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<h1>plan.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"> * Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2003</span>
<a name="l00004"></a>00004 <span class="comment"> * Andrew Howard</span>
<a name="l00005"></a>00005 <span class="comment"> * Brian Gerkey </span>
<a name="l00006"></a>00006 <span class="comment"> *</span>
<a name="l00007"></a>00007 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00020"></a>00020 <span class="comment"> *</span>
<a name="l00021"></a>00021 <span class="comment"> */</span>
<a name="l00022"></a>00022
<a name="l00023"></a>00023
<a name="l00024"></a>00024 <span class="comment">/**************************************************************************</span>
<a name="l00025"></a>00025 <span class="comment"> * Desc: Path planning</span>
<a name="l00026"></a>00026 <span class="comment"> * Author: Andrew Howard</span>
<a name="l00027"></a>00027 <span class="comment"> * Date: 10 Oct 2002</span>
<a name="l00028"></a>00028 <span class="comment"> * CVS: $Id: plan.h 8108 2009-07-23 23:03:37Z thjc $</span>
<a name="l00029"></a>00029 <span class="comment">**************************************************************************/</span>
<a name="l00030"></a>00030
<a name="l00031"></a>00031 <span class="preprocessor">#ifndef PLAN_H</span>
<a name="l00032"></a>00032 <span class="preprocessor"></span><span class="preprocessor">#define PLAN_H</span>
<a name="l00033"></a>00033 <span class="preprocessor"></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include "heap.h"</span>
<a name="l00035"></a>00035
<a name="l00036"></a>00036 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00037"></a>00037 <span class="preprocessor"></span><span class="keyword">extern</span> <span class="stringliteral">"C"</span> {
<a name="l00038"></a>00038 <span class="preprocessor">#endif</span>
<a name="l00039"></a>00039 <span class="preprocessor"></span>
<a name="l00040"></a>00040 <span class="preprocessor">#define PLAN_DEFAULT_HEAP_SIZE 1000</span>
<a name="l00041"></a>00041 <span class="preprocessor"></span><span class="preprocessor">#define PLAN_MAX_COST 1e9</span>
<a name="l00042"></a>00042 <span class="preprocessor"></span>
<a name="l00043"></a>00043 <span class="comment">// Description for a grid single cell</span>
<a name="l00044"></a><a class="code" href="struct__plan__cell__t.html">00044</a> <span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="struct__plan__cell__t.html">_plan_cell_t</a>
<a name="l00045"></a>00045 {
<a name="l00046"></a>00046 <span class="comment">// Cell index in grid map</span>
<a name="l00047"></a>00047 <span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> ci, cj;
<a name="l00048"></a>00048
<a name="l00049"></a>00049 <span class="comment">// Occupancy state (-1 = free, 0 = unknown, +1 = occ)</span>
<a name="l00050"></a>00050 <span class="keywordtype">char</span> occ_state;
<a name="l00051"></a>00051 <span class="keywordtype">char</span> occ_state_dyn;
<a name="l00052"></a>00052
<a name="l00053"></a>00053 <span class="comment">// Distance to the nearest occupied cell</span>
<a name="l00054"></a>00054 <span class="keywordtype">float</span> occ_dist;
<a name="l00055"></a>00055 <span class="keywordtype">float</span> occ_dist_dyn;
<a name="l00056"></a>00056
<a name="l00057"></a>00057 <span class="comment">// Distance (cost) to the goal</span>
<a name="l00058"></a>00058 <span class="keywordtype">float</span> plan_cost;
<a name="l00059"></a>00059
<a name="l00060"></a>00060 <span class="comment">// Mark used in dynamic programming</span>
<a name="l00061"></a>00061 <span class="keywordtype">char</span> mark;
<a name="l00062"></a>00062 <span class="comment">// Mark used in path hysterisis</span>
<a name="l00063"></a>00063 <span class="keywordtype">char</span> lpathmark;
<a name="l00064"></a>00064
<a name="l00065"></a>00065 <span class="comment">// The next cell in the plan</span>
<a name="l00066"></a>00066 <span class="keyword">struct </span><a class="code" href="struct__plan__cell__t.html">_plan_cell_t</a> *plan_next;
<a name="l00067"></a>00067
<a name="l00068"></a>00068 } <a class="code" href="struct__plan__cell__t.html">plan_cell_t</a>;
<a name="l00069"></a>00069
<a name="l00070"></a>00070
