/** Get node closest to another node with a certain property.
* @param node_name the name of the node from which to start
* @param consider_unconnected consider unconnected node for the search
* of the closest node
* @param property property the node must have to be considered,
* empty string to not check for any property
* @return node closest to the given point in the global frame, or an
* invalid node if such a node cannot be found. The node will obviously
* not be the node with the name @p node_name.
*/
NavGraphNode
NavGraph::closest_node_to(const std::string &node_name, bool consider_unconnected,
const std::string &property) const
{
NavGraphNode n = node(node_name);
std::vector<NavGraphNode> nodes = search_nodes(property);
float min_dist = HUGE;
std::vector<NavGraphNode>::iterator i;
std::vector<NavGraphNode>::iterator elem = nodes.begin();
for (i = nodes.begin(); i != nodes.end(); ++i) {
if (! consider_unconnected && i->unconnected()) continue;
float dx = i->x() - n.x();
float dy = i->y() - n.y();
float dist = sqrtf(dx * dx + dy * dy);
if ((sqrtf(dx * dx + dy * dy) < min_dist) && (i->name() != node_name)) {
min_dist = dist;
elem = i;
}
}
if (elem == nodes.end()) {
return NavGraphNode();
} else {
return *elem;
}
}
/** Connect node to closest edge
* @param n node to connect to closest node
*/
void
NavGraph::connect_node_to_closest_edge(const NavGraphNode &n)
{
NavGraphEdge closest = closest_edge(n.x(), n.y());
cart_coord_2d_t p = closest.closest_point_on_edge(n.x(), n.y());
NavGraphNode closest_conn = closest_node(p.x, p.y);
NavGraphNode cn;
if (almost_equal(closest_conn.distance(p.x, p.y), 0.f, 2)) {
cn = closest_conn;
} else {
cn = NavGraphNode(NavGraph::format_name("C-%s", n.name().c_str()), p.x, p.y);
}
if (closest.from() == cn.name() || closest.to() == cn.name()) {
// we actually want to connect to one of the end nodes of the edge,
// simply add the new edge and we are done
NavGraphEdge new_edge(cn.name(), n.name());
new_edge.set_property("generated", true);
new_edge.set_property("created-for", cn.name() + "--" + n.name());
add_edge(new_edge);
} else {
// we are inserting a new point into the edge
remove_edge(closest);
NavGraphEdge new_edge_1(closest.from(), cn.name());
NavGraphEdge new_edge_2(closest.to(), cn.name());
NavGraphEdge new_edge_3(cn.name(), n.name());
new_edge_1.set_properties(closest.properties());
new_edge_2.set_properties(closest.properties());
new_edge_3.set_property("created-for", cn.name() + "--" + n.name());
new_edge_3.set_property("generated", true);
if (! node_exists(cn)) add_node(cn);
add_edge(new_edge_1);
add_edge(new_edge_2);
add_edge(new_edge_3);
}
}
void
NavGraphInteractiveThread::add_node(const NavGraphNode &node, NavGraph *navgraph)
{
const bool has_ori = node.has_property(navgraph::PROP_ORIENTATION);
const tf::Quaternion ori_q = has_ori
? tf::create_quaternion_from_yaw(node.property_as_float(navgraph::PROP_ORIENTATION))
: tf::Quaternion(0,0,0,1);
// create an interactive marker for our server
visualization_msgs::InteractiveMarker int_marker;
int_marker.header.frame_id = cfg_global_frame_;
int_marker.name = node.name();
int_marker.description = ""; //node.name();
int_marker.scale = 0.5;
int_marker.pose.position.x = node.x();
int_marker.pose.position.y = node.y();
int_marker.pose.position.z = 0.;
if (has_ori) {
int_marker.pose.orientation.x = ori_q[0];
int_marker.pose.orientation.y = ori_q[1];
int_marker.pose.orientation.z = ori_q[2];
int_marker.pose.orientation.w = ori_q[3];
} else {
int_marker.pose.orientation.x = int_marker.pose.orientation.y = int_marker.pose.orientation.z = 0.;
int_marker.pose.orientation.w = 1.;
}
// create a grey box marker
visualization_msgs::Marker box_marker;
if (has_ori) {
box_marker.type = visualization_msgs::Marker::ARROW;
geometry_msgs::Point p1, p2;
p1.x = p1.y = p1.z = 0.;
p2.x = 0.2;
p2.y = p2.z = 0.;
box_marker.points.push_back(p1);
box_marker.points.push_back(p2);
box_marker.scale.x = 0.35;
box_marker.scale.y = 0.35;
box_marker.scale.z = 0.2;
} else {
box_marker.type = visualization_msgs::Marker::SPHERE;
