NodeTree* rrtgrow(const std::vector<float> &start,const std::vector<float> &goal,float goalbias,std::vector<float> upper,std::vector<float> lower,OpenRAVE::EnvironmentBasePtr env, OpenRAVE::RobotBasePtr robot)
{
RRTNode* startNode = new RRTNode(start);
RRTNode* goalNode = new RRTNode(goal);
setgoalConfig(goal);
setGoalBias(goalbias);
NodeTree* initPath = new NodeTree(startNode);
NodeTree* path= new NodeTree();
NodeTree* finalPath=new NodeTree();
RRTNode* nearestNode = NULL;
// initPath->setgoalflag(false);
goalflag = false;
std::vector<float>::const_iterator it;
std::cout<<std::endl<<"Given:"<<std::endl<<"Goal:"<<goal[0]<<","<<goal[1]<<","<<goal[2]<<","<<goal[3]<<","<<goal[4]<<","<<goal[5]<<","<<goal[6]<<std::endl;
std::cout<<std::endl<<"Start:"<<start[0]<<","<<start[1]<<","<<start[2]<<","<<start[3]<<","<<start[4]<<","<<start[5]<<","<<start[6]<<std::endl;
for (int i=0; i<10000;++i){
std::cout<<std::endl<<"RRT-iteration"<<i<<std::endl;
RRTNode* sampledNode = initPath->getRamdomSample(upper,lower,goalNode);
if(!checkifCollision(sampledNode->getConfig(),env,robot)){
nearestNode = initPath->nearestNeighbour(sampledNode);
std::vector<float> nn(nearestNode->getConfig().begin(),nearestNode->getConfig().end());
std::cout<<"Nearest found:["<<nn[0]<<","<<nn[1]<<","<<nn[2]<<","<<nn[3]<<","<<nn[4]<<","<<nn[5]<<","<<nn[6]<<"]"<<std::endl;
// std::cout<<"Nearest Node found..."<<std::endl;
path = initPath->connectNodes(sampledNode, nearestNode, goalNode,initPath->stepSize(),env,robot);
}
else
continue;
if(path->sizeNodes()==1){
std::cout<<"restart subpath.."<<std::endl;
continue;
}
else if(getNearestDistance(path->lastNode()->getConfig(),goal)==0){
// std::cout<<"found found..."<<std::endl;
initPath->addNodeTree(path);
std::cout<<"...Final..."<<std::endl;
for(it=path->lastNode()->getConfig().begin(); it!=path->lastNode()->getConfig().end(); ++it){
std::cout<<"final Node:"<<(*it)<<std::endl;
}
break;
}
else{
initPath->addNodeTree(path);
std::cout<<"Intermediate Tree..."<<std::endl;
// finalPath = initPath->getPath(initPath->sizeNodes()-1);
}
}
std::cout<<" Path found..."<<std::endl;
finalPath = initPath->getPath(initPath->sizeNodes()-1);
std::cout<<" initPath Size..."<<initPath->sizeNodes()<<std::endl;
std::cout<<" FinalPath Size..."<<finalPath->sizeNodes()<<std::endl;
return finalPath;
}
NodeTree* connectNodes(RRTNode* sampledNode, RRTNode* nearestNode,RRTNode* goalNode, float stepsize,OpenRAVE::EnvironmentBasePtr env, OpenRAVE::RobotBasePtr robot)
{
std::vector<float> goal = goalNode->getConfig();
std::cout<<"Connecting..."<<std::endl;
std::vector<float> targetConfig(sampledNode->getConfig().begin(),sampledNode->getConfig().end());
std::vector<float> unitConfig;
NodeTree* intermediateTree;
// NodeTree* q = new NodeTree();
std::cout<<"Entered connect"<<std::endl<<std::endl;
bool flag = true; // for first node additions
std::vector<float> nearestNodeConfig(nearestNode->getConfig().begin(),nearestNode->getConfig().end());
RRTNode* currentNode;
RRTNode* prevNode = nearestNode;
for (int itr=0; itr<10000; ++itr){ // avoid infinite loops, change as required
