CReactiveNavigationSystem.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "nav-precomp.h"  // Precomp header

#include <mrpt/nav/reactive/CReactiveNavigationSystem.h>
#include <mrpt/system/filesystem.h>
#include <mrpt/config/CConfigFileMemory.h>

using namespace mrpt;
using namespace mrpt::poses;
using namespace mrpt::system;
using namespace mrpt::math;
using namespace mrpt::nav;
using namespace std;

/*---------------------------------------------------------------
                    Constructor
  ---------------------------------------------------------------*/
CReactiveNavigationSystem::CReactiveNavigationSystem(
    CRobot2NavInterface& react_iterf_impl, bool enableConsoleOutput,
    bool enableLogToFile, const std::string& logFileDirectory)
    : CAbstractPTGBasedReactive(
          react_iterf_impl, enableConsoleOutput, enableLogToFile,
          logFileDirectory)
{
}

// Dtor:
CReactiveNavigationSystem::~CReactiveNavigationSystem()
{
    this->preDestructor();

    // Free PTGs:
    for (size_t i = 0; i < PTGs.size(); i++) delete PTGs[i];
    PTGs.clear();
}

/*---------------------------------------------------------------
                        changeRobotShape
  ---------------------------------------------------------------*/
void CReactiveNavigationSystem::changeRobotShape(const math::CPolygon& shape)
{
    m_PTGsMustBeReInitialized = true;
    if (shape.verticesCount() < 3)
    {
        THROW_EXCEPTION("The robot shape has less than 3 vertices!!");
    }
    m_robotShape = shape;
}
void CReactiveNavigationSystem::changeRobotCircularShapeRadius(const double R)
{
    m_PTGsMustBeReInitialized = true;
    ASSERT_(R > 0);
    m_robotShapeCircularRadius = R;
}

void CReactiveNavigationSystem::saveConfigFile(
    mrpt::config::CConfigFileBase& c) const
{
    CAbstractPTGBasedReactive::saveConfigFile(c);

    const std::string s = "CReactiveNavigationSystem";
    params_reactive_nav.saveToConfigFile(c, s);

    unsigned int PTG_COUNT = PTGs.size();
    MRPT_SAVE_CONFIG_VAR_COMMENT(PTG_COUNT, "Number of PTGs");
}

void CReactiveNavigationSystem::loadConfigFile(
    const mrpt::config::CConfigFileBase& c)
{
    MRPT_START

    // 1st: load my own params; at the end, call parent's overriden method:
    const std::string sectCfg = "CReactiveNavigationSystem";
    this->params_reactive_nav.loadFromConfigFile(c, sectCfg);

    unsigned int PTG_COUNT = c.read_int(sectCfg, "PTG_COUNT", 0, true);

    // Load robot shape: 1/2 polygon
    // ---------------------------------------------
    vector<float> xs, ys;
    c.read_vector(
        sectCfg, "RobotModel_shape2D_xs", vector<float>(0), xs, false);
    c.read_vector(
        sectCfg, "RobotModel_shape2D_ys", vector<float>(0), ys, false);
    ASSERTMSG_(
        xs.size() == ys.size(),
        "Config parameters `RobotModel_shape2D_xs` and `RobotModel_shape2D_ys` "
        "must have the same length!");
    if (!xs.empty())
    {
        math::CPolygon shape;
        for (size_t i = 0; i < xs.size(); i++) shape.AddVertex(xs[i], ys[i]);
        changeRobotShape(shape);
    }

    // Load robot shape: 2/2 circle
    // ---------------------------------------------
    const double robot_shape_radius =
        c.read_double(sectCfg, "RobotModel_circular_shape_radius", .0, false);
    ASSERT_(robot_shape_radius >= .0);
    if (robot_shape_radius != .0)
    {
        changeRobotCircularShapeRadius(robot_shape_radius);
    }

    // Load PTGs from file:
    // ---------------------------------------------
    // Free previous PTGs:
    for (size_t i = 0; i < PTGs.size(); i++) delete PTGs[i];
    PTGs.assign(PTG_COUNT, nullptr);

    for (unsigned int n = 0; n < PTG_COUNT; n++)
    {
        // Factory:
        const std::string sPTGName =
            c.read_string(sectCfg, format("PTG%u_Type", n), "", true);
        PTGs[n] = CParameterizedTrajectoryGenerator::CreatePTG(
            sPTGName, c, sectCfg, format("PTG%u_", n));
    }

