CReactiveNavigationSystem.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/nav/reactive/CReactiveNavigationSystem.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/utils/CConfigFileMemory.h>

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

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

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

        // Free PTGs:
        for (size_t i = 0; i < PTGs.size(); i++) delete PTGs[i];
        PTGs.clear();
}

/*---------------------------------------------------------------
                                                changeRobotShape
  ---------------------------------------------------------------*/
void CReactiveNavigationSystem::changeRobotShape(const math::CPolygon& shape)
{
        m_PTGsMustBeReInitialized = true;
        if (shape.verticesCount() < 3)
        {
                THROW_EXCEPTION("The robot shape has less than 3 vertices!!")
        }
        m_robotShape = shape;
}
void CReactiveNavigationSystem::changeRobotCircularShapeRadius(const double R)
{
        m_PTGsMustBeReInitialized = true;
        ASSERT_(R > 0);
        m_robotShapeCircularRadius = R;
}

void CReactiveNavigationSystem::saveConfigFile(
        mrpt::utils::CConfigFileBase& c) const
{
        CAbstractPTGBasedReactive::saveConfigFile(c);

        const std::string s = "CReactiveNavigationSystem";
        params_reactive_nav.saveToConfigFile(c, s);

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

void CReactiveNavigationSystem::loadConfigFile(
        const mrpt::utils::CConfigFileBase& c)
{
        MRPT_START

        // 1st: load my own params; at the end, call parent's overriden method:
        const std::string sectCfg = "CReactiveNavigationSystem";
        this->params_reactive_nav.loadFromConfigFile(c, sectCfg);

        unsigned int PTG_COUNT = c.read_int(sectCfg, "PTG_COUNT", 0, true);

        // Load robot shape: 1/2 polygon
        // ---------------------------------------------
        vector<float> xs, ys;
        c.read_vector(
                sectCfg, "RobotModel_shape2D_xs", vector<float>(0), xs, false);
        c.read_vector(
                sectCfg, "RobotModel_shape2D_ys", vector<float>(0), ys, false);
        ASSERTMSG_(
                xs.size() == ys.size(),
                "Config parameters `RobotModel_shape2D_xs` and `RobotModel_shape2D_ys` "
                "must have the same length!");
        if (!xs.empty())
        {
                math::CPolygon shape;
                for (size_t i = 0; i < xs.size(); i++) shape.AddVertex(xs[i], ys[i]);
                changeRobotShape(shape);
        }

        // Load robot shape: 2/2 circle
        // ---------------------------------------------
        const double robot_shape_radius =
                c.read_double(sectCfg, "RobotModel_circular_shape_radius", .0, false);
        ASSERT_(robot_shape_radius >= .0);
        if (robot_shape_radius != .0)
        {
                changeRobotCircularShapeRadius(robot_shape_radius);
        }

        // Load PTGs from file:
        // ---------------------------------------------
        // Free previous PTGs:
        for (size_t i = 0; i < PTGs.size(); i++) delete PTGs[i];
        PTGs.assign(PTG_COUNT, nullptr);

        for (unsigned int n = 0; n < PTG_COUNT; n++)
        {
                // Factory:
                const std::string sPTGName =
                        c.read_string(sectCfg, format("PTG%u_Type", n), "", true);
                PTGs[n] = CParameterizedTrajectoryGenerator::CreatePTG(
                        sPTGName, c, sectCfg, format("PTG%u_", n));
        }

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

        MRPT_END
}

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

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

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

                        logFmt(
                                mrpt::utils::LVL_INFO,
                                "[CReactiveNavigationSystem::STEP1_InitPTGs] Initializing "
                                "PTG#%u (`%s`)...",
                                i, PTGs[i]->getDescription().c_str());

                        // Polygonal robot shape?
                        {
                                mrpt::nav::CPTG_RobotShape_Polygonal* ptg =
                                        dynamic_cast<mrpt::nav::CPTG_RobotShape_Polygonal*>(
                                                PTGs[i]);
                                if (ptg) ptg->setRobotShape(m_robotShape);
                        }
                        // Circular robot shape?
                        {
                                mrpt::nav::CPTG_RobotShape_Circular* ptg =
                                        dynamic_cast<mrpt::nav::CPTG_RobotShape_Circular*>(PTGs[i]);
                                if (ptg) ptg->setRobotShapeRadius(m_robotShapeCircularRadius);
                        }

                        // Init:
                        PTGs[i]->initialize(
                                format(
                                        "%s/ReacNavGrid_%03u.dat.gz",
                                        params_abstract_ptg_navigator.ptg_cache_files_directory
                                                .c_str(),
                                        i),
                                m_enableConsoleOutput /*verbose*/
                                );
                        logStr(mrpt::utils::LVL_INFO, "Done!");
                }
        }
}

/** \callergraph */
bool CReactiveNavigationSystem::implementSenseObstacles(
        mrpt::system::TTimeStamp& obstacles_timestamp)
{
        try
        {
                bool ret;  // Return true on success
                {
                        CTimeLoggerEntry tle1(m_timelogger, "navigationStep.STEP2_Sense");
                        CTimeLoggerEntry tle2(m_timlog_delays, "senseObstacles()");
                        ret = m_robot.senseObstacles(m_WS_Obstacles, obstacles_timestamp);
                }

