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<h1>vfh_algorithm.h</h1> </div>
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<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Orca-Components: Components for robotics.</span>
<a name="l00003"></a>00003 <span class="comment"> * </span>
<a name="l00004"></a>00004 <span class="comment"> * Copyright (C) 2004</span>
<a name="l00005"></a>00005 <span class="comment"> * </span>
<a name="l00006"></a>00006 <span class="comment"> * This program is free software; you can redistribute it and/or</span>
<a name="l00007"></a>00007 <span class="comment"> * modify it under the terms of the GNU General Public License</span>
<a name="l00008"></a>00008 <span class="comment"> * as published by the Free Software Foundation; either version 2</span>
<a name="l00009"></a>00009 <span class="comment"> * of the License, or (at your option) any later version.</span>
<a name="l00010"></a>00010 <span class="comment"> * </span>
<a name="l00011"></a>00011 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00012"></a>00012 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00013"></a>00013 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00014"></a>00014 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00015"></a>00015 <span class="comment"> * </span>
<a name="l00016"></a>00016 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00017"></a>00017 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00018"></a>00018 <span class="comment"> * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.</span>
<a name="l00019"></a>00019 <span class="comment"> */</span>
<a name="l00020"></a>00020
<a name="l00021"></a>00021 <span class="preprocessor">#ifndef VFH_ALGORITHM_H</span>
<a name="l00022"></a>00022 <span class="preprocessor"></span><span class="preprocessor">#define VFH_ALGORITHM_H</span>
<a name="l00023"></a>00023 <span class="preprocessor"></span>
<a name="l00024"></a>00024 <span class="preprocessor">#include <vector></span>
<a name="l00025"></a>00025 <span class="preprocessor">#include <libplayercore/playercore.h></span>
<a name="l00026"></a>00026
<a name="l00027"></a><a class="code" href="classVFH__Algorithm.html">00027</a> <span class="keyword">class </span><a class="code" href="classVFH__Algorithm.html">VFH_Algorithm</a>
<a name="l00028"></a>00028 {
<a name="l00029"></a>00029 <span class="keyword">public</span>:
<a name="l00030"></a>00030 <a class="code" href="classVFH__Algorithm.html">VFH_Algorithm</a>( <span class="keywordtype">double</span> cell_size,
<a name="l00031"></a>00031 <span class="keywordtype">int</span> window_diameter,
<a name="l00032"></a>00032 <span class="keywordtype">int</span> sector_angle,
<a name="l00033"></a>00033 <span class="keywordtype">double</span> safety_dist_0ms,
<a name="l00034"></a>00034 <span class="keywordtype">double</span> safety_dist_1ms,
<a name="l00035"></a>00035 <span class="keywordtype">int</span> max_speed,
<a name="l00036"></a>00036 <span class="keywordtype">int</span> max_speed_narrow_opening,
<a name="l00037"></a>00037 <span class="keywordtype">int</span> max_speed_wide_opening,
<a name="l00038"></a>00038 <span class="keywordtype">int</span> max_acceleration,
<a name="l00039"></a>00039 <span class="keywordtype">int</span> min_turnrate,
<a name="l00040"></a>00040 <span class="keywordtype">int</span> max_turnrate_0ms,
<a name="l00041"></a>00041 <span class="keywordtype">int</span> max_turnrate_1ms,
<a name="l00042"></a>00042 <span class="keywordtype">double</span> min_turn_radius_safety_factor,
<a name="l00043"></a>00043 <span class="keywordtype">double</span> free_space_cutoff_0ms,
<a name="l00044"></a>00044 <span class="keywordtype">double</span> obs_cutoff_0ms,
<a name="l00045"></a>00045 <span class="keywordtype">double</span> free_space_cutoff_1ms,
<a name="l00046"></a>00046 <span class="keywordtype">double</span> obs_cutoff_1ms,
<a name="l00047"></a>00047 <span class="keywordtype">double</span> weight_desired_dir,
<a name="l00048"></a>00048 <span class="keywordtype">double</span> weight_current_dir );
<a name="l00049"></a>00049
<a name="l00050"></a>00050 ~<a class="code" href="classVFH__Algorithm.html">VFH_Algorithm</a>();
<a name="l00051"></a>00051
<a name="l00052"></a>00052 <span class="keywordtype">int</span> Init();
<a name="l00053"></a>00053
