CReactiveNavigationSystem3D.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "nav-precomp.h"  // Precomp header

#include <mrpt/nav/reactive/CReactiveNavigationSystem3D.h>
#include <mrpt/poses/CPose3D.h>

using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::math;
using namespace mrpt::system;
using namespace mrpt::nav;
using namespace std;

/*---------------------------------------------------------------
                    Constructor
  ---------------------------------------------------------------*/
CReactiveNavigationSystem3D::CReactiveNavigationSystem3D(
    CRobot2NavInterface& react_iterf_impl, bool enableConsoleOutput,
    bool enableLogToFile, const std::string& logFileDirectory)
    : CAbstractPTGBasedReactive(
          react_iterf_impl, enableConsoleOutput, enableLogToFile,
          logFileDirectory)
{
}

// Dtor:
CReactiveNavigationSystem3D::~CReactiveNavigationSystem3D()
{
    this->preDestructor();

    // Free PTGs:
    m_ptgmultilevel.clear();
}

/*---------------------------------------------------------------
                        changeRobotShape
  ---------------------------------------------------------------*/
void CReactiveNavigationSystem3D::changeRobotShape(TRobotShape robotShape)
{
    m_PTGsMustBeReInitialized = true;

    for (unsigned int i = 0; i < robotShape.size(); i++)
    {
        if (robotShape.polygon(i).verticesCount() < 3)
            THROW_EXCEPTION("The robot shape has less than 3 vertices!!");
    }

    m_robotShape = robotShape;
}

void CReactiveNavigationSystem3D::saveConfigFile(
    mrpt::config::CConfigFileBase& c) const
{
    const std::string s = "CReactiveNavigationSystem3D";

    unsigned int HEIGHT_LEVELS = m_robotShape.size();
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        HEIGHT_LEVELS, "Number of robot vertical sections");

    unsigned int PTG_COUNT = m_ptgmultilevel.size();
    MRPT_SAVE_CONFIG_VAR_COMMENT(PTG_COUNT, "Number of PTGs");
}

void CReactiveNavigationSystem3D::loadConfigFile(
    const mrpt::config::CConfigFileBase& c)
{
    MRPT_START

    m_PTGsMustBeReInitialized = true;

    // 1st: load my own params; at the end, call parent's overriden method:
    const std::string s = "CReactiveNavigationSystem3D";

    unsigned int num_levels;
    vector<float> xaux, yaux;

    // Read config params which describe the robot shape
    num_levels = c.read_int(s, "HEIGHT_LEVELS", 1, true);
    m_robotShape.resize(num_levels);
    for (unsigned int i = 1; i <= num_levels; i++)
    {
        m_robotShape.setHeight(
            i - 1, c.read_float(s, format("LEVEL%d_HEIGHT", i), 1.0, true));
        m_robotShape.setRadius(
            i - 1, c.read_float(s, format("LEVEL%d_RADIUS", i), 0.5, false));
        c.read_vector(
            s, format("LEVEL%d_VECTORX", i), vector<float>(0), xaux, false);
        c.read_vector(
            s, format("LEVEL%d_VECTORY", i), vector<float>(0), yaux, false);
        ASSERT_(xaux.size() == yaux.size());
        for (unsigned int j = 0; j < xaux.size(); j++)
            m_robotShape.polygon(i - 1).AddVertex(xaux[j], yaux[j]);
    }

    // Load PTGs from file:
    // ---------------------------------------------
    // levels = m_robotShape.heights.size()

    unsigned int num_ptgs = c.read_int(s, "PTG_COUNT", 1, true);
    m_ptgmultilevel.resize(num_ptgs);

    // Read each PTG parameters, and generate K x N collisiongrids
    //  K - Number of PTGs
    //  N - Number of height sections
    for (unsigned int j = 1; j <= num_ptgs; j++)
    {
        for (unsigned int i = 1; i <= m_robotShape.size(); i++)
        {
            MRPT_LOG_INFO_FMT(
                "[loadConfigFile] Generating PTG#%u at level %u...", j, i);
            const std::string sPTGName =
                c.read_string(s, format("PTG%d_TYPE", j), "", true);
            auto ptgaux = CParameterizedTrajectoryGenerator::CreatePTG(
                sPTGName, c, s, format("PTG%d_", j));
            m_ptgmultilevel[j - 1].PTGs.push_back(ptgaux);
        }
    }

    MRPT_LOG_DEBUG_FMT(
        " Robot height sections = %u\n",
        static_cast<unsigned int>(m_robotShape.size()));

    CAbstractPTGBasedReactive::loadConfigFile(
        c);  // call parent's overriden method:

