316 lines
8.2 KiB
C++
316 lines
8.2 KiB
C++
#ifndef GRIDWALKSHORTESTPATHCONTROL_H
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#define GRIDWALKSHORTESTPATHCONTROL_H
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#include "../../geo/Heading.h"
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#include "../Grid.h"
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#include "../../math/Distributions.h"
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#include "../../math/DrawList.h"
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#include "../../math/Random.h"
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#include "../../nav/dijkstra/Dijkstra.h"
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#include "../../nav/dijkstra/DijkstraPath.h"
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#include "../../misc/KNN.h"
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#include "../../misc/KNNArray.h"
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#include "GridWalkState.h"
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#include "GridWalkHelper.h"
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#include "GridWalk.h"
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#include <KLib/math/statistics/Statistics.h>
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template <typename T> class GridWalkShortestPathControl : public GridWalk<T> {
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protected:
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/** put dijkstra-nodes into the KNN */
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class Wrapper {
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private:
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DijkstraPath<T>* path;
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public:
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Wrapper() : path(nullptr) {;}
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/** ctor with the underlying data structure */
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Wrapper(DijkstraPath<T>* path) : path(path) {
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;
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}
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/** get the number of elements to search throrugh */
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inline int kdtree_get_point_count() const {
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return path->size();
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}
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/** use nanoflanns default bbox */
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template <class BBOX> inline bool kdtree_get_bbox(BBOX& bb) const {
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(void) bb; return false;
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}
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/** get the idx-th element's dim-th coordinate */
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inline float kdtree_get_pt(const size_t idx, const int dim) const {
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return (*((*path)[idx]).element)[dim];
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}
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/** get the SQUARED distance between the given coordinates and the provided element */
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inline float kdtree_distance(const float* p1, const size_t idx_p2, size_t) const {
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const float d0 = p1[0] - (*((*path)[idx_p2]).element)[0];
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const float d1 = p1[1] - (*((*path)[idx_p2]).element)[1];
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const float d2 = p1[2] - (*((*path)[idx_p2]).element)[2];
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return (d0*d0) + (d1*d1) + (d2*d2);
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}
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};
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friend class GridWalkHelper;
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protected:
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/** per-edge: change heading with this sigma */
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static constexpr float HEADING_CHANGE_SIGMA = Angle::degToRad(10);
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/** fast random-number-generator */
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Random::RandomGenerator gen;
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/** 0-mean normal distribution */
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std::normal_distribution<float> headingChangeDist = std::normal_distribution<float>(0.0, HEADING_CHANGE_SIGMA);
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Dijkstra<T> dijkstra;
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const T& target;
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//Point3 centerOfMass = Point3(0,0,0);
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Wrapper wrapper;
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DijkstraPath<T>* path = nullptr;
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//KNN<Wrapper,3>* knn = nullptr;
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DrawList<T&> drawer;
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std::vector<Point3> points;
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Point3 centerOfMass;
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float stdDevDist;
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public:
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/** ctor with the target you want to reach */
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template <typename Access> GridWalkShortestPathControl(Grid<T>& grid, const Access& acc, const T& target) : target(target) {
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(void) grid;
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gen.seed(1234);
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// build all shortest path to reach th target
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dijkstra.build(&target, acc);
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}
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int recalc = 0;
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int times = 3;
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float pOther = 0.10;
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GridWalkState<T> getDestination(Grid<T>& grid, const GridWalkState<T>& start, float distance_m, float headChange_rad, Activity act) {
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// update the center-of-mass
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points.push_back( (Point3)*start.node );
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//centerOfMass = (centerOfMass * 0.999) + (((Point3)*start.node) * 0.001);
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//if (path == nullptr) {rebuildPath(grid);}
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if (++recalc >= 7500) {
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// center of mass
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Point3 sum(0,0,0);
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for (const Point3& p : points) {sum += p;}
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centerOfMass = sum/points.size();
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// deviation from the center of mass
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float dSum = 0;
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float dSum2 = 0;
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for (const Point3& p : points) {
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const float d = p.getDistance(centerOfMass);
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dSum += d;
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dSum2 += d*d;
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}
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dSum /= points.size();
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dSum2 /= points.size();
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stdDevDist = std::sqrt( (dSum2) - (dSum * dSum) ) * times;
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// restart
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points.clear();
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recalc = 0;
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// update
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rebuildPath(grid, centerOfMass);
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}
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// if (knn != nullptr) {
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// const float dist = knn->getNearestDistance( {(float)start.node->x_cm, (float)start.node->y_cm, (float)start.node->z_cm} );
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// if (dist > 10000) {
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// rebuildPath(grid);
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// }
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// }
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// proportional change of the heading
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static Distribution::Normal<float> dHead(1, 0.01);
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// proportional change of the to-be-walked distance
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static Distribution::Normal<float> dWalk(1, 0.10);
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distance_m = distance_m*dWalk.draw()*1.5; // TODO: why *2?
