CParameterizedTrajectoryGenerator.h

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, 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    |
   +---------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/wrap2pi.h>
#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/round.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/math/CPolygon.h>
#include <mrpt/utils/mrpt_stdint.h>    // compiler-independent version of "stdint.h"
#include <mrpt/nav/link_pragmas.h>
#include <mrpt/nav/holonomic/ClearanceDiagram.h>
#include <mrpt/poses/CPose2D.h>
#include <mrpt/kinematics/CVehicleVelCmd.h>

namespace mrpt { namespace opengl { class CSetOfLines; } }

namespace mrpt
{
namespace nav
{

        /** Defines behaviors for where there is an obstacle *inside* the robot shape right at the beginning of a PTG trajectory.
          *\ingroup nav_tpspace
          * \sa Used in CParameterizedTrajectoryGenerator::COLLISION_BEHAVIOR
          */
        enum PTG_collision_behavior_t {
                COLL_BEH_BACK_AWAY = 0,    //!< Favor getting back from too-close (almost collision) obstacles.
                COLL_BEH_STOP              //!< Totally dissallow any movement if there is any too-close (almost collision) obstacles.
        };

        /** \defgroup nav_tpspace TP-Space and PTG classes
          * \ingroup mrpt_nav_grp
          */
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(CParameterizedTrajectoryGenerator, mrpt::utils::CSerializable, NAV_IMPEXP)

        /** This is the base class for any user-defined PTG.
         *  There is a class factory interface in CParameterizedTrajectoryGenerator::CreatePTG.
         *
         * Papers:
         *  - J.L. Blanco, J. Gonzalez-Jimenez, J.A. Fernandez-Madrigal, "Extending Obstacle Avoidance Methods through Multiple Parameter-Space Transformations", Autonomous Robots, vol. 24, no. 1, 2008. http://ingmec.ual.es/~jlblanco/papers/blanco2008eoa_DRAFT.pdf
         *
         * Changes history:
         *      - 30/JUN/2004: Creation (JLBC)
         *      - 16/SEP/2004: Totally redesigned.
         *      - 15/SEP/2005: Totally rewritten again, for integration into MRPT Applications Repository.
         *      - 19/JUL/2009: Simplified to use only STL data types, and created the class factory interface.
         *      - MAY/2016: Refactored into CParameterizedTrajectoryGenerator, CPTG_DiffDrive_CollisionGridBased, PTG classes renamed.
         *      - 2016-2017: Many features added to support "PTG continuation", dynamic paths depending on vehicle speeds, etc.
         *
         *  \ingroup nav_tpspace
         */
        class NAV_IMPEXP CParameterizedTrajectoryGenerator :
                public mrpt::utils::CSerializable,
                public mrpt::utils::CLoadableOptions
        {
                DEFINE_VIRTUAL_SERIALIZABLE(CParameterizedTrajectoryGenerator)
        public:
                CParameterizedTrajectoryGenerator(); //!< Default ctor. Must call `loadFromConfigFile()` before initialization
                virtual ~CParameterizedTrajectoryGenerator() //!<  Destructor
                { }

                /** The class factory for creating a PTG from a list of parameters in a section of a given config file (physical file or in memory).
                  *  Possible parameters are:
                  *       - Those explained in CParameterizedTrajectoryGenerator::loadFromConfigFile()
                  *       - Those explained in the specific PTG being created (see list of derived classes)
                  *
                  * `ptgClassName` can be any PTG class name which has been registered as any other
                  * mrpt::utils::CSerializable class.
                  *
                  * \exception std::logic_error On invalid or missing parameters.
                  */
                static CParameterizedTrajectoryGenerator * CreatePTG(const std::string &ptgClassName, const mrpt::utils::CConfigFileBase &cfg,const std::string &sSection,  const std::string &sKeyPrefix);