    MRPT_END
}

/** \callergraph */
void CReactiveNavigationSystem3D::STEP1_InitPTGs()
{
    if (m_PTGsMustBeReInitialized)
    {
        m_PTGsMustBeReInitialized = false;

        mrpt::system::CTimeLoggerEntry tle(m_timelogger, "STEP1_InitPTGs");

        for (unsigned int j = 0; j < m_ptgmultilevel.size(); j++)
        {
            for (unsigned int i = 0; i < m_robotShape.size(); i++)
            {
                m_ptgmultilevel[j].PTGs[i]->deinitialize();

                MRPT_LOG_INFO_FMT(
                    "[loadConfigFile] Initializing PTG#%u.%u... (`%s`)", j, i,
                    m_ptgmultilevel[j].PTGs[i]->getDescription().c_str());

                // Polygonal robot shape?
                {
                    auto* ptg =
                        dynamic_cast<mrpt::nav::CPTG_RobotShape_Polygonal*>(
                            m_ptgmultilevel[j].PTGs[i].get());
                    if (ptg) ptg->setRobotShape(m_robotShape.polygon(i));
                }
                // Circular robot shape?
                {
                    auto* ptg =
                        dynamic_cast<mrpt::nav::CPTG_RobotShape_Circular*>(
                            m_ptgmultilevel[j].PTGs[i].get());
                    if (ptg)
                        ptg->setRobotShapeRadius(m_robotShape.getRadius(i));
                }

                m_ptgmultilevel[j].PTGs[i]->initialize(
                    format(
                        "%s/ReacNavGrid_%03u_L%02u.dat.gz",
                        params_abstract_ptg_navigator.ptg_cache_files_directory
                            .c_str(),
                        i, j),
                    m_enableConsoleOutput /*verbose*/
                );
                MRPT_LOG_INFO("...Done.");
            }
        }
    }
}

/** \callergraph */
bool CReactiveNavigationSystem3D::implementSenseObstacles(
    mrpt::system::TTimeStamp& obstacles_timestamp)
{
    //-------------------------------------------------------------------
    // The user must implement its own method to load the obstacles from
    // either sensor measurements or simulators (m_robot.senseObstacles(...))
    // Data have to be subsequently sorted in height bands according to the
    // height sections of the robot.
    //-------------------------------------------------------------------

    m_timelogger.enter("navigationStep.STEP2_LoadAndSortObstacle");

    {
        CTimeLoggerEntry tle(m_timlog_delays, "senseObstacles()");
        if (!m_robot.senseObstacles(
                m_WS_Obstacles_unsorted, obstacles_timestamp))
            return false;
    }

    // Empty slice maps:
    const size_t nSlices = m_robotShape.size();
    m_WS_Obstacles_inlevels.resize(nSlices);
    for (size_t i = 0; i < nSlices; i++) m_WS_Obstacles_inlevels[i].clear();

    // Sort obstacles in "slices":
    size_t nPts;
    const float *xs, *ys, *zs;
    m_WS_Obstacles_unsorted.getPointsBuffer(nPts, xs, ys, zs);
    const float OBS_MAX_XY = params_abstract_ptg_navigator.ref_distance * 1.1f;

    for (size_t j = 0; j < nPts; j++)
    {
        float h = 0;
        for (size_t idxH = 0; idxH < nSlices; ++idxH)
        {
            if (zs[j] < 0.01) break;  // skip this points

            h += m_robotShape.getHeight(idxH);
            if (zs[j] < h)
            {
                // Speed-up: If the obstacle is, for sure, out of the collision
                // grid,
                // just don't account for it, because we don't know its mapping
                // into TP-Obstacles anyway...
                if (xs[j] > -OBS_MAX_XY && xs[j] < OBS_MAX_XY &&
                    ys[j] > -OBS_MAX_XY && ys[j] < OBS_MAX_XY)
                    m_WS_Obstacles_inlevels[idxH].insertPoint(
                        xs[j], ys[j], zs[j]);

                break;  // stop searching for height slots.
            }
        }
    }

    m_timelogger.leave("navigationStep.STEP2_LoadAndSortObstacle");

    return true;
}

/** Transform the obstacle into TP-Obstacles in TP-Spaces
 * \callergraph */
void CReactiveNavigationSystem3D::STEP3_WSpaceToTPSpace(
    const size_t ptg_idx, std::vector<double>& out_TPObstacles,
    mrpt::nav::ClearanceDiagram& out_clearance,
    const mrpt::math::TPose2D& rel_pose_PTG_origin_wrt_sense_,
    const bool eval_clearance)
{
    ASSERT_EQUAL_(m_WS_Obstacles_inlevels.size(), m_robotShape.size());
    ASSERT_(
        !m_ptgmultilevel.empty() &&
        m_ptgmultilevel.begin()->PTGs.size() == m_robotShape.size());

