double footstepHeuristicStraightRotation(
SolverNode<FootstepState, FootstepGraph>::Ptr node, FootstepGraph::Ptr graph)
{
FootstepState::Ptr state = node->getState();
FootstepState::Ptr goal = graph->getGoal(state->getLeg());
Eigen::Affine3f transform = state->getPose().inverse() * goal->getPose();
return (std::abs(transform.translation().norm() / graph->maxSuccessorDistance()) +
std::abs(Eigen::AngleAxisf(transform.rotation()).angle()) / graph->maxSuccessorRotation());
}
double footstepHeuristicStraight(
SolverNode<FootstepState, FootstepGraph>::Ptr node, FootstepGraph::Ptr graph)
{
FootstepState::Ptr state = node->getState();
FootstepState::Ptr goal = graph->getGoal(state->getLeg());
Eigen::Vector3f state_pos(state->getPose().translation());
Eigen::Vector3f goal_pos(goal->getPose().translation());
return (std::abs((state_pos - goal_pos).norm() / graph->maxSuccessorDistance()));
}
double footstepHeuristicFollowPathLine(
SolverNode<FootstepState, FootstepGraph>::Ptr node, FootstepGraph::Ptr graph)
{
FootstepState::Ptr state = node->getState();
FootstepState::Ptr goal = graph->getGoal(state->getLeg());
Eigen::Vector3f goal_pos(goal->getPose().translation());
Eigen::Vector3f state_pos(state->getPose().translation());
Eigen::Vector3f state_mid_pos;
if (state->getLeg() == jsk_footstep_msgs::Footstep::LEFT) {
Eigen::Vector3f p(0, -0.1, 0);
state_mid_pos = state->getPose() * p;
} else { // Right
Eigen::Vector3f p(0, 0.1, 0);
state_mid_pos = state->getPose() * p;
}
double dist, to_goal, alp;
int idx;
Eigen::Vector3f foot;
dist = graph->heuristic_path_->distanceWithInfo(state_mid_pos, foot, to_goal, idx, alp);
//jsk_recognition_utils::FiniteLine::Ptr ln = graph->heuristic_path_->at(idx);
Eigen::Vector3f dir = graph->heuristic_path_->getDirection(idx);
Eigen::Quaternionf path_foot_rot;
path_foot_rot.setFromTwoVectors(state->getPose().matrix().block<3, 3>(0, 0) * Eigen::Vector3f::UnitX(),
dir);
double path_foot_theta = acos(path_foot_rot.w()) * 2;
if (path_foot_theta > M_PI) {
path_foot_theta = 2.0 * M_PI - path_foot_theta;
// foot_theta : [0, M_PI]
}
double step_cost = to_goal / graph->maxSuccessorDistance();
double follow_cost = dist / 0.02; // ???
double path_foot_rot_cost = path_foot_theta / graph->maxSuccessorRotation();
Eigen::Vector3f goal_diff = goal_pos - state_pos;
Eigen::Quaternionf goal_foot_rot;
goal_foot_rot.setFromTwoVectors(state->getPose().matrix().block<3, 3>(0, 0) * Eigen::Vector3f::UnitX(),
goal->getPose().matrix().block<3, 3>(0, 0) * Eigen::Vector3f::UnitX());
double goal_foot_theta = acos(goal_foot_rot.w()) * 2;
if (goal_foot_theta > M_PI) {
goal_foot_theta = 2.0 * M_PI - goal_foot_theta;
}
double goal_foot_rot_cost = goal_foot_theta / graph->maxSuccessorRotation();
//return step_cost + follow_cost + (4.0 * goal_foot_rot_cost) + (0.5 * path_foot_rot_cost);
return 2*(step_cost + follow_cost + (0.5 * path_foot_rot_cost));
}
double footstepHeuristicStepCost(
SolverNode<FootstepState, FootstepGraph>::Ptr node, FootstepGraph::Ptr graph,
double first_rotation_weight,
double second_rotation_weight)
{
FootstepState::Ptr state = node->getState();
FootstepState::Ptr goal = graph->getGoal(state->getLeg());
Eigen::Vector3f goal_pos(goal->getPose().translation());
Eigen::Vector3f diff_pos(goal_pos - state->getPose().translation());
diff_pos[2] = 0.0; // Ignore z distance
Eigen::Quaternionf first_rot;
// Eigen::Affine3f::rotation is too slow because it calls SVD decomposition
first_rot.setFromTwoVectors(state->getPose().matrix().block<3, 3>(0, 0) * Eigen::Vector3f::UnitX(),
diff_pos.normalized());
Eigen::Quaternionf second_rot;
second_rot.setFromTwoVectors(diff_pos.normalized(),
goal->getPose().matrix().block<3, 3>(0, 0) * Eigen::Vector3f::UnitX());
// is it correct??