                /** @name Virtual interface of each PTG implementation
                 *  @{ */
                virtual std::string getDescription() const = 0 ; //!< Gets a short textual description of the PTG and its parameters

        protected:
                /** Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc. */
                virtual void internal_initialize(const std::string & cacheFilename = std::string(), const bool verbose = true) = 0;
                /** This must be called to de-initialize the PTG if some parameter is to be changed. After changing it, call initialize again */
                virtual void internal_deinitialize() = 0;
        public:

                /** Computes the closest (alpha,d) TP coordinates of the trajectory point closest to the Workspace (WS)
                 *   Cartesian coordinates (x,y), relative to the current robot frame.
                  * \param[in] x X coordinate of the query point, relative to the robot frame.
                  * \param[in] y Y coordinate of the query point, relative to the robot frame.
                  * \param[out] out_k Trajectory parameter index (discretized alpha value, 0-based index).
                  * \param[out] out_d Trajectory distance, normalized such that D_max becomes 1.
                  *
                  * \return true if the distance between (x,y) and the actual trajectory point is below the given tolerance (in meters).
                  */
                virtual bool inverseMap_WS2TP(double x, double y, int &out_k, double &out_normalized_d, double tolerance_dist = 0.10) const = 0;

                /** Returns the same than inverseMap_WS2TP() but without any additional cost. The default implementation
                  * just calls inverseMap_WS2TP() and discards (k,d). */
                virtual bool PTG_IsIntoDomain(double x, double y ) const {
                        int k; double d;
                        return inverseMap_WS2TP(x,y,k,d);
                }

                /** Returns true if a given TP-Space point maps to a unique point in Workspace, and viceversa. Default implementation returns `true`. */
                virtual bool isBijectiveAt(uint16_t k, uint32_t step) const { return true; }

                /** Converts a discretized "alpha" value into a feasible motion command or action. See derived classes for the meaning of these actions */
                virtual mrpt::kinematics::CVehicleVelCmdPtr directionToMotionCommand( uint16_t k ) const = 0;

                /** Returns an empty kinematic velocity command object of the type supported by this PTG.
                  * Can be queried to determine the expected kinematic interface of the PTG.  */
                virtual mrpt::kinematics::CVehicleVelCmdPtr getSupportedKinematicVelocityCommand() const = 0;

                /** Dynamic state that may affect the PTG path parameterization. \ingroup nav_reactive  */
                struct NAV_IMPEXP TNavDynamicState
                {
                        mrpt::math::TTwist2D curVelLocal; //!< Current vehicle velocity (local frame of reference)
                        mrpt::math::TPose2D  relTarget;   //!< Current relative target location
                        double               targetRelSpeed; //!< Desired relative speed [0,1] at target. Default=0

                        TNavDynamicState();
                        bool operator ==(const TNavDynamicState& o) const;
                        inline bool operator !=(const TNavDynamicState& o)  const { return !(*this==o); }
                        void writeToStream(mrpt::utils::CStream &out) const;
                        void readFromStream(mrpt::utils::CStream &in);
                };

        protected:
                /** Invoked when `m_nav_dyn_state` has changed; gives the PTG the opportunity to react and parameterize paths depending on the instantaneous conditions */
                virtual void onNewNavDynamicState() = 0;

        public:
                virtual void setRefDistance(const double refDist) { refDistance=refDist; }

                /** Access path `k` ([0,N-1]=>[-pi,pi] in alpha): number of discrete "steps" along the trajectory.
                  * May be actual steps from a numerical integration or an arbitrary small length for analytical PTGs.
                  * \sa getAlphaValuesCount() */
                virtual size_t getPathStepCount(uint16_t k) const = 0;

                /** Access path `k` ([0,N-1]=>[-pi,pi] in alpha): pose of the vehicle at discrete step `step`.
                  * \sa getPathStepCount(), getAlphaValuesCount() */
                virtual void getPathPose(uint16_t k, uint32_t step, mrpt::math::TPose2D &p) const = 0;

                /** Access path `k` ([0,N-1]=>[-pi,pi] in alpha): traversed distance at discrete step `step`.
                  * \return Distance in pseudometers (real distance, NOT normalized to [0,1] for [0,refDist])
                  * \sa getPathStepCount(), getAlphaValuesCount() */
                virtual double getPathDist(uint16_t k, uint32_t step) const = 0;