box_marker.scale.x = 0.25;
box_marker.scale.y = 0.25;
box_marker.scale.z = 0.25;
}
box_marker.color.r = 0.5;
box_marker.color.g = 0.5;
box_marker.color.b = 0.5;
box_marker.color.a = 1.0;
// create a non-interactive control which contains the box
visualization_msgs::InteractiveMarkerControl box_control;
box_control.always_visible = true;
box_control.markers.push_back(box_marker);
box_control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MENU;
box_control.description="Options";
box_control.name="menu";
int_marker.controls.push_back(box_control);
NodeMenu menu;
menu.handler = std::shared_ptr<MenuHandler>(new MenuHandler());
menu.ori_handle =
menu.handler->insert("Orientation", boost::bind(&NavGraphInteractiveThread::process_node_feedback, this, _1));
menu.goto_handle =
menu.handler->insert("Go to", boost::bind(&NavGraphInteractiveThread::process_node_feedback, this, _1));
menu.handler->setCheckState(menu.ori_handle, MenuHandler::UNCHECKED);
const std::vector<NavGraphNode> &nodes = navgraph->nodes();
const std::vector<NavGraphEdge> &edges = navgraph->edges();
MenuHandler::EntryHandle connect_undir_menu_handle = menu.handler->insert("Connect with");
MenuHandler::EntryHandle connect_dir_menu_handle = menu.handler->insert("Connect directed");
MenuHandler::EntryHandle disconnect_menu_handle = menu.handler->insert("Disconnect from");
std::for_each(nodes.begin(), nodes.end(),
[&, this](const NavGraphNode &n)->void {
if (n.name() != node.name()) {
auto edge = std::find_if(edges.begin(), edges.end(),
[&n, &node](const NavGraphEdge &e)->bool {
return
(e.from() == node.name() &&
e.to() == n.name()) ||
(! e.is_directed() &&
e.from() == n.name() &&
e.to() == node.name());
});
if (edge == edges.end()) {
MenuHandler::EntryHandle undir_handle =
menu.handler->insert(connect_undir_menu_handle, n.name(),
boost::bind(&NavGraphInteractiveThread::process_node_feedback, this, _1));
menu.undir_connect_nodes[undir_handle] = n.name();
MenuHandler::EntryHandle dir_handle =
menu.handler->insert(connect_dir_menu_handle, n.name(),
boost::bind(&NavGraphInteractiveThread::process_node_feedback, this, _1));
menu.dir_connect_nodes[dir_handle] = n.name();
} else {
MenuHandler::EntryHandle handle =
menu.handler->insert(disconnect_menu_handle, n.name(),
boost::bind(&NavGraphInteractiveThread::process_node_feedback, this, _1));
menu.disconnect_nodes[handle] = n.name();
}
}
});
MenuHandler::EntryHandle properties_menu_handle = menu.handler->insert("Properties");
for (const auto &p : node.properties()) {
std::string p_s = p.first + ": " + p.second;
menu.handler->insert(properties_menu_handle, p_s);
}
menu.remove_handle =
menu.handler->insert("Remove Node",
boost::bind(&NavGraphInteractiveThread::process_node_feedback,
this, _1));
// create a control which will move the box
// this control does not contain any markers,
// which will cause RViz to insert two arrows
visualization_msgs::InteractiveMarkerControl pos_control;
pos_control.orientation_mode =
visualization_msgs::InteractiveMarkerControl::FIXED;
pos_control.interaction_mode =
visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
pos_control.name = "move_x";
pos_control.orientation.x = 0.;
pos_control.orientation.y = 0.;
pos_control.orientation.z = 0.;
pos_control.orientation.w = 1.;
int_marker.controls.push_back(pos_control);
pos_control.name = "move_y";
pos_control.orientation.x = 0.;
pos_control.orientation.y = 0.;
pos_control.orientation.z = 1.;
pos_control.orientation.w = 1.;
int_marker.controls.push_back(pos_control);
if (has_ori) {
visualization_msgs::InteractiveMarkerControl ori_control;
ori_control.name = "rot_z";
ori_control.orientation.w = 1;
ori_control.orientation.x = 0;
ori_control.orientation.y = 1;
ori_control.orientation.z = 0;
ori_control.interaction_mode =
visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
int_marker.controls.push_back(ori_control);
menu.handler->setCheckState(menu.ori_handle, MenuHandler::CHECKED);
}
server_->insert(int_marker, boost::bind(&NavGraphInteractiveThread::process_node_feedback, this, _1));