<a name="l00071"></a>00071 <span class="comment">// Planner info</span>
<a name="l00072"></a><a class="code" href="structplan__t.html">00072</a> <span class="keyword">typedef</span> <span class="keyword">struct</span>
<a name="l00073"></a>00073 {
<a name="l00074"></a>00074 <span class="comment">// Grid dimensions (number of cells)</span>
<a name="l00075"></a>00075 <span class="keywordtype">int</span> size_x, size_y;
<a name="l00076"></a>00076
<a name="l00077"></a>00077 <span class="comment">// Grid bounds (for limiting the search).</span>
<a name="l00078"></a>00078 <span class="keywordtype">int</span> min_x, min_y, max_x, max_y;
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="comment">// Grid origin (real-world coords, in meters, of the lower-left grid</span>
<a name="l00081"></a>00081 <span class="comment">// cell)</span>
<a name="l00082"></a>00082 <span class="keywordtype">double</span> origin_x, origin_y;
<a name="l00083"></a>00083
<a name="l00084"></a>00084 <span class="comment">// Grid scale (m/cell)</span>
<a name="l00085"></a>00085 <span class="keywordtype">double</span> scale;
<a name="l00086"></a>00086
<a name="l00087"></a>00087 <span class="comment">// Effective robot radius</span>
<a name="l00088"></a>00088 <span class="keywordtype">double</span> des_min_radius, abs_min_radius;
<a name="l00089"></a>00089
<a name="l00090"></a>00090 <span class="comment">// Max radius we will consider</span>
<a name="l00091"></a>00091 <span class="keywordtype">double</span> max_radius;
<a name="l00092"></a>00092
<a name="l00093"></a>00093 <span class="comment">// Penalty factor for cells inside the max radius</span>
<a name="l00094"></a>00094 <span class="keywordtype">double</span> dist_penalty;
<a name="l00095"></a>00095
<a name="l00096"></a>00096 <span class="comment">// Cost multiplier for cells on the previous local path</span>
<a name="l00097"></a>00097 <span class="keywordtype">double</span> hysteresis_factor;
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="comment">// The grid data</span>
<a name="l00100"></a>00100 <a class="code" href="struct__plan__cell__t.html">plan_cell_t</a> *cells;
<a name="l00101"></a>00101
<a name="l00102"></a>00102 <span class="comment">// Distance penalty kernel, pre-computed in plan_compute_dist_kernel();</span>
<a name="l00103"></a>00103 <span class="keywordtype">float</span>* dist_kernel;
<a name="l00104"></a>00104 <span class="keywordtype">int</span> dist_kernel_width;
<a name="l00105"></a>00105 <span class="keywordtype">float</span> dist_kernel_3x3[9];
<a name="l00106"></a>00106
<a name="l00107"></a>00107 <span class="comment">// Priority queue of cells to update</span>
<a name="l00108"></a>00108 <a class="code" href="structheap.html">heap_t</a>* <a class="code" href="structheap.html">heap</a>;
<a name="l00109"></a>00109
<a name="l00110"></a>00110 <span class="comment">// The global path</span>
<a name="l00111"></a>00111 <span class="keywordtype">int</span> path_count, path_size;
<a name="l00112"></a>00112 <a class="code" href="struct__plan__cell__t.html">plan_cell_t</a> **path;
<a name="l00113"></a>00113
<a name="l00114"></a>00114 <span class="comment">// The local path (mainly for debugging)</span>
<a name="l00115"></a>00115 <span class="keywordtype">int</span> lpath_count, lpath_size;
<a name="l00116"></a>00116 <a class="code" href="struct__plan__cell__t.html">plan_cell_t</a> **lpath;
<a name="l00117"></a>00117
<a name="l00118"></a>00118 <span class="comment">// Waypoints extracted from global path</span>
<a name="l00119"></a>00119 <span class="keywordtype">int</span> waypoint_count, waypoint_size;
<a name="l00120"></a>00120 <a class="code" href="struct__plan__cell__t.html">plan_cell_t</a> **waypoints;
<a name="l00121"></a>00121 } <a class="code" href="structplan__t.html">plan_t</a>;
<a name="l00122"></a>00122
<a name="l00123"></a>00123
<a name="l00124"></a>00124 <span class="comment">// Create a planner</span>
<a name="l00125"></a>00125 <a class="code" href="structplan__t.html">plan_t</a> *plan_alloc(<span class="keywordtype">double</span> abs_min_radius,
<a name="l00126"></a>00126 <span class="keywordtype">double</span> des_min_radius,
<a name="l00127"></a>00127 <span class="keywordtype">double</span> max_radius,
<a name="l00128"></a>00128 <span class="keywordtype">double</span> dist_penalty,
