append(offset_x)
+            cvy_list.append(offset_y)
+
+        return cvx_list, cvy_list
+
     def generate_graph(self, nodes, obstacles):
 
         graph = []
 
+        for target_node in nodes:
+            for node in nodes:
+                for obstacle in obstacles:
+                    if not self.is_edge_valid(target_node, node, obstacle):
+                        print("bb")
+                        break
+                    print(target_node, node)
+                    print("aa")
+                    plt.plot([target_node.x, node.x],[target_node.y, node.y], "-r")
+
         return graph
 
+    def is_edge_valid(self, target_node, node, obstacle):
+
+        for i in range(len(obstacle.x_list)-1):
+            p1 = np.array([target_node.x, target_node.y])
+            p2 = np.array([node.x, node.y])
+            p3 = np.array([obstacle.x_list[i], obstacle.y_list[i]])
+            p4 = np.array([obstacle.y_list[i+1], obstacle.y_list[i+1]])
+
+            if is_seg_intersect(p1, p2, p3, p4):
+                return False
+
+        return True
+
+    def calc_offset_xy(self, px, py, x, y, nx, ny):
+        p_vec = math.atan2(y - py, x - px)
+        n_vec = math.atan2(ny - y, nx - x)
+        offset_vec = math.atan2(math.sin(p_vec) + math.sin(n_vec),
+                                math.cos(p_vec) + math.cos(
+                                    n_vec))+math.pi/2.0
+        offset_x = x + self.robot_radius * math.cos(offset_vec)
+        offset_y = y + self.robot_radius * math.sin(offset_vec)
+        return offset_x, offset_y
+
+
+def is_seg_intersect(a1, a2, b1, b2):
+
+    xdiff = [a1[0] - a2[0], b1[0] - b2[0]]
+    ydiff = [a1[1] - a2[1], b1[1] - b2[1]]
+
+    def det(a, b):
+        return a[0] * b[1] - a[1] * b[0]
+
+    div = det(xdiff, ydiff)
+    if div == 0:
+        return False
+    else:
+        return True
 
 class ObstaclePolygon:
 
@@ -44,6 +135,21 @@ def __init__(self, x_list, y_list):
         self.y_list = y_list
 
         self.close_polygon()
+        self.make_clockwise()
+
+    def make_clockwise(self):
+        if not self.is_clockwise():
+            self.x_list = list(reversed(self.x_list))
+            self.y_list = list(reversed(self.y_list))
+
+    def is_clockwise(self):
+        n_data = len(self.x_list)
+        eval_sum = sum([(self.x_list[i + 1] - self.x_list[i]) *
+                        (self.y_list[i + 1] + self.y_list[i])
+                        for i in range(n_data - 1)])
+        eval_sum += (self.x_list[0] - self.x_list[n_data - 1]) * \
+                    (self.y_list[0] + self.y_list[n_data - 1])
+        return eval_sum >= 0
 
     def close_polygon(self):
         is_x_same = self.x_list[0] == self.x_list[-1]
@@ -74,13 +180,15 @@ def main():
         [50.0, 40.0, 20.0, 40.0],
     )]
 
-    rx, ry = VisibilityGraphPlanner(robot_radius).planning(sx, sy, gx, gy,
-                                                           obstacles)
-    assert rx, 'Cannot found path'
     if show_animation:  # pragma: no cover
         plt.plot(sx, sy, "or")
         plt.plot(gx, gy, "ob")
         [ob.plot() for ob in obstacles]
+
+    rx, ry = VisibilityGraphPlanner(robot_radius).planning(sx, sy, gx, gy,
+                                                           obstacles)
+    # assert rx, 'Cannot found path'
+    if show_animation:  # pragma: no cover
         plt.plot(rx, ry, "-r")
         plt.axis("equal")
         plt.show()

PathPlanning/VoronoiRoadMap/dijkstra_search.py

@@ -17,7 +17,7 @@ class Node:
         Node class for dijkstra search
         """
 
-        def __init__(self, x, y, cost, parent):
+        def __init__(self, x, y, cost=None, parent=None):
             self.x = x
             self.y = y
             self.cost = cost

tests/test_rrt_star_dubins.py

@@ -2,6 +2,7 @@
 
 import sys
 import os
+
 sys.path.append(os.path.dirname(os.path.abspath(__file__))
                 + "/../PathPlanning/RRTStarDubins/")