menu.handler->apply(*server_, int_marker.name);
node_menus_[int_marker.name] = menu;
}
void
NavGraph::edge_add_split_intersection(const NavGraphEdge &edge)
{
std::list<std::pair<cart_coord_2d_t, NavGraphEdge>> intersections;
const NavGraphNode &n1 = node(edge.from());
const NavGraphNode &n2 = node(edge.to());
try {
for (const NavGraphEdge &e : edges_) {
cart_coord_2d_t ip;
if (e.intersection(n1.x(), n1.y(), n2.x(), n2.y(), ip)) {
// we need to split the edge at the given intersection point,
// and the new line segments as well
intersections.push_back(std::make_pair(ip, e));
}
}
std::list<std::list<std::pair<cart_coord_2d_t, NavGraphEdge> >::iterator> deletions;
for (auto i1 = intersections.begin(); i1 != intersections.end(); ++i1) {
const std::pair<cart_coord_2d_t, NavGraphEdge> &p1 = *i1;
const cart_coord_2d_t &c1 = p1.first;
const NavGraphEdge &e1 = p1.second;
const NavGraphNode &n1_from = node(e1.from());
const NavGraphNode &n1_to = node(e1.to());
for (auto i2 = std::next(i1); i2 != intersections.end(); ++i2) {
const std::pair<cart_coord_2d_t, NavGraphEdge> &p2 = *i2;
const cart_coord_2d_t &c2 = p2.first;
const NavGraphEdge &e2 = p2.second;
if (points_different(c1.x, c1.y, c2.x, c2.y)) continue;
float d = 1.;
if (e1.from() == e2.from() || e1.from() == e2.to()) {
d = point_dist(n1_from.x(), n1_from.y(), c1.x, c1.y);
} else if (e1.to() == e2.to() || e1.to() == e2.from()) {
d = point_dist(n1_to.x(), n1_to.y(), c1.x, c1.y);
}
if (d < 1e-4) {
// the intersection point is the same as a common end
// point of the two edges, only keep it once
deletions.push_back(i1);
break;
}
}
}
for (auto d = deletions.rbegin(); d != deletions.rend(); ++d) {
intersections.erase(*d);
}
if (intersections.empty()) {
NavGraphEdge e(edge);
e.set_property("created-for", edge.from() + "--" + edge.to());
add_edge(e, EDGE_FORCE);
} else {
Eigen::Vector2f e_origin(n1.x(), n1.y());
Eigen::Vector2f e_target(n2.x(), n2.y());
Eigen::Vector2f e_dir = (e_target - e_origin).normalized();
intersections.sort([&e_origin, &e_dir](const std::pair<cart_coord_2d_t, NavGraphEdge> &p1,
const std::pair<cart_coord_2d_t, NavGraphEdge> &p2)
{
const Eigen::Vector2f p1p(p1.first.x, p1.first.y);
const Eigen::Vector2f p2p(p2.first.x, p2.first.y);
const float k1 = e_dir.dot(p1p - e_origin);
const float k2 = e_dir.dot(p2p - e_origin);
return k1 < k2;
});
std::string en_from = edge.from();
cart_coord_2d_t ec_from(n1.x(), n1.y());
std::string prev_to;
for (const auto &i : intersections) {
const cart_coord_2d_t &c = i.first;
const NavGraphEdge &e = i.second;
// add intersection point (if necessary)
NavGraphNode ip = closest_node(c.x, c.y);
if (! ip || points_different(c.x, c.y, ip.x(), ip.y())) {
ip = NavGraphNode(gen_unique_name(), c.x, c.y);
add_node(ip);
}
// if neither edge end node is the intersection point, split the edge
if (ip.name() != e.from() && ip.name() != e.to()) {
NavGraphEdge e1(e.from(), ip.name(), e.is_directed());
NavGraphEdge e2(ip.name(), e.to(), e.is_directed());
remove_edge(e);
e1.set_properties(e.properties());
e2.set_properties(e.properties());
add_edge(e1, EDGE_FORCE, /* allow existing */ true);
add_edge(e2, EDGE_FORCE, /* allow existing */ true);
// this is a special case: we might intersect an edge
// which has the same end node and thus the new edge
// from the intersection node to the end node would
// be added twice
prev_to = e.to();
}
// add segment edge
if (en_from != ip.name() && prev_to != ip.name()) {
NavGraphEdge e3(en_from, ip.name(), edge.is_directed());
e3.set_property("created-for", en_from + "--" + ip.name());
add_edge(e3, EDGE_FORCE, /* allow existing */ true);
}
en_from = ip.name();
ec_from = c;
}
if (en_from != edge.to()) {
NavGraphEdge e3(en_from, edge.to(), edge.is_directed());
e3.set_property("created-for", en_from + "--" + edge.to());
add_edge(e3, EDGE_FORCE, /* allow existing */ true);
}
}
} catch (Exception &ex) {
throw Exception("Failed to add edge %s-%s%s: %s",
edge.from().c_str(), edge.is_directed() ? ">" : "-", edge.to().c_str(),
ex.what_no_backtrace());
}
}