test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/config/CConfigFile.h>
#include <mrpt/gui/CDisplayWindow3D.h>
#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/maps/CSimpleMap.h>
#include <mrpt/nav.h>
#include <mrpt/random.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/system/filesystem.h>  // directoryExists(), ...

#include <iostream>

using namespace mrpt;
using namespace mrpt::nav;
using namespace mrpt::maps;
using namespace std;

// Load example grid map
#include <mrpt/examples_config.h>
string mySimpleMap(
    MRPT_EXAMPLES_BASE_DIRECTORY +
    string("../share/mrpt/datasets/malaga-cs-fac-building.simplemap.gz"));
string myCfgFileName(
    MRPT_EXAMPLES_BASE_DIRECTORY +
    string("../share/mrpt/config_files/navigation-ptgs/"
           "ptrrt_config_example1.ini"));

// ------------------------------------------------------
//              TestRRT1
// ------------------------------------------------------
void TestRRT1()
{
    mrpt::random::Randomize();

    // Load the gridmap:
    CSimpleMap simplemap;

    ASSERT_FILE_EXISTS_(mySimpleMap);

    cout << "Loading map...";
    {
        mrpt::io::CFileGZInputStream f(mySimpleMap);
        auto arch = mrpt::serialization::archiveFrom(f);
        arch >> simplemap;
    }
    cout << "Done! Number of sensory frames: " << simplemap.size() << endl;

    // Set planner params:
    // ------------------------------
    mrpt::nav::PlannerRRT_SE2_TPS planner;

    // Parameters:
    planner.loadConfig(mrpt::config::CConfigFile(myCfgFileName));

    planner.params.maxLength = 2.0;
    planner.params.minDistanceBetweenNewNodes = 0.10;
    planner.params.minAngBetweenNewNodes = mrpt::DEG2RAD(20);
    planner.params.goalBias = 0.05;

    // Logging:
    planner.params.save_3d_log_freq =
        0;  // 500; // save some iterations for debugging

    // End criteria:
    planner.end_criteria.acceptedDistToTarget = 0.25;
    planner.end_criteria.acceptedAngToTarget =
        180.0_deg;  // 180d=Any orientation is ok
    planner.end_criteria.maxComputationTime = 15.0;
    planner.end_criteria.minComputationTime =
        1.0;  // 0=accept first found acceptable solution

    // Init planner:
    // ------------------------------
    planner.initialize();

    // Set up planning problem:
    // ------------------------------
    PlannerRRT_SE2_TPS::TPlannerResult planner_result;
    PlannerRRT_SE2_TPS::TPlannerInput planner_input;

    // Start & goal:
    planner_input.start_pose = mrpt::math::TPose2D(0, 0, 0);
    planner_input.goal_pose = mrpt::math::TPose2D(-20, -30, 0);

    // Obstacles:
    planner_input.obstacles_points.loadFromSimpleMap(simplemap);
    mrpt::math::TPoint3D bbox_min, bbox_max;
    planner_input.obstacles_points.boundingBox(bbox_min, bbox_max);
    // Convert gridmap -> obstacle points:
    // gridmap.getAsPointCloud( planner_input.obstacles_points );

    // Workspace bounding box:
    planner_input.world_bbox_min = mrpt::math::TPoint2D(bbox_min.x, bbox_min.y);
    planner_input.world_bbox_max = mrpt::math::TPoint2D(bbox_max.x, bbox_max.y);

// size_t iters=0;
// Show results in a GUI and keep improving:
#if MRPT_HAS_WXWIDGETS
    mrpt::gui::CDisplayWindow3D win("Result", 1024, 800);
    while (win.isOpen())
#else
    for (size_t i = 0; i < 1; i++)
#endif
    {
        // Refine solution or start over:
        bool refine_solution = false;  // (iters++ % 5 != 0);

        // Start from scratch:
        if (!refine_solution)
            planner_result = PlannerRRT_SE2_TPS::TPlannerResult();

        // Do path planning:
        planner.solve(planner_input, planner_result);

        cout << "Found goal_distance: " << planner_result.goal_distance << endl;
        cout << "Found path_cost: " << planner_result.path_cost << endl;
        cout << "Acceptable goal nodes: "
             << planner_result.acceptable_goal_node_ids.size() << endl;

#if MRPT_HAS_WXWIDGETS
        // Show result in a GUI:
        mrpt::opengl::COpenGLScene::Ptr& scene = win.get3DSceneAndLock();

        scene->clear();

        PlannerRRT_SE2_TPS::TRenderPlannedPathOptions render_opts;
        render_opts.highlight_path_to_node_id =
            planner_result.best_goal_node_id;

        planner.renderMoveTree(
            *scene, planner_input, planner_result, render_opts);

        win.unlockAccess3DScene();
        win.repaint();
        win.waitForKey();
#endif
    }
}

int main(int argc, char** argv)
{
    try
    {
        TestRRT1();
        return 0;
    }
    catch (exception& e)
    {
        cout << "MRPT exception caught: " << e.what() << endl;
        return -1;
    }
    catch (...)
    {
        printf("Another exception!!");
        return -1;
    }
}