                /** Returns the duration (in seconds) of each "step"
                * \sa getPathStepCount() */
                virtual double getPathStepDuration() const = 0;

                /** Returns the maximum linear velocity expected from this PTG [m/s] */
                virtual double getMaxLinVel() const = 0;
                /** Returns the maximum angular velocity expected from this PTG [rad/s] */
                virtual double getMaxAngVel() const = 0;

                /** Access path `k` ([0,N-1]=>[-pi,pi] in alpha): largest step count for which the traversed distance is < `dist`
                  * \param[in] dist Distance in pseudometers (real distance, NOT normalized to [0,1] for [0,refDist])
                  * \return false if no step fulfills the condition for the given trajectory `k` (e.g. out of reference distance).
                  * Note that, anyway, the maximum distance (closest point) is returned in `out_step`.
                  * \sa getPathStepCount(), getAlphaValuesCount() */
                virtual bool getPathStepForDist(uint16_t k, double dist, uint32_t &out_step) const = 0;

                /** Updates the radial map of closest TP-Obstacles given a single obstacle point at (ox,oy)
                  * \param [in,out] tp_obstacles A vector of length `getAlphaValuesCount()`, initialized with `initTPObstacles()` (collision-free ranges, in "pseudometers", un-normalized).
                  * \param [in] ox Obstacle point (X), relative coordinates wrt origin of the PTG.
                  * \param [in] oy Obstacle point (Y), relative coordinates wrt origin of the PTG.
                  * \note The length of tp_obstacles is not checked for efficiency since this method is potentially called thousands of times per
                  *  navigation timestap, so it is left to the user responsibility to provide a valid buffer.
                  * \note `tp_obstacles` must be initialized with initTPObstacle() before call.
                  */
                virtual void updateTPObstacle(double ox, double oy, std::vector<double> &tp_obstacles) const = 0;

                /** Like updateTPObstacle() but for one direction only (`k`) in TP-Space. `tp_obstacle_k` must be initialized with initTPObstacleSingle() before call (collision-free ranges, in "pseudometers", un-normalized). */
                virtual void updateTPObstacleSingle(double ox, double oy, uint16_t k, double &tp_obstacle_k) const = 0;

                /** Loads a set of default parameters into the PTG. Users normally will call `loadFromConfigFile()` instead, this method is provided
                  * exclusively for the PTG-configurator tool. */
                virtual void loadDefaultParams();

                /** Returns true if it is possible to stop sending velocity commands to the robot and, still, the
                  * robot controller will be able to keep following the last sent trajectory ("NOP" velocity commands).
                  * Default implementation returns "false". */
                virtual bool supportVelCmdNOP() const;

                /** Returns true if this PTG takes into account the desired velocity at target. \sa updateNavDynamicState() */
                virtual bool supportSpeedAtTarget() const {
                        return false;
                }

                /** Only for PTGs supporting supportVelCmdNOP(): this is the maximum time (in seconds) for which the path
                  * can be followed without re-issuing a new velcmd. Note that this is only an absolute maximum duration,
                  * navigation implementations will check for many other conditions. Default method in the base virtual class returns 0.
                  * \param path_k Queried path `k` index  [0,N-1] */
                virtual double maxTimeInVelCmdNOP(int path_k) const;

                /** Returns the actual distance (in meters) of the path, discounting possible circular loops of the path (e.g. if it comes back to the origin).
                  * Default: refDistance */
                virtual double getActualUnloopedPathLength(uint16_t k) const { return this->refDistance; }

                /** Query the PTG for the relative priority factor (0,1) of this PTG, in comparison to others, if the k-th path is to be selected. */
                virtual double evalPathRelativePriority(uint16_t k, double target_distance) const { return 1.0; }

                /** Returns an approximation of the robot radius. */
                virtual double getMaxRobotRadius() const = 0;
                /** Returns true if the point lies within the robot shape. */
                virtual bool isPointInsideRobotShape(const double x, const double y) const = 0;

