test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 <mrpt/nav.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/system/filesystem.h>  // directoryExists(), ...
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/config/CConfigFile.h>
#include <mrpt/random.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/serialization/CArchive.h>
 
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::nav;
using namespace mrpt::maps;
using namespace std;
 
// Load example grid map
#include <mrpt/examples_config.h>
string mySimpleMap(
        MRPT_EXAMPLES_BASE_DIRECTORY +
        string("../share/mrpt/datasets/malaga-cs-fac-building.simplemap.gz"));
string myCfgFileName(
        MRPT_EXAMPLES_BASE_DIRECTORY +
        string(
                "../share/mrpt/config_files/navigation-ptgs/"
                "ptrrt_config_example1.ini"));
 
// ------------------------------------------------------
//                              TestRRT1
// ------------------------------------------------------
void TestRRT1()
{
        mrpt::random::Randomize();
 
        // Load the gridmap:
        CSimpleMap simplemap;
 
        ASSERT_FILE_EXISTS_(mySimpleMap);
 
        cout << "Loading map...";
        {
                mrpt::io::CFileGZInputStream f(mySimpleMap);
                auto arch = mrpt::serialization::archiveFrom(f);
                arch >> simplemap;
        }
        cout << "Done! Number of sensory frames: " << simplemap.size() << endl;
 
        // Set planner params:
        // ------------------------------
        mrpt::nav::PlannerRRT_SE2_TPS planner;
 
        // Parameters:
        planner.loadConfig(mrpt::config::CConfigFile(myCfgFileName));
 
        planner.params.maxLength = 2.0;
        planner.params.minDistanceBetweenNewNodes = 0.10;
        planner.params.minAngBetweenNewNodes = mrpt::DEG2RAD(20);
        planner.params.goalBias = 0.05;
 
        // Logging:
        planner.params.save_3d_log_freq =
                0;  // 500; // save some iterations for debugging
 
        // End criteria:
        planner.end_criteria.acceptedDistToTarget = 0.25;
        planner.end_criteria.acceptedAngToTarget =
                DEG2RAD(180);  // 180d=Any orientation is ok
        planner.end_criteria.maxComputationTime = 15.0;
        planner.end_criteria.minComputationTime =
                1.0;  // 0=accept first found acceptable solution
 
        // Init planner:
        // ------------------------------
        planner.initialize();
 
        // Set up planning problem:
        // ------------------------------
        PlannerRRT_SE2_TPS::TPlannerResult planner_result;
        PlannerRRT_SE2_TPS::TPlannerInput planner_input;
 
        // Start & goal:
        planner_input.start_pose = mrpt::math::TPose2D(0, 0, 0);
        planner_input.goal_pose = mrpt::math::TPose2D(-20, -30, 0);
 
        // Obstacles:
        planner_input.obstacles_points.loadFromSimpleMap(simplemap);
        mrpt::math::TPoint3D bbox_min, bbox_max;
        planner_input.obstacles_points.boundingBox(bbox_min, bbox_max);
        // Convert gridmap -> obstacle points:
        // gridmap.getAsPointCloud( planner_input.obstacles_points );
 
        // Workspace bounding box:
        planner_input.world_bbox_min = mrpt::math::TPoint2D(bbox_min.x, bbox_min.y);
        planner_input.world_bbox_max = mrpt::math::TPoint2D(bbox_max.x, bbox_max.y);
 
// size_t iters=0;
// Show results in a GUI and keep improving:
#if MRPT_HAS_WXWIDGETS
        mrpt::gui::CDisplayWindow3D win("Result", 1024, 800);
        while (win.isOpen())
#else
        for (size_t i = 0; i < 1; i++)
#endif
        {
                // Refine solution or start over:
                bool refine_solution = false;  // (iters++ % 5 != 0);
 
                // Start from scratch:
                if (!refine_solution)
                        planner_result = PlannerRRT_SE2_TPS::TPlannerResult();
 
                // Do path planning:
                planner.solve(planner_input, planner_result);
 
                cout << "Found goal_distance: " << planner_result.goal_distance << endl;
                cout << "Found path_cost: " << planner_result.path_cost << endl;
                cout << "Acceptable goal nodes: "
                         << planner_result.acceptable_goal_node_ids.size() << endl;
 
#if MRPT_HAS_WXWIDGETS
                // Show result in a GUI:
                mrpt::opengl::COpenGLScene::Ptr& scene = win.get3DSceneAndLock();
 
                scene->clear();
 
                PlannerRRT_SE2_TPS::TRenderPlannedPathOptions render_opts;
                render_opts.highlight_path_to_node_id =
                        planner_result.best_goal_node_id;
 
                planner.renderMoveTree(
                        *scene, planner_input, planner_result, render_opts);
 
                win.unlockAccess3DScene();
                win.repaint();
                win.waitForKey();
#endif
        }
}
 
int main(int argc, char** argv)
{
        try
        {
                TestRRT1();
                return 0;
        }
        catch (exception& e)
        {
                cout << "MRPT exception caught: " << e.what() << endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}