double first_theta = acos(first_rot.w()) * 2;
double second_theta = acos(second_rot.w()) * 2;
if (isnan(first_theta)) {
first_theta = 0;
}
if (isnan(second_theta)) {
second_theta = 0;
}
// acos := [0, M_PI]
if (first_theta > M_PI) {
first_theta = 2.0 * M_PI - first_theta;
}
if (second_theta > M_PI) {
second_theta = 2.0 * M_PI - second_theta;
}
//return (Eigen::Vector2f(diff_pos[0], diff_pos[1]).norm() / graph->maxSuccessorDistance()) + std::abs(diff_pos[2]) / 0.2 +
return (diff_pos.norm() / graph->maxSuccessorDistance()) + std::abs(diff_pos[2]) / 0.2 +
(first_theta * first_rotation_weight + second_theta * second_rotation_weight) / graph->maxSuccessorRotation();
}
void plan(const Eigen::Affine3f& goal_center,
FootstepGraph::Ptr graph, ros::Publisher& pub_path,
ros::Publisher& pub_goal,
Eigen::Vector3f footstep_size)
{
FootstepState::Ptr left_goal(new FootstepState(jsk_footstep_msgs::Footstep::LEFT,
goal_center * Eigen::Translation3f(0, 0.1, 0),
footstep_size,
resolution));
FootstepState::Ptr right_goal(new FootstepState(jsk_footstep_msgs::Footstep::RIGHT,
goal_center * Eigen::Translation3f(0, -0.1, 0),
footstep_size,
resolution));
jsk_footstep_msgs::FootstepArray ros_goal;
ros_goal.header.frame_id = "odom";
ros_goal.header.stamp = ros::Time::now();
ros_goal.footsteps.push_back(*left_goal->toROSMsg());
ros_goal.footsteps.push_back(*right_goal->toROSMsg());
pub_goal.publish(ros_goal);
graph->setGoalState(left_goal, right_goal);
//AStarSolver<FootstepGraph> solver(graph);
FootstepAStarSolver<FootstepGraph> solver(graph, 100, 100, 100);
//solver.setHeuristic(&footstepHeuristicStraight);
//solver.setHeuristic(&footstepHeuristicStraightRotation);
solver.setHeuristic(boost::bind(&footstepHeuristicStepCost, _1, _2, 1.0, 0.1));
solver.setProfileFunction(&profile);
ros::WallTime start_time = ros::WallTime::now();
std::vector<SolverNode<FootstepState, FootstepGraph>::Ptr> path = solver.solve();
ros::WallTime end_time = ros::WallTime::now();
std::cout << "took " << (end_time - start_time).toSec() << " sec" << std::endl;
std::cout << "path: " << path.size() << std::endl;
jsk_footstep_msgs::FootstepArray ros_path;
ros_path.header.frame_id = "odom";
ros_path.header.stamp = ros::Time::now();
for (size_t i = 0; i < path.size(); i++) {
ros_path.footsteps.push_back(*path[i]->getState()->toROSMsg());
}
pub_path.publish(ros_path);
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "foootstep_planning_2d");
ros::NodeHandle nh("~");
ros::Publisher pub_start = nh.advertise<jsk_footstep_msgs::FootstepArray>("start", 1, true);
pub_goal = nh.advertise<jsk_footstep_msgs::FootstepArray>("goal", 1, true);
pub_path = nh.advertise<jsk_footstep_msgs::FootstepArray>("path", 1, true);
pub_text = nh.advertise<jsk_rviz_plugins::OverlayText>("text", 1, true);
boost::mt19937 rng( static_cast<unsigned long>(time(0)) );
boost::uniform_real<> xyrange(-3.0,3.0);
boost::variate_generator< boost::mt19937, boost::uniform_real<> > pos_rand(rng, xyrange);
boost::uniform_real<> trange(0, 2 * M_PI);