                // Optional filtering of obstacles:
                m_WS_Obstacles_original = m_WS_Obstacles;
                if (ret && m_WS_filter)
                {
                        m_WS_filter->filter(
                                &m_WS_Obstacles, obstacles_timestamp,
                                mrpt::poses::CPose3D(mrpt::math::TPose3D(m_curPoseVel.pose)));
                }

                return ret;
                // Note: Clip obstacles by "z" axis coordinates is more efficiently done
                // in STEP3_WSpaceToTPSpace()
        }
        catch (std::exception& e)
        {
                MRPT_LOG_ERROR_STREAM(
                        "[CReactiveNavigationSystem::STEP2_Sense] Exception:" << e.what());
                return false;
        }
        catch (...)
        {
                MRPT_LOG_ERROR_STREAM(
                        "[CReactiveNavigationSystem::STEP2_Sense] Unexpected exception!");
                return false;
        }
}

/** \callergraph */
void CReactiveNavigationSystem::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)
{
        CParameterizedTrajectoryGenerator* ptg = this->getPTG(ptg_idx);

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

        const float OBS_MAX_XY = params_abstract_ptg_navigator.ref_distance * 1.1f;

        // Merge all the (k,d) for which the robot collides with each obstacle
        // point:
        size_t nObs;
        const float *xs, *ys, *zs;
        m_WS_Obstacles.getPointsBuffer(nObs, xs, ys, zs);

        for (size_t obs = 0; obs < nObs; obs++)
        {
                double ox, oy, oz = zs[obs];
                rel_pose_PTG_origin_wrt_sense.composePoint(xs[obs], ys[obs], ox, oy);

                if (ox > -OBS_MAX_XY && ox < OBS_MAX_XY && oy > -OBS_MAX_XY &&
                        oy < OBS_MAX_XY && oz >= params_reactive_nav.min_obstacles_height &&
                        oz <= params_reactive_nav.max_obstacles_height)
                {
                        ptg->updateTPObstacle(ox, oy, out_TPObstacles);
                        if (eval_clearance)
                        {
                                ptg->updateClearance(ox, oy, out_clearance);
                        }
                }
        }
}

/** Generates a pointcloud of obstacles, and the robot shape, to be saved in the
 * logging record for the current timestep
 * \callergraph */
void CReactiveNavigationSystem::loggingGetWSObstaclesAndShape(
        CLogFileRecord& out_log)
{
        out_log.WS_Obstacles = m_WS_Obstacles;
        out_log.WS_Obstacles_original = m_WS_Obstacles_original;

        const size_t nVerts = m_robotShape.size();
        out_log.robotShape_x.resize(nVerts);
        out_log.robotShape_y.resize(nVerts);
        out_log.robotShape_radius = m_robotShapeCircularRadius;

        for (size_t i = 0; i < nVerts; i++)
        {
                out_log.robotShape_x[i] = m_robotShape.GetVertex_x(i);
                out_log.robotShape_y[i] = m_robotShape.GetVertex_y(i);
        }
}

void CReactiveNavigationSystem::TReactiveNavigatorParams::loadFromConfigFile(
        const mrpt::utils::CConfigFileBase& c, const std::string& s)
{
        MRPT_LOAD_CONFIG_VAR_REQUIRED_CS(min_obstacles_height, double);
        MRPT_LOAD_CONFIG_VAR_REQUIRED_CS(max_obstacles_height, double);
}

void CReactiveNavigationSystem::TReactiveNavigatorParams::saveToConfigFile(
        mrpt::utils::CConfigFileBase& c, const std::string& s) const
{
        MRPT_SAVE_CONFIG_VAR_COMMENT(
                min_obstacles_height,
                "Minimum `z` coordinate of obstacles to be considered fo collision "
                "checking");
        MRPT_SAVE_CONFIG_VAR_COMMENT(
                max_obstacles_height,
                "Maximum `z` coordinate of obstacles to be considered fo collision "
                "checking");
}

CReactiveNavigationSystem::TReactiveNavigatorParams::TReactiveNavigatorParams()
        : min_obstacles_height(0.0), max_obstacles_height(10.0)
{
}

bool CReactiveNavigationSystem::checkCollisionWithLatestObstacles(
        const mrpt::math::TPose2D& relative_robot_pose) const
{
        ASSERT_(!PTGs.empty());
        size_t nObs;
        const float *xs, *ys, *zs;
        m_WS_Obstacles.getPointsBuffer(nObs, xs, ys, zs);

        for (size_t i = 0; i < 1 /* assume all PTGs share the same robot shape! */;
                 i++)
        {
                const auto ptg = PTGs[i];
                ASSERT_(ptg != nullptr);
                const double R = ptg->getMaxRobotRadius();
                for (size_t obs = 0; obs < nObs; obs++)
                {
                        const double gox = xs[obs], goy = ys[obs], oz = zs[obs];
                        if (oz < params_reactive_nav.min_obstacles_height ||
                                oz > params_reactive_nav.max_obstacles_height)
                        {
                                continue;
                        }
                        mrpt::math::TPoint2D lo;
                        relative_robot_pose.inverseComposePoint(
                                mrpt::math::TPoint2D(gox, goy), lo);

                        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!
}