MotionPlannerGraph* MotionPlanner::init_graph(int island_idx) { if (this->graphs[island_idx + 1] == NULL) { Polygons pp; if (island_idx == -1) { pp = this->outer; } else { pp = this->inner[island_idx]; } MotionPlannerGraph* graph = this->graphs[island_idx + 1] = new MotionPlannerGraph(); // add polygon boundaries as edges size_t node_idx = 0; Lines lines; for (Polygons::const_iterator polygon = pp.begin(); polygon != pp.end(); ++polygon) { graph->nodes.push_back(polygon->points.back()); node_idx++; for (Points::const_iterator p = polygon->points.begin(); p != polygon->points.end(); ++p) { graph->nodes.push_back(*p); double dist = graph->nodes[node_idx-1].distance_to(*p); graph->add_edge(node_idx-1, node_idx, dist); graph->add_edge(node_idx, node_idx-1, dist); node_idx++; } polygon->lines(&lines); } // add Voronoi edges as internal edges { typedef voronoi_diagram<double> VD; typedef std::map<const VD::vertex_type*,size_t> t_vd_vertices; VD vd; t_vd_vertices vd_vertices; boost::polygon::construct_voronoi(lines.begin(), lines.end(), &vd); for (VD::const_edge_iterator edge = vd.edges().begin(); edge != vd.edges().end(); ++edge) { if (edge->is_infinite()) continue; const VD::vertex_type* v0 = edge->vertex0(); const VD::vertex_type* v1 = edge->vertex1(); Point p0 = Point(v0->x(), v0->y()); Point p1 = Point(v1->x(), v1->y()); // contains() should probably be faster than contains(), // and should it fail on any boundary points it's not a big problem if (island_idx == -1) { if (!this->outer.contains(p0) || !this->outer.contains(p1)) continue; } else { if (!this->inner[island_idx].contains(p0) || !this->inner[island_idx].contains(p1)) continue; } t_vd_vertices::const_iterator i_v0 = vd_vertices.find(v0); size_t v0_idx; if (i_v0 == vd_vertices.end()) { graph->nodes.push_back(p0); v0_idx = node_idx; vd_vertices[v0] = node_idx; node_idx++; } else { v0_idx = i_v0->second; } t_vd_vertices::const_iterator i_v1 = vd_vertices.find(v1); size_t v1_idx; if (i_v1 == vd_vertices.end()) { graph->nodes.push_back(p1); v1_idx = node_idx; vd_vertices[v1] = node_idx; node_idx++; } else { v1_idx = i_v1->second; } double dist = graph->nodes[v0_idx].distance_to(graph->nodes[v1_idx]); graph->add_edge(v0_idx, v1_idx, dist); } } return graph; } return this->graphs[island_idx + 1]; }
MotionPlannerGraph* MotionPlanner::init_graph(int island_idx) { if (this->graphs[island_idx + 1] == NULL) { // if this graph doesn't exist, initialize it MotionPlannerGraph* graph = this->graphs[island_idx + 1] = new MotionPlannerGraph(); /* We don't add polygon boundaries as graph edges, because we'd need to connect them to the Voronoi-generated edges by recognizing coinciding nodes. */ typedef voronoi_diagram<double> VD; VD vd; // mapping between Voronoi vertices and graph nodes typedef std::map<const VD::vertex_type*,size_t> t_vd_vertices; t_vd_vertices vd_vertices; // get boundaries as lines ExPolygonCollection env = this->get_env(island_idx); Lines lines = env.lines(); boost::polygon::construct_voronoi(lines.begin(), lines.end(), &vd); // traverse the Voronoi diagram and generate graph nodes and edges for (VD::const_edge_iterator edge = vd.edges().begin(); edge != vd.edges().end(); ++edge) { if (edge->is_infinite()) continue; const VD::vertex_type* v0 = edge->vertex0(); const VD::vertex_type* v1 = edge->vertex1(); Point p0 = Point(v0->x(), v0->y()); Point p1 = Point(v1->x(), v1->y()); // skip edge if any of its endpoints is outside our configuration space if (!env.contains_b(p0) || !env.contains_b(p1)) continue; t_vd_vertices::const_iterator i_v0 = vd_vertices.find(v0); size_t v0_idx; if (i_v0 == vd_vertices.end()) { graph->nodes.push_back(p0); vd_vertices[v0] = v0_idx = graph->nodes.size()-1; } else { v0_idx = i_v0->second; } t_vd_vertices::const_iterator i_v1 = vd_vertices.find(v1); size_t v1_idx; if (i_v1 == vd_vertices.end()) { graph->nodes.push_back(p1); vd_vertices[v1] = v1_idx = graph->nodes.size()-1; } else { v1_idx = i_v1->second; } // Euclidean distance is used as weight for the graph edge double dist = graph->nodes[v0_idx].distance_to(graph->nodes[v1_idx]); graph->add_edge(v0_idx, v1_idx, dist); } return graph; } return this->graphs[island_idx + 1]; }