    const mrpt::poses::CPose2D rel_pose_PTG_origin_wrt_sense(
        rel_pose_PTG_origin_wrt_sense_);

    for (size_t j = 0; j < m_robotShape.size(); j++)
    {
        size_t nObs;
        const float *xs, *ys, *zs;
        m_WS_Obstacles_inlevels[j].getPointsBuffer(nObs, xs, ys, zs);

        for (size_t obs = 0; obs < nObs; obs++)
        {
            double ox, oy;
            rel_pose_PTG_origin_wrt_sense.composePoint(
                xs[obs], ys[obs], ox, oy);
            m_ptgmultilevel[ptg_idx].PTGs[j]->updateTPObstacle(
                ox, oy, out_TPObstacles);
            if (eval_clearance)
            {
                m_ptgmultilevel[ptg_idx].PTGs[j]->updateClearance(
                    ox, oy, out_clearance);
            }
        }
    }

    // Distances in TP-Space are normalized to [0,1]
    // They'll be normalized in the base abstract class:
}

/** Generates a pointcloud of obstacles to be saved in the logging record for
 * the current timestep
 * \callergraph */
void CReactiveNavigationSystem3D::loggingGetWSObstaclesAndShape(
    CLogFileRecord& out_log)
{
    out_log.WS_Obstacles.clear();
    // Include the points of all levels (this could be improved depending on
    // STEP2)
    for (auto& m_WS_Obstacles_inlevel : m_WS_Obstacles_inlevels)
        out_log.WS_Obstacles.insertAnotherMap(
            &m_WS_Obstacles_inlevel, CPose3D(0, 0, 0));

    // Polygons of each height level are drawn (but they are all shown
    // connected...)
    if (out_log.robotShape_x.size() == 0)
    {
        size_t nVerts = 0;
        TPoint2D paux;
        size_t cuenta = 0;
        for (unsigned int i = 0; i < m_robotShape.size(); i++)
            nVerts += m_robotShape.polygon(i).size() + 1;
        if (size_t(out_log.robotShape_x.size()) != nVerts)
        {
            out_log.robotShape_x.resize(nVerts);
            out_log.robotShape_y.resize(nVerts);
        }
        for (unsigned int i = 0; i < m_robotShape.size(); i++)
        {
            for (unsigned int j = 0; j < m_robotShape.polygon(i).size(); j++)
            {
                paux = m_robotShape.polygon(i)[j];
                out_log.robotShape_x[cuenta] = paux.x;
                out_log.robotShape_y[cuenta] = paux.y;
                cuenta++;
            }
            paux = m_robotShape.polygon(i)[0];
            out_log.robotShape_x[cuenta] = paux.x;
            out_log.robotShape_y[cuenta] = paux.y;
            cuenta++;
        }
    }
    out_log.robotShape_radius = m_robotShape.getRadius(0);
}

bool CReactiveNavigationSystem3D::checkCollisionWithLatestObstacles(
    const mrpt::math::TPose2D& relative_robot_pose) const
{
    const size_t nSlices = m_robotShape.size();
    if (m_WS_Obstacles_inlevels.size() != m_robotShape.size())
    {
        MRPT_LOG_WARN(
            "checkCollisionWithLatestObstacles() skipped: no previous "
            "obstacles.");
        return false;
    }
    if (m_ptgmultilevel.empty())
    {
        MRPT_LOG_WARN("checkCollisionWithLatestObstacles() skipped: no PTGs.");
        return false;
    }

    for (size_t idxH = 0; idxH < nSlices; ++idxH)
    {
        size_t nObs;
        const float *xs, *ys, *zs;
        m_WS_Obstacles_inlevels[idxH].getPointsBuffer(nObs, xs, ys, zs);

        for (size_t i = 0;
             i < 1 /* assume all PTGs share the same robot shape! */; i++)
        {
            ASSERT_EQUAL_(m_ptgmultilevel[i].PTGs.size(), nSlices);
            const auto ptg = m_ptgmultilevel[i].PTGs[idxH];
            ASSERT_(ptg != nullptr);

            const double R = ptg->getMaxRobotRadius();
            for (size_t obs = 0; obs < nObs; obs++)
            {
                const double gox = xs[obs], goy = ys[obs];
                mrpt::math::TPoint2D lo =
                    relative_robot_pose.inverseComposePoint(
                        mrpt::math::TPoint2D(gox, goy));

                if (lo.x >= -R && lo.x <= R && lo.y >= -R && lo.y <= R &&
                    ptg->isPointInsideRobotShape(lo.x, lo.y))
                {
                    return true;  // collision!
                }
            }
        }
    }
    return false;  // No collision!
}