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headChange_rad = headChange_rad*dHead.draw();
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static Distribution::Normal<float> sWalk(0, 0.10);
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if (distance_m == 0) { distance_m = std::abs( sWalk.draw() ); }
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return walk(grid, start, distance_m, headChange_rad);
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}
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private:
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double getProbability(Grid<T>& grid, const T& start, const T& prev, const T& possible, const Heading head) const {
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// TODO: WHY?! not only when going back to the start?
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if (start.x_cm == possible.x_cm && start.y_cm == possible.y_cm) {
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if (start.z_cm == possible.z_cm) {return 0;} // back to the start
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throw 1;
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return 0.5;// stair start/end TODO: fix
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}
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// get the angle between START and the possible next node
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const Heading possibleHead = GridWalkHelper::getHeading(start, possible);
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// calculate the difference
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const float diff = possibleHead.getDiffHalfRAD(head);
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// // compare this heading with the requested one
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const double angleProb = Distribution::Normal<float>::getProbability(0, Angle::degToRad(25), diff);
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// const double angleProb = (diff <= Angle::degToRad(15)) ? 1 : 0.1; // favor best 3 angles equally
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// nodes own importance
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double nodeProb = 1;//(possible.distToTarget < start.distToTarget) ? 1 : 0.025;
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if (path != nullptr) {
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//const float pd_m = knn->getNearestDistance( {(float)possible.x_cm, (float)possible.y_cm, (float)possible.z_cm} ) / 100;
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int steps = stdDevDist / grid.getGridSize_cm();
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const float pToTarget = possible.getDistanceInMeter(*path->getFromStart(steps).element);
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const float sToTarget = prev.getDistanceInMeter(*path->getFromStart(steps).element);
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nodeProb = (pToTarget < sToTarget) ? (1.0) : (pOther);
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//const float sd = knn->getNearestDistance( {(float)start.x_cm, (float)start.y_cm, (float)start.z_cm} );
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//nodeProb = (pd < sd) ? 1 : 0.0;
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//nodeProb = Distribution::Exponential<float>::getProbability(0.9, pToTarget);
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//nodeProb = Distribution::Exponential<float>::getProbability(1.0, tDist_m);
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}
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// bring it together
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return angleProb * nodeProb;
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}
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GridWalkState<T> walk(Grid<T>& grid, const GridWalkState<T>& start, const float distance_m, const float headChange_rad) {
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// try-again distribution
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//static Distribution::Normal<float> dHead(0, Angle::degToRad(10));
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//static Distribution::Normal<float> dUpdate(0, Angle::degToRad(3));
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static Distribution::Uniform<float> dChange(Angle::degToRad(0), +Angle::degToRad(359));
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int retries = 5;
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float walked_m = 0;
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GridWalkState<T> cur = start;
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// the desired heading
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Heading reqHeading = start.heading + (headChange_rad);
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// walk until done
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while(walked_m < distance_m) {
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// evaluate all neighbors
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drawer.reset();
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for (T& neighbor : grid.neighbors(*cur.node)) {
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const double prob = getProbability(grid, *start.node, *cur.node, neighbor, reqHeading);
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drawer.add(neighbor, prob);
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}
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// too bad? start over!
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if (drawer.getCumProbability() < 0.1 && (--retries) >= 0) {
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walked_m = 0;
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cur = start;
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//WHAT THE HELL
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if (retries == 0) { reqHeading = dChange.draw(); }
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continue;
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}
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// get the neighbor
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const T& neighbor = drawer.get();
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// update
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walked_m += neighbor.getDistanceInMeter(*cur.node);
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cur.node = &neighbor;
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}
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cur.distanceWalked_m = NAN;
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cur.headingChange_rad = NAN;
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cur.heading = reqHeading;
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return cur;
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}
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/** rebuild the path for the given center point */
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void rebuildPath(Grid<T>& grid, const Point3 centerOfMass) {
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// find the grid node nearest to the current center-of-mass
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auto nearestGridNode = [&] (const T& n1, const T& n2) { return ((Point3)n1).getDistance(centerOfMass) < ((Point3)n2).getDistance(centerOfMass); };
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const T& currentMass = *std::min_element(grid.begin(), grid.end(), nearestGridNode);
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delete path; path = nullptr;
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//delete knn; knn = nullptr;
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DijkstraNode<T>* dnTarget = dijkstra.getNode(target);
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DijkstraNode<T>* dnStart = dijkstra.getNode(currentMass);
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if (dnStart == nullptr) {
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return;
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}
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// calculate the path from there to the target
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try {
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path = new DijkstraPath<T>(dnStart, dnTarget);
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// create k-nn lookup
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wrapper = Wrapper(path);
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//knn = new KNN<Wrapper, 3>(wrapper);
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} catch (...) {
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//knn = nullptr;
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path = nullptr;
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}
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}
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};
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#endif // GRIDWALKSHORTESTPATHCONTROL_H
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