                /** Evals the clearance from an obstacle (ox,oy) in coordinates relative to the robot center. Zero or negative means collision. */
                virtual double evalClearanceToRobotShape(const double ox, const double oy) const = 0;

                /** @} */  // --- end of virtual methods

                /** To be invoked by the navigator *before* each navigation step, to let the PTG to react to changing dynamic conditions. * \sa onNewNavDynamicState(), m_nav_dyn_state  */
                void updateNavDynamicState(const TNavDynamicState &newState, const bool force_update = false);
                const TNavDynamicState & getCurrentNavDynamicState() const { return m_nav_dyn_state; }

                static std::string OUTPUT_DEBUG_PATH_PREFIX; //!< The path used as defaul output in, for example, debugDumpInFiles. (Default="./reactivenav.logs/")

                /** Must be called after setting all PTG parameters and before requesting converting obstacles to TP-Space, inverseMap_WS2TP(), etc. */
                void initialize(const std::string & cacheFilename = std::string(), const bool verbose = true);
                /** This must be called to de-initialize the PTG if some parameter is to be changed. After changing it, call initialize again */
                void deinitialize();
                /** Returns true if `initialize()` has been called and there was no errors, so the PTG is ready to be queried for paths, obstacles, etc. */
                bool isInitialized() const;

                /** Get the number of different, discrete paths in this family */
                uint16_t getAlphaValuesCount() const { return m_alphaValuesCount; }
                /** Get the number of different, discrete paths in this family */
                uint16_t getPathCount() const { return m_alphaValuesCount; }

                /** Alpha value for the discrete corresponding value \sa alpha2index */
                double index2alpha(uint16_t k) const;
                static double index2alpha(uint16_t k, const unsigned int num_paths);

                /** Discrete index value for the corresponding alpha value \sa index2alpha */
                uint16_t alpha2index( double alpha ) const;
                static uint16_t alpha2index(double alpha, const unsigned int num_paths);

                inline double getRefDistance() const { return refDistance; }

                /** Resizes and populates the initial appropriate contents in a vector of tp-obstacles (collision-free ranges, in "pseudometers", un-normalized). \sa updateTPObstacle()  */
                void initTPObstacles(std::vector<double> &TP_Obstacles) const;
                void initTPObstacleSingle(uint16_t k, double &TP_Obstacle_k) const;

                /** When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG. Assign values <1 to PTGs with low priority. */
                double getScorePriority() const { return m_score_priority; }
                void setScorePriorty(double prior) { m_score_priority = prior; }

                unsigned getClearanceStepCount() const { return m_clearance_num_points; }
                void setClearanceStepCount(const unsigned res) { m_clearance_num_points = res; }

                unsigned getClearanceDecimatedPaths() const { return m_clearance_decimated_paths; }
                void setClearanceDecimatedPaths(const unsigned num) { m_clearance_decimated_paths=num; }

                /** Returns the representation of one trajectory of this PTG as a 3D OpenGL object (a simple curved line).
                  * \param[in] k The 0-based index of the selected trajectory (discrete "alpha" parameter).
                  * \param[out] gl_obj Output object.
                  * \param[in] decimate_distance Minimum distance between path points (in meters).
                  * \param[in] max_path_distance If >=0, cut the path at this distance (in meters).
                  */
                virtual void renderPathAsSimpleLine(const uint16_t k,mrpt::opengl::CSetOfLines &gl_obj,const double decimate_distance = 0.1,const double max_path_distance = -1.0) const;

                /** Dump PTG trajectories in four text files: `./reactivenav.logs/PTGs/PTG%i_{x,y,phi,d}.txt`
                  * Text files are loadable from MATLAB/Octave, and can be visualized with the script `[MRPT_DIR]/scripts/viewPTG.m`
                  * \note The directory "./reactivenav.logs/PTGs" will be created if doesn't exist.
                  * \return false on any error writing to disk.
                  * \sa OUTPUT_DEBUG_PATH_PREFIX
                  */
                bool debugDumpInFiles(const std::string &ptg_name) const;