<a name="l00054"></a>00054 <span class="comment">// Choose a new speed and turnrate based on the given laser data and current speed.</span>
<a name="l00055"></a>00055 <span class="comment">//</span>
<a name="l00056"></a>00056 <span class="comment">// Units/Senses:</span>
<a name="l00057"></a>00057 <span class="comment">// - goal_direction in degrees, 0deg is to the right.</span>
<a name="l00058"></a>00058 <span class="comment">// - goal_distance in mm.</span>
<a name="l00059"></a>00059 <span class="comment">// - goal_distance_tolerance in mm.</span>
<a name="l00060"></a>00060 <span class="comment">//</span>
<a name="l00061"></a>00061 <span class="keywordtype">int</span> Update_VFH( <span class="keywordtype">double</span> laser_ranges[361][2],
<a name="l00062"></a>00062 <span class="keywordtype">int</span> current_speed,
<a name="l00063"></a>00063 <span class="keywordtype">float</span> goal_direction,
<a name="l00064"></a>00064 <span class="keywordtype">float</span> goal_distance,
<a name="l00065"></a>00065 <span class="keywordtype">float</span> goal_distance_tolerance,
<a name="l00066"></a>00066 <span class="keywordtype">int</span> &chosen_speed,
<a name="l00067"></a>00067 <span class="keywordtype">int</span> &chosen_turnrate );
<a name="l00068"></a>00068
<a name="l00069"></a>00069 <span class="comment">// Get methods</span>
<a name="l00070"></a>00070 <span class="keywordtype">int</span> GetMinTurnrate() { <span class="keywordflow">return</span> MIN_TURNRATE; }
<a name="l00071"></a>00071 <span class="comment">// Angle to goal, in degrees. 0deg is to our right.</span>
<a name="l00072"></a>00072 <span class="keywordtype">float</span> GetDesiredAngle() { <span class="keywordflow">return</span> Desired_Angle; }
<a name="l00073"></a>00073 <span class="keywordtype">float</span> GetPickedAngle() { <span class="keywordflow">return</span> Picked_Angle; }
<a name="l00074"></a>00074
<a name="l00075"></a>00075 <span class="comment">// Max Turnrate depends on speed</span>
<a name="l00076"></a>00076 <span class="keywordtype">int</span> GetMaxTurnrate( <span class="keywordtype">int</span> speed );
<a name="l00077"></a>00077 <span class="keywordtype">int</span> GetCurrentMaxSpeed() { <span class="keywordflow">return</span> Current_Max_Speed; }
<a name="l00078"></a>00078
<a name="l00079"></a>00079 <span class="comment">// Set methods</span>
<a name="l00080"></a>00080 <span class="keywordtype">void</span> SetRobotRadius( <span class="keywordtype">float</span> robot_radius ) { this->ROBOT_RADIUS = robot_radius; }
<a name="l00081"></a>00081 <span class="keywordtype">void</span> SetMinTurnrate( <span class="keywordtype">int</span> min_turnrate ) { MIN_TURNRATE = min_turnrate; }
<a name="l00082"></a>00082 <span class="keywordtype">void</span> SetCurrentMaxSpeed( <span class="keywordtype">int</span> Current_Max_Speed );
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="comment">// The Histogram.</span>
<a name="l00085"></a>00085 <span class="comment">// This is public so that monitoring tools can get at it; it shouldn't</span>
<a name="l00086"></a>00086 <span class="comment">// be modified externally.</span>
<a name="l00087"></a>00087 <span class="comment">// Sweeps in an anti-clockwise direction.</span>
<a name="l00088"></a>00088 <span class="keywordtype">float</span> *Hist;
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="keyword">private</span>:
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="comment">// Functions</span>
<a name="l00093"></a>00093
<a name="l00094"></a>00094 <span class="keywordtype">int</span> VFH_Allocate();
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="keywordtype">float</span> Delta_Angle(<span class="keywordtype">int</span> a1, <span class="keywordtype">int</span> a2);
<a name="l00097"></a>00097 <span class="keywordtype">float</span> Delta_Angle(<span class="keywordtype">float</span> a1, <span class="keywordtype">float</span> a2);
<a name="l00098"></a>00098 <span class="keywordtype">int</span> Bisect_Angle(<span class="keywordtype">int</span> angle1, <span class="keywordtype">int</span> angle2);
<a name="l00099"></a>00099
<a name="l00100"></a>00100 <span class="keywordtype">bool</span> Cant_Turn_To_Goal();
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="comment">// Returns 0 if something got inside the safety distance, else 1.</span>