std::cout<<std::endl<<"Enter connectloop... iteration"<<itr<<std::endl;
std::vector<float>::const_iterator it;
std::vector<float> prevConfig(nearestNodeConfig.begin(),nearestNodeConfig.end());
float ndist = getNearestDistance(targetConfig,nearestNodeConfig);
std::cout<<"Sampledistance:"<<ndist<<std::endl;
if (ndist > stepsize){
std::cout<<"Step:"<<itr<<std::endl;
for(int i = 0; i < 7; ++i){
unitConfig.push_back((targetConfig[i] - nearestNodeConfig[i])/ndist);
nearestNodeConfig[i] += stepsize * unitConfig[i]; // find unit vector
}
// for(it=nearestNodeConfig.begin(); it!=nearestNodeConfig.end(); ++it){
// std::cout<<"New nearestNode:"<<(*it)<<std::endl;
// }
if(getNearestDistance(nearestNodeConfig,prevConfig)){ // check if moved to new location, remove if fails
if(!checkifCollision(nearestNodeConfig,env,robot)){
currentNode = new RRTNode(nearestNodeConfig, prevNode);
prevNode = currentNode; //check this
// std::cout<<"prev-> curr:"<<std::endl;
//print contents of added node
std::cout<<"...New node created:"<<std::endl;
for(it=currentNode->getConfig().begin(); it!=currentNode->getConfig().end(); ++it){
std::cout<<(*it)<<std::endl;
}
// for(it=currentNode->getParent()->getConfig().begin(); it!=currentNode->getParent()->getConfig().end(); ++it){
// std::cout<<"currentNodeparent:"<<(*it)<<std::endl;
// }
// for(it=prevNode->getConfig().begin(); it!=prevNode->getConfig().end(); ++it){
// std::cout<<"prevNode:"<<(*it)<<std::endl;
// }
if (flag)
{
intermediateTree = new NodeTree(currentNode);
flag = false;
}
else
{
intermediateTree->addNode(currentNode);
}
std::cout<<"...New node Added:"<<std::endl;
}
else
{
// std::cout<<"in dist >step"<<std::endl;
if (flag)
{
intermediateTree = new NodeTree();
flag = false;
}
break;
//check if NULL
}
}
// if new sampled node is the same as previous
else
{
// std::cout<<"Not moved"<<std::endl;
if (flag)
{
intermediateTree = new NodeTree();
flag = false;
}
break;
}
}
// if the distance within the goal threashold range
else if(ndist <= 1.0) //q->errorfactor()
{
std::cout<<std::endl<<"..Step :"<<itr<<"->inside epsilon "<<std::endl;
//if the distance is very close
if(!checkifCollision(nearestNodeConfig,env,robot))
{
std::cout<<"...Entered Goal Zone..."<<std::endl;
if (goalflag) // if sampled node was goal
{
currentNode = new RRTNode(goal, prevNode);
if (flag)
{
intermediateTree = new NodeTree(currentNode);
flag = false;
}
else
{
intermediateTree->addNode(currentNode);
}
std::cout<<"............Goal reached..."<<std::endl;
break;
}
// else sampled node was reached and added
else
{ currentNode = new RRTNode(nearestNodeConfig, prevNode);
if (flag)
{
intermediateTree = new NodeTree(currentNode);
flag = false;
}
else
{
intermediateTree->addNode(currentNode);
}
std::cout<<"............Sample reached..."<<std::endl;
break;
}
}
else
{
// std::cout<<"in dist<step"<<std::endl;
if (flag)
{
intermediateTree = new NodeTree();
flag = false;
}
break;
}
}
else {
std::cout<<"(o_o)(o_o)(o_o)(o_o)(o_o).."<<std::endl;
}
}
std::cout<<"Tree returned"<<intermediateTree->sizeNodes()<<std::endl;
return intermediateTree;
}