                /** Parameters accepted by this base class:
                 *   - `${sKeyPrefix}num_paths`: The number of different paths in this family (number of discrete `alpha` values).
                 *   - `${sKeyPrefix}ref_distance`: The maximum distance in PTGs [meters]
                 *   - `${sKeyPrefix}score_priority`: When used in path planning, a multiplying factor (default=1.0) for the scores for this PTG. Assign values <1 to PTGs with low priority.
                 */
                virtual void loadFromConfigFile(const mrpt::utils::CConfigFileBase &cfg,const std::string &sSection) MRPT_OVERRIDE;
                virtual void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg,const std::string &sSection) const MRPT_OVERRIDE;


                /** Auxiliary function for rendering */
                virtual void add_robotShape_to_setOfLines(mrpt::opengl::CSetOfLines &gl_shape, const mrpt::poses::CPose2D &origin = mrpt::poses::CPose2D ()) const  = 0;

                /** Defines the behavior when there is an obstacle *inside* the robot shape right at the beginning of a PTG trajectory.
                 * Default value: COLL_BEH_BACK_AWAY
                 */
                static PTG_collision_behavior_t COLLISION_BEHAVIOR;

                void initClearanceDiagram(ClearanceDiagram & cd) const; //!< Must be called to resize a CD to its correct size, before calling updateClearance()

                /** Updates the clearance diagram given one (ox,oy) obstacle point, in coordinates relative
                  * to the PTG path origin.
                  * \param[in,out] cd The clearance will be updated here.
                  * \sa m_clearance_dist_resolution
                  */
                void updateClearance(const double ox, const double oy, ClearanceDiagram & cd) const;
                void updateClearancePost(ClearanceDiagram & cd, const std::vector<double> &TP_obstacles) const;

protected:
                double    refDistance;
                uint16_t  m_alphaValuesCount; //!< The number of discrete values for "alpha" between -PI and +PI.
                double    m_score_priority;
                uint16_t  m_clearance_num_points; //!< Number of steps for the piecewise-constant approximation of clearance from TPS distances [0,1] (Default=5) \sa updateClearance()
                uint16_t  m_clearance_decimated_paths; //!< Number of paths for the decimated paths analysis of clearance
                TNavDynamicState m_nav_dyn_state; //!< Updated before each nav step by
                uint16_t         m_nav_dyn_state_target_k; //!< Update in updateNavDynamicState(), contains the path index (k) for the target.

                static const uint16_t INVALID_PTG_PATH_INDEX = static_cast<uint16_t>(-1);

                bool      m_is_initialized;

                /** To be called by implementors of updateTPObstacle() and updateTPObstacleSingle() to
                  * honor the user settings regarding COLLISION_BEHAVIOR.
                  * \param new_tp_obs_dist The newly determiend collision-free ranges, in "pseudometers", un-normalized, for some "k" direction.
                  * \param inout_tp_obs The target where to store the new TP-Obs distance, if it fulfills the criteria determined by the collision behavior.
                  */
                void internal_TPObsDistancePostprocess(const double ox, const double oy, const double new_tp_obs_dist, double &inout_tp_obs) const;

                virtual void internal_readFromStream(mrpt::utils::CStream &in);
                virtual void internal_writeToStream(mrpt::utils::CStream &out) const;

        public:
                /** Evals the robot clearance for each robot pose along path `k`, for the real distances in
                * the key of the map<>, then keep in the map value the minimum of its current stored clearance,
                * or the computed clearance. In case of collision, clearance is zero.
                * \param treat_as_obstacle true: normal use for obstacles; false: compute shortest distances to a target point (no collision)
                */
                virtual void evalClearanceSingleObstacle(const double ox, const double oy, const uint16_t k, ClearanceDiagram::dist2clearance_t & inout_realdist2clearance, bool treat_as_obstacle = true) const;