<a name="l00103"></a>00103 <span class="keywordtype">int</span> Calculate_Cells_Mag( <span class="keywordtype">double</span> laser_ranges[361][2], <span class="keywordtype">int</span> speed );
<a name="l00104"></a>00104 <span class="comment">// Returns 0 if something got inside the safety distance, else 1.</span>
<a name="l00105"></a>00105 <span class="keywordtype">int</span> Build_Primary_Polar_Histogram( <span class="keywordtype">double</span> laser_ranges[361][2], <span class="keywordtype">int</span> speed );
<a name="l00106"></a>00106 <span class="keywordtype">int</span> Build_Binary_Polar_Histogram(<span class="keywordtype">int</span> speed);
<a name="l00107"></a>00107 <span class="keywordtype">int</span> Build_Masked_Polar_Histogram(<span class="keywordtype">int</span> speed);
<a name="l00108"></a>00108 <span class="keywordtype">int</span> Select_Candidate_Angle();
<a name="l00109"></a>00109 <span class="keywordtype">int</span> Select_Direction();
<a name="l00110"></a>00110 <span class="keywordtype">int</span> Set_Motion( <span class="keywordtype">int</span> &speed, <span class="keywordtype">int</span> &turnrate, <span class="keywordtype">int</span> current_speed );
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="comment">// AB: This doesn't seem to be implemented anywhere...</span>
<a name="l00113"></a>00113 <span class="comment">// int Read_Min_Turning_Radius_From_File(char *filename);</span>
<a name="l00114"></a>00114
<a name="l00115"></a>00115 <span class="keywordtype">void</span> Print_Cells_Dir();
<a name="l00116"></a>00116 <span class="keywordtype">void</span> Print_Cells_Mag();
<a name="l00117"></a>00117 <span class="keywordtype">void</span> Print_Cells_Dist();
<a name="l00118"></a>00118 <span class="keywordtype">void</span> Print_Cells_Sector();
<a name="l00119"></a>00119 <span class="keywordtype">void</span> Print_Cells_Enlargement_Angle();
<a name="l00120"></a>00120 <span class="keywordtype">void</span> Print_Hist();
<a name="l00121"></a>00121
<a name="l00122"></a>00122 <span class="comment">// Returns the speed index into Cell_Sector, for a given speed in mm/sec.</span>
<a name="l00123"></a>00123 <span class="comment">// This exists so that only a few (potentially large) Cell_Sector tables must be stored.</span>
<a name="l00124"></a>00124 <span class="keywordtype">int</span> Get_Speed_Index( <span class="keywordtype">int</span> speed );
<a name="l00125"></a>00125
<a name="l00126"></a>00126 <span class="comment">// Returns the safety dist in mm for this speed.</span>
<a name="l00127"></a>00127 <span class="keywordtype">int</span> Get_Safety_Dist( <span class="keywordtype">int</span> speed );
<a name="l00128"></a>00128
<a name="l00129"></a>00129 <span class="keywordtype">float</span> Get_Binary_Hist_Low( <span class="keywordtype">int</span> speed );
<a name="l00130"></a>00130 <span class="keywordtype">float</span> Get_Binary_Hist_High( <span class="keywordtype">int</span> speed );
<a name="l00131"></a>00131
<a name="l00132"></a>00132 <span class="comment">// Data</span>
<a name="l00133"></a>00133
<a name="l00134"></a>00134 <span class="keywordtype">float</span> ROBOT_RADIUS; <span class="comment">// millimeters</span>
<a name="l00135"></a>00135 <span class="keywordtype">int</span> CENTER_X; <span class="comment">// cells</span>
<a name="l00136"></a>00136 <span class="keywordtype">int</span> CENTER_Y; <span class="comment">// cells</span>
<a name="l00137"></a>00137 <span class="keywordtype">int</span> HIST_SIZE; <span class="comment">// sectors (over 360deg)</span>
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <span class="keywordtype">float</span> CELL_WIDTH; <span class="comment">// millimeters</span>
<a name="l00140"></a>00140 <span class="keywordtype">int</span> WINDOW_DIAMETER; <span class="comment">// cells</span>
<a name="l00141"></a>00141 <span class="keywordtype">int</span> SECTOR_ANGLE; <span class="comment">// degrees</span>
<a name="l00142"></a>00142 <span class="keywordtype">float</span> SAFETY_DIST_0MS; <span class="comment">// millimeters</span>
<a name="l00143"></a>00143 <span class="keywordtype">float</span> SAFETY_DIST_1MS; <span class="comment">// millimeters</span>
<a name="l00144"></a>00144 <span class="keywordtype">int</span> Current_Max_Speed; <span class="comment">// mm/sec</span>