    CAbstractPTGBasedReactive::loadConfigFile(
        c);  // call parent's overriden method:

    MRPT_END
}

/** \callergraph */
void CReactiveNavigationSystem::STEP1_InitPTGs()
{
    if (m_PTGsMustBeReInitialized)
    {
        m_PTGsMustBeReInitialized = false;

        mrpt::system::CTimeLoggerEntry tle(m_timelogger, "STEP1_InitPTGs");

        for (unsigned int i = 0; i < PTGs.size(); i++)
        {
            PTGs[i]->deinitialize();

            logFmt(
                mrpt::system::LVL_INFO,
                "[CReactiveNavigationSystem::STEP1_InitPTGs] Initializing "
                "PTG#%u (`%s`)...",
                i, PTGs[i]->getDescription().c_str());

            // Polygonal robot shape?
            {
                mrpt::nav::CPTG_RobotShape_Polygonal* ptg =
                    dynamic_cast<mrpt::nav::CPTG_RobotShape_Polygonal*>(
                        PTGs[i]);
                if (ptg) ptg->setRobotShape(m_robotShape);
            }
            // Circular robot shape?
            {
                mrpt::nav::CPTG_RobotShape_Circular* ptg =
                    dynamic_cast<mrpt::nav::CPTG_RobotShape_Circular*>(PTGs[i]);
                if (ptg) ptg->setRobotShapeRadius(m_robotShapeCircularRadius);
            }

            // Init:
            PTGs[i]->initialize(
                format(
                    "%s/ReacNavGrid_%03u.dat.gz",
                    params_abstract_ptg_navigator.ptg_cache_files_directory
                        .c_str(),
                    i),
                m_enableConsoleOutput /*verbose*/
                );
            logStr(mrpt::system::LVL_INFO, "Done!");
        }
    }
}

/** \callergraph */
bool CReactiveNavigationSystem::implementSenseObstacles(
    mrpt::system::TTimeStamp& obstacles_timestamp)
{
    try
    {
        bool ret;  // Return true on success
        {
            CTimeLoggerEntry tle1(m_timelogger, "navigationStep.STEP2_Sense");
            CTimeLoggerEntry tle2(m_timlog_delays, "senseObstacles()");
            ret = m_robot.senseObstacles(m_WS_Obstacles, obstacles_timestamp);
        }

        // Optional filtering of obstacles:
        m_WS_Obstacles_original = m_WS_Obstacles;
        if (ret && m_WS_filter)
        {
            m_WS_filter->filter(
                &m_WS_Obstacles, obstacles_timestamp,
                mrpt::poses::CPose3D(mrpt::math::TPose3D(m_curPoseVel.pose)));
        }

        return ret;
        // Note: Clip obstacles by "z" axis coordinates is more efficiently done
        // in STEP3_WSpaceToTPSpace()
    }
    catch (std::exception& e)
    {
        MRPT_LOG_ERROR_STREAM(
            "[CReactiveNavigationSystem::STEP2_Sense] Exception:" << e.what());
        return false;
    }
    catch (...)
    {
        MRPT_LOG_ERROR_STREAM(
            "[CReactiveNavigationSystem::STEP2_Sense] Unexpected exception!");
        return false;
    }
}

/** \callergraph */
void CReactiveNavigationSystem::STEP3_WSpaceToTPSpace(
    const size_t ptg_idx, std::vector<double>& out_TPObstacles,
    mrpt::nav::ClearanceDiagram& out_clearance,
    const mrpt::math::TPose2D& rel_pose_PTG_origin_wrt_sense_,
    const bool eval_clearance)
{
    CParameterizedTrajectoryGenerator* ptg = this->getPTG(ptg_idx);

    const mrpt::poses::CPose2D rel_pose_PTG_origin_wrt_sense(
        rel_pose_PTG_origin_wrt_sense_);

    const float OBS_MAX_XY = params_abstract_ptg_navigator.ref_distance * 1.1f;