boost::variate_generator< boost::mt19937, boost::uniform_real<> > rot_rand(rng, trange);
graph.reset(new FootstepGraph(resolution));
//graph->setProgressPublisher(nh, "progress");
// set successors
std::vector<Eigen::Affine3f> successors;
successors.push_back(affineFromXYYaw(0, -0.2, 0));
successors.push_back(affineFromXYYaw(0, -0.3, 0));
successors.push_back(affineFromXYYaw(0, -0.15, 0));
successors.push_back(affineFromXYYaw(0.2, -0.2, 0));
successors.push_back(affineFromXYYaw(0.25, -0.2, 0));
successors.push_back(affineFromXYYaw(0.1, -0.2, 0));
successors.push_back(affineFromXYYaw(-0.1, -0.2, 0));
successors.push_back(affineFromXYYaw(0, -0.2, 0.17));
successors.push_back(affineFromXYYaw(0, -0.3, 0.17));
successors.push_back(affineFromXYYaw(0.2, -0.2, 0.17));
successors.push_back(affineFromXYYaw(0.25, -0.2, 0.17));
successors.push_back(affineFromXYYaw(0.1, -0.2, 0.17));
successors.push_back(affineFromXYYaw(0, -0.2, -0.17));
successors.push_back(affineFromXYYaw(0, -0.3, -0.17));
successors.push_back(affineFromXYYaw(0.2, -0.2, -0.17));
successors.push_back(affineFromXYYaw(0.25, -0.2, -0.17));
successors.push_back(affineFromXYYaw(0.1, -0.2, -0.17));
FootstepState::Ptr start(new FootstepState(jsk_footstep_msgs::Footstep::LEFT,
Eigen::Affine3f::Identity(),
footstep_size,
resolution));
graph->setStartState(start);
graph->setBasicSuccessors(successors);
jsk_footstep_msgs::FootstepArray ros_start;
ros_start.header.frame_id = "odom";
ros_start.header.stamp = ros::Time::now();
ros_start.footsteps.push_back(*start->toROSMsg());
pub_start.publish(ros_start);
interactive_markers::InteractiveMarkerServer server("footstep_projection_demo");
visualization_msgs::InteractiveMarker int_marker;
int_marker.header.frame_id = "/odom";
int_marker.header.stamp=ros::Time::now();
int_marker.name = "footstep marker";
visualization_msgs::InteractiveMarkerControl control;
control.orientation.w = 1;
control.orientation.x = 1;
control.orientation.y = 0;
control.orientation.z = 0;
// control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
// int_marker.controls.push_back(control);
control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
int_marker.controls.push_back(control);
control.orientation.w = 1;
control.orientation.x = 0;
control.orientation.y = 1;
control.orientation.z = 0;
control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
int_marker.controls.push_back(control);
// control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
// int_marker.controls.push_back(control);
control.orientation.w = 1;
control.orientation.x = 0;
control.orientation.y = 0;
control.orientation.z = 1;
// control.interaction_mode = visualization_msgs::InteractiveMarkerControl::ROTATE_AXIS;
// int_marker.controls.push_back(control);
control.interaction_mode = visualization_msgs::InteractiveMarkerControl::MOVE_AXIS;
int_marker.controls.push_back(control);
server.insert(int_marker, &processFeedback);
server.applyChanges();
//plan(Eigen::Affine3f::Identity() * Eigen::Translation3f(3, 3, 0), graph, pub_path, pub_goal, footstep_size);
ros::spin();
return 0;
}