<a name="l00145"></a>00145 <span class="keywordtype">int</span> MAX_SPEED; <span class="comment">// mm/sec</span>
<a name="l00146"></a>00146 <span class="keywordtype">int</span> MAX_SPEED_NARROW_OPENING; <span class="comment">// mm/sec</span>
<a name="l00147"></a>00147 <span class="keywordtype">int</span> MAX_SPEED_WIDE_OPENING; <span class="comment">// mm/sec</span>
<a name="l00148"></a>00148 <span class="keywordtype">int</span> MAX_ACCELERATION; <span class="comment">// mm/sec/sec</span>
<a name="l00149"></a>00149 <span class="keywordtype">int</span> MIN_TURNRATE; <span class="comment">// deg/sec -- not actually used internally</span>
<a name="l00150"></a>00150
<a name="l00151"></a>00151 <span class="keywordtype">int</span> NUM_CELL_SECTOR_TABLES;
<a name="l00152"></a>00152
<a name="l00153"></a>00153 <span class="comment">// Scale turnrate linearly between these two</span>
<a name="l00154"></a>00154 <span class="keywordtype">int</span> MAX_TURNRATE_0MS; <span class="comment">// deg/sec</span>
<a name="l00155"></a>00155 <span class="keywordtype">int</span> MAX_TURNRATE_1MS; <span class="comment">// deg/sec</span>
<a name="l00156"></a>00156 <span class="keywordtype">double</span> MIN_TURN_RADIUS_SAFETY_FACTOR;
<a name="l00157"></a>00157 <span class="keywordtype">float</span> Binary_Hist_Low_0ms, Binary_Hist_High_0ms;
<a name="l00158"></a>00158 <span class="keywordtype">float</span> Binary_Hist_Low_1ms, Binary_Hist_High_1ms;
<a name="l00159"></a>00159 <span class="keywordtype">float</span> U1, U2;
<a name="l00160"></a>00160 <span class="keywordtype">float</span> Desired_Angle, Dist_To_Goal, Goal_Distance_Tolerance;
<a name="l00161"></a>00161 <span class="keywordtype">float</span> Picked_Angle, Last_Picked_Angle;
<a name="l00162"></a>00162 <span class="keywordtype">int</span> Max_Speed_For_Picked_Angle;
<a name="l00163"></a>00163
<a name="l00164"></a>00164 <span class="comment">// Radius of dis-allowed circles, either side of the robot, which</span>
<a name="l00165"></a>00165 <span class="comment">// we can't enter due to our minimum turning radius.</span>
<a name="l00166"></a>00166 <span class="keywordtype">float</span> Blocked_Circle_Radius;
<a name="l00167"></a>00167
<a name="l00168"></a>00168 std::vector<std::vector<float> > Cell_Direction;
<a name="l00169"></a>00169 std::vector<std::vector<float> > Cell_Base_Mag;
<a name="l00170"></a>00170 std::vector<std::vector<float> > Cell_Mag;
<a name="l00171"></a>00171 std::vector<std::vector<float> > Cell_Dist; <span class="comment">// millimetres</span>
<a name="l00172"></a>00172 std::vector<std::vector<float> > Cell_Enlarge;
<a name="l00173"></a>00173
<a name="l00174"></a>00174 <span class="comment">// Cell_Sector[x][y] is a vector of indices to sectors that are effected if cell (x,y) contains</span>
<a name="l00175"></a>00175 <span class="comment">// an obstacle. </span>
<a name="l00176"></a>00176 <span class="comment">// Cell enlargement is taken into account.</span>
<a name="l00177"></a>00177 <span class="comment">// Acess as: Cell_Sector[speed_index][x][y][sector_index]</span>
<a name="l00178"></a>00178 std::vector<std::vector<std::vector<std::vector<int> > > > Cell_Sector;
<a name="l00179"></a>00179 std::vector<float> Candidate_Angle;
<a name="l00180"></a>00180 std::vector<int> Candidate_Speed;
<a name="l00181"></a>00181
<a name="l00182"></a>00182 <span class="keywordtype">double</span> dist_eps;
<a name="l00183"></a>00183 <span class="keywordtype">double</span> ang_eps;
<a name="l00184"></a>00184
<a name="l00185"></a>00185 <span class="keywordtype">float</span> *Last_Binary_Hist;
<a name="l00186"></a>00186
<a name="l00187"></a>00187 <span class="comment">// Minimum turning radius at different speeds, in millimeters</span>
<a name="l00188"></a>00188 std::vector<int> Min_Turning_Radius;
<a name="l00189"></a>00189
<a name="l00190"></a>00190 <span class="comment">// Keep track of last update, so we can monitor acceleration</span>
<a name="l00191"></a>00191 timeval last_update_time;
<a name="l00192"></a>00192
<a name="l00193"></a>00193 <span class="keywordtype">int</span> last_chosen_speed;
<a name="l00194"></a>00194 };
<a name="l00195"></a>00195
<a name="l00196"></a>00196 <span class="preprocessor">#endif</span>
</pre></div></div>
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