    // Merge all the (k,d) for which the robot collides with each obstacle
    // point:
    size_t nObs;
    const float *xs, *ys, *zs;
    m_WS_Obstacles.getPointsBuffer(nObs, xs, ys, zs);

    for (size_t obs = 0; obs < nObs; obs++)
    {
        double ox, oy, oz = zs[obs];
        rel_pose_PTG_origin_wrt_sense.composePoint(xs[obs], ys[obs], ox, oy);

        if (ox > -OBS_MAX_XY && ox < OBS_MAX_XY && oy > -OBS_MAX_XY &&
            oy < OBS_MAX_XY && oz >= params_reactive_nav.min_obstacles_height &&
            oz <= params_reactive_nav.max_obstacles_height)
        {
            ptg->updateTPObstacle(ox, oy, out_TPObstacles);
            if (eval_clearance)
            {
                ptg->updateClearance(ox, oy, out_clearance);
            }
        }
    }
}

/** Generates a pointcloud of obstacles, and the robot shape, to be saved in the
 * logging record for the current timestep
 * \callergraph */
void CReactiveNavigationSystem::loggingGetWSObstaclesAndShape(
    CLogFileRecord& out_log)
{
    out_log.WS_Obstacles = m_WS_Obstacles;
    out_log.WS_Obstacles_original = m_WS_Obstacles_original;

    const size_t nVerts = m_robotShape.size();
    out_log.robotShape_x.resize(nVerts);
    out_log.robotShape_y.resize(nVerts);
    out_log.robotShape_radius = m_robotShapeCircularRadius;

    for (size_t i = 0; i < nVerts; i++)
    {
        out_log.robotShape_x[i] = m_robotShape.GetVertex_x(i);
        out_log.robotShape_y[i] = m_robotShape.GetVertex_y(i);
    }
}

void CReactiveNavigationSystem::TReactiveNavigatorParams::loadFromConfigFile(
    const mrpt::config::CConfigFileBase& c, const std::string& s)
{
    MRPT_LOAD_CONFIG_VAR_REQUIRED_CS(min_obstacles_height, double);
    MRPT_LOAD_CONFIG_VAR_REQUIRED_CS(max_obstacles_height, double);
}

void CReactiveNavigationSystem::TReactiveNavigatorParams::saveToConfigFile(
    mrpt::config::CConfigFileBase& c, const std::string& s) const
{
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        min_obstacles_height,
        "Minimum `z` coordinate of obstacles to be considered fo collision "
        "checking");
    MRPT_SAVE_CONFIG_VAR_COMMENT(
        max_obstacles_height,
        "Maximum `z` coordinate of obstacles to be considered fo collision "
        "checking");
}

CReactiveNavigationSystem::TReactiveNavigatorParams::TReactiveNavigatorParams()
    : min_obstacles_height(0.0), max_obstacles_height(10.0)
{
}

bool CReactiveNavigationSystem::checkCollisionWithLatestObstacles(
    const mrpt::math::TPose2D& relative_robot_pose) const
{
    ASSERT_(!PTGs.empty());
    size_t nObs;
    const float *xs, *ys, *zs;
    m_WS_Obstacles.getPointsBuffer(nObs, xs, ys, zs);

    for (size_t i = 0; i < 1 /* assume all PTGs share the same robot shape! */;
         i++)
    {
        const auto ptg = PTGs[i];
        ASSERT_(ptg != nullptr);
        const double R = ptg->getMaxRobotRadius();
        for (size_t obs = 0; obs < nObs; obs++)
        {
            const double gox = xs[obs], goy = ys[obs], oz = zs[obs];
            if (oz < params_reactive_nav.min_obstacles_height ||
                oz > params_reactive_nav.max_obstacles_height)
            {
                continue;
            }
            mrpt::math::TPoint2D lo = relative_robot_pose.inverseComposePoint(
                mrpt::math::TPoint2D(gox, goy));

            if (lo.x >= -R && lo.x <= R && lo.y >= -R && lo.y <= R &&
                ptg->isPointInsideRobotShape(lo.x, lo.y))
            {
                return true;  // collision!
            }
        }
    }
    return false;  // No collision!
}