<a name="l00129"></a>00129 <span class="keywordtype">double</span> hysteresis_factor);
<a name="l00130"></a>00130
<a name="l00131"></a>00131 <span class="keywordtype">void</span> plan_compute_dist_kernel(<a class="code" href="structplan__t.html">plan_t</a>* plan);
<a name="l00132"></a>00132
<a name="l00133"></a>00133 <span class="comment">// Destroy a planner</span>
<a name="l00134"></a>00134 <span class="keywordtype">void</span> plan_free(<a class="code" href="structplan__t.html">plan_t</a> *plan);
<a name="l00135"></a>00135
<a name="l00136"></a>00136 <span class="comment">// Initialize the plan</span>
<a name="l00137"></a>00137 <span class="keywordtype">void</span> plan_init(<a class="code" href="structplan__t.html">plan_t</a> *plan);
<a name="l00138"></a>00138
<a name="l00139"></a>00139 <span class="comment">// Reset the plan</span>
<a name="l00140"></a>00140 <span class="keywordtype">void</span> plan_reset(<a class="code" href="structplan__t.html">plan_t</a> *plan);
<a name="l00141"></a>00141
<a name="l00142"></a>00142 <span class="preprocessor">#if 0</span>
<a name="l00143"></a>00143 <span class="preprocessor"></span><span class="comment">// Load the occupancy values from an image file</span>
<a name="l00144"></a>00144 <span class="keywordtype">int</span> plan_load_occ(<a class="code" href="structplan__t.html">plan_t</a> *plan, <span class="keyword">const</span> <span class="keywordtype">char</span> *filename, <span class="keywordtype">double</span> scale);
<a name="l00145"></a>00145 <span class="preprocessor">#endif</span>
<a name="l00146"></a>00146 <span class="preprocessor"></span>
<a name="l00147"></a>00147 <span class="keywordtype">void</span> plan_set_bounds(<a class="code" href="structplan__t.html">plan_t</a>* plan, <span class="keywordtype">int</span> min_x, <span class="keywordtype">int</span> min_y, <span class="keywordtype">int</span> max_x, <span class="keywordtype">int</span> max_y);
<a name="l00148"></a>00148
<a name="l00149"></a>00149 <span class="keywordtype">void</span> plan_set_bbox(<a class="code" href="structplan__t.html">plan_t</a>* plan, <span class="keywordtype">double</span> padding, <span class="keywordtype">double</span> min_size,
<a name="l00150"></a>00150 <span class="keywordtype">double</span> x0, <span class="keywordtype">double</span> y0, <span class="keywordtype">double</span> x1, <span class="keywordtype">double</span> y1);
<a name="l00151"></a>00151
<a name="l00152"></a>00152 <span class="keywordtype">int</span> plan_check_inbounds(<a class="code" href="structplan__t.html">plan_t</a>* plan, <span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y);
<a name="l00153"></a>00153
<a name="l00154"></a>00154 <span class="comment">// Construct the configuration space from the occupancy grid.</span>
<a name="l00155"></a>00155 <span class="comment">//void plan_update_cspace(plan_t *plan, const char* cachefile);</span>
<a name="l00156"></a>00156 <span class="keywordtype">void</span> plan_compute_cspace(<a class="code" href="structplan__t.html">plan_t</a> *plan);
<a name="l00157"></a>00157
<a name="l00158"></a>00158 <span class="keywordtype">int</span> plan_do_global(<a class="code" href="structplan__t.html">plan_t</a> *plan, <span class="keywordtype">double</span> lx, <span class="keywordtype">double</span> ly, <span class="keywordtype">double</span> gx, <span class="keywordtype">double</span> gy);
<a name="l00159"></a>00159
<a name="l00160"></a>00160 <span class="keywordtype">int</span> plan_do_local(<a class="code" href="structplan__t.html">plan_t</a> *plan, <span class="keywordtype">double</span> lx, <span class="keywordtype">double</span> ly, <span class="keywordtype">double</span> plan_halfwidth);
<a name="l00161"></a>00161
<a name="l00162"></a>00162 <span class="comment">// Generate a path to the goal</span>
<a name="l00163"></a>00163 <span class="keywordtype">void</span> plan_update_waypoints(<a class="code" href="structplan__t.html">plan_t</a> *plan, <span class="keywordtype">double</span> px, <span class="keywordtype">double</span> py);
<a name="l00164"></a>00164
<a name="l00165"></a>00165 <span class="comment">// Get the ith waypoint; returns zero if there are no more waypoints</span>
<a name="l00166"></a>00166 <span class="keywordtype">int</span> plan_get_waypoint(