        }; // end of class
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CParameterizedTrajectoryGenerator, mrpt::utils::CSerializable, NAV_IMPEXP )


        typedef std::vector<mrpt::nav::CParameterizedTrajectoryGenerator*>  TListPTGs;      //!< A list of PTGs (bare pointers)
        typedef std::vector<mrpt::nav::CParameterizedTrajectoryGeneratorPtr>  TListPTGPtr;  //!< A list of PTGs (smart pointers)


        /** Base class for all PTGs using a 2D polygonal robot shape model.
         *  \ingroup nav_tpspace
         */
        class NAV_IMPEXP CPTG_RobotShape_Polygonal : public CParameterizedTrajectoryGenerator
        {
        public:
                CPTG_RobotShape_Polygonal();
                virtual ~CPTG_RobotShape_Polygonal();

                /** @name Robot shape
                  * @{ **/
                /** Robot shape must be set before initialization, either from ctor params or via this method. */
                void setRobotShape(const mrpt::math::CPolygon & robotShape);
                const mrpt::math::CPolygon & getRobotShape() const { return m_robotShape; }
                double getMaxRobotRadius() const MRPT_OVERRIDE;
                virtual double evalClearanceToRobotShape(const double ox, const double oy) const MRPT_OVERRIDE;
                /** @} */
                bool isPointInsideRobotShape(const double x, const double y) const MRPT_OVERRIDE;
                void add_robotShape_to_setOfLines(mrpt::opengl::CSetOfLines &gl_shape, const mrpt::poses::CPose2D &origin = mrpt::poses::CPose2D ()) const  MRPT_OVERRIDE;
        protected:
                virtual void internal_processNewRobotShape() = 0; //!< Will be called whenever the robot shape is set / updated
                mrpt::math::CPolygon m_robotShape;
                double m_robotMaxRadius;
                void loadShapeFromConfigFile(const mrpt::utils::CConfigFileBase & source,const std::string & section);
                void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg,const std::string &sSection) const MRPT_OVERRIDE;
                void internal_shape_loadFromStream(mrpt::utils::CStream &in);
                void internal_shape_saveToStream(mrpt::utils::CStream &out) const;
                /** Loads a set of default parameters; provided  exclusively for the PTG-configurator tool. */
                void loadDefaultParams() MRPT_OVERRIDE;
        };

        /** Base class for all PTGs using a 2D circular robot shape model.
         *  \ingroup nav_tpspace
         */
        class NAV_IMPEXP CPTG_RobotShape_Circular : public CParameterizedTrajectoryGenerator
        {
        public:
                CPTG_RobotShape_Circular();
                virtual ~CPTG_RobotShape_Circular();

                /** @name Robot shape
                  * @{ **/
                /** Robot shape must be set before initialization, either from ctor params or via this method. */
                void setRobotShapeRadius(const double robot_radius);
                double getRobotShapeRadius() const { return m_robotRadius; }
                double getMaxRobotRadius() const MRPT_OVERRIDE;
                virtual double evalClearanceToRobotShape(const double ox, const double oy) const MRPT_OVERRIDE;
                /** @} */
                void add_robotShape_to_setOfLines(mrpt::opengl::CSetOfLines &gl_shape, const mrpt::poses::CPose2D &origin = mrpt::poses::CPose2D ()) const  MRPT_OVERRIDE;
                bool isPointInsideRobotShape(const double x, const double y) const MRPT_OVERRIDE;
        protected:
                virtual void internal_processNewRobotShape() = 0; //!< Will be called whenever the robot shape is set / updated
                double m_robotRadius;
                void loadShapeFromConfigFile(const mrpt::utils::CConfigFileBase & source,const std::string & section);
                void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg,const std::string &sSection) const MRPT_OVERRIDE;
                void internal_shape_loadFromStream(mrpt::utils::CStream &in);
                void internal_shape_saveToStream(mrpt::utils::CStream &out) const;
                /** Loads a set of default parameters; provided  exclusively for the PTG-configurator tool. */
                void loadDefaultParams() MRPT_OVERRIDE;
        };

}
}