/* ************************************************************************* */
TEST( testPath, nearestSegment) {
Geometry2d::Point p0, p1(1.0, 0.0), p2(2.0, 0.0), p3(3.0, 0.0);
Planning::Path path;
path.points.push_back(p0);
path.points.push_back(p1);
path.points.push_back(p2);
path.points.push_back(p3);
Segment actSeg = path.nearestSegment(Point(0.5, -0.5));
EXPECT_FLOAT_EQ(p0.x, actSeg.pt[0].x);
EXPECT_FLOAT_EQ(p0.y, actSeg.pt[0].y);
EXPECT_FLOAT_EQ(p1.x, actSeg.pt[1].x);
EXPECT_FLOAT_EQ(p1.y, actSeg.pt[1].y);
}
/* ************************************************************************* */
TEST( testPath, startFrom3 ) {
Geometry2d::Point p0, p1(1.0, 0.0), p2(2.0, 0.0), p3(3.0, 0.0);
Planning::Path path;
path.points.push_back(p0);
path.points.push_back(p1);
path.points.push_back(p2);
path.points.push_back(p3);
Point pt(0.5,-0.01);
Planning::Path act;
path.startFrom(pt, act);
// verify
ASSERT_EQ(5, act.size());
EXPECT_TRUE(pt == act.points[0]);
// EXPECT_TRUE(p1 == act.points[1]); // fails
}
/* ************************************************************************* */
TEST( testPath, startFrom1 ) {
Geometry2d::Point p0, p1(1.0, 0.0), p2(2.0, 0.0), p3(3.0, 0.0);
Planning::Path path;
path.points.push_back(p0);
path.points.push_back(p1);
path.points.push_back(p2);
path.points.push_back(p3);
// simple case - on same axis as path
Planning::Path act;
path.startFrom(Point(-1.0, 0.0), act);
// verify
ASSERT_EQ(4, act.size());
EXPECT_FLOAT_EQ(-1.0, act.points[0].x);
EXPECT_FLOAT_EQ(0.0, act.points[0].y);
EXPECT_TRUE(act.points[1] == p1);
}
void Planning::Path::startFrom(const Geometry2d::Point& pt, Planning::Path& result) const {
// path will start at the current robot pose
result.clear();
result.points.push_back(pt);
if (points.empty())
return;
// handle simple paths
if (points.size() == 1) {
result.points.push_back(points.front());
return;
}
// find where to start the path
Geometry2d::Segment close_segment;
float dist = -1;
unsigned int i = (points.front().nearPoint(pt, 0.02)) ? 1 : 0;
vector<Geometry2d::Point>::const_iterator path_start = ++points.begin();
for (; i < (points.size() - 1); ++i)
{
Geometry2d::Segment s(points[i], points[i+1]);
const float d = s.distTo(pt);
if (dist < 0 || d < dist)
{
close_segment = s;
dist = d;
}
}
// slice path
// new path will be pt, [closest point on nearest segment], [i+1 to end]
if (dist > 0.0 && dist < 0.02) {
Geometry2d::Point intersection_pt = close_segment.nearestPoint(pt);
result.points.push_back(intersection_pt);
}
result.points.insert(result.points.end(), path_start, points.end());
}
Geometry2d::Point OurRobot::findGoalOnPath(const Geometry2d::Point& pose,
const Planning::Path& path, const ObstacleGroup& obstacles) {
const bool blend_verbose = false;
// empty path case - leave robot stationary
if (path.empty())
return pose;
// find closest point on path to pose
float max = path.points[0].distTo(pose);
unsigned int ip = 0;
for (unsigned i=0; i<path.points.size(); i++) {
if (path.points[i].distTo(pose) < max) {
max = path.points[i].distTo(pose);
ip = i;
}
}
if (blend_verbose) addText(QString("cur pt %1=(%2,%3)").arg(ip).arg(path.points[ip].x).arg(path.points[ip].y));
// go to nearest point if only point or closest point is the goal
if (path.size() == 1) {
if (blend_verbose) addText(QString("blend:simple_path"));
return path.points[0];
}
// can't mix, just go to endpoint
if (path.size() == 2) {
if (blend_verbose) addText(QString("blend:size2"));
return path.points[1];
}
// FIXME: does not blend the last segment
// All other cases: proportionally blend the next two points together for a smoother
// path, so long as it is still viable
if (blend_verbose) addText(QString("blend:segments=%1").arg(path.points.size()-1));
// pull out relevant points
Point p0 = pos;
Point p1;
Point p2;
if (path.size() > ip+2) {
p1 = path.points[ip+1];
p2 = path.points[ip+2];
} else if (path.size() > ip+1) {
p1 = path.points[ip];
p2 = path.points[ip+1];
} else {
p1 = path.points[ip-1];
p2 = path.points[ip];
}
Geometry2d::Segment target_seg(p1, p2);
if (blend_verbose) addText(QString("pos=(%1,%2)").arg(pos.x,5).arg(pos.y,5));
if (blend_verbose) addText(QString("path[0]=(%1,%2)").arg(path.points[0].x).arg(path.points[0].y));
if (blend_verbose) addText(QString("p1=(%1,%2)").arg(p1.x,5).arg(p1.y,5));
if (blend_verbose) addText(QString("p2=(%1,%2)").arg(p2.x,5).arg(p2.y,5));
// final endpoint handling
if (target_seg.nearPointPerp(p0, 0.02) && p0.nearPoint(p2, 0.03)) {
if (2 == path.size()-1) {
if (blend_verbose) addText(QString("blend:at_end"));
return p2;
} else {
// reset this segment to next one
if (blend_verbose) addText(QString("blend:reset_segment"));
Point temp(p1);
p1 = p2;
p2 = temp;
target_seg = Geometry2d::Segment(p1, p2);
}
}
float dist1 = p0.distTo(p1), dist2 = p1.distTo(p2);
if (blend_verbose) addText(QString("blend:d1=%1,d2=%2").arg(dist1).arg(dist2));
// endpoint handling
if (dist1 < 0.02) {
if (blend_verbose) addText(QString("blend:dist1small=%1").arg(dist1));
return p2; /// just go to next point
}
// short segment handling
if (p1.distTo(p2) < 0.05) {
if (blend_verbose) addText(QString("blend:dist2small=%1").arg(dist2));
return p2; /// just go to next point
}
// close to segment - go to end of segment
if (target_seg.nearPoint(p0, 0.03)) {
if (blend_verbose) addText(QString("blend:closeToSegment"));
return p2;
}
// mix the next point between the first and second point
// if we are far away from p1, want scale to be closer to p1
// if we are close to p1, want scale to be closer to p2
float scale = 1 - clamp(dist1/dist2, 0.0f, 1.0f);
Geometry2d::Point targetPos = p1 + (p2-p1)*scale;
if (blend_verbose) {
addText(QString("blend:scale=%1").arg(scale));
addText(QString("blend:dist1=%1").arg(dist1));
addText(QString("blend:dist2=%1").arg(dist2));
}
// check for collisions on blended path
Geometry2d::Segment shortcut(p0, targetPos);
Geometry2d::Point result = p1;
if (!obstacles.hit(shortcut)) {
if (blend_verbose) addText(QString("blend:shortcut_succeed"));
result = targetPos;
} else if (result.nearPoint(pose, 0.05)) {
if (blend_verbose) addText(QString("blend:shortcut_failed"));
result = result + (result-pose).normalized() * 0.10;
}
if (blend_verbose) addText(QString("point (%1, %2)").arg(result.x).arg(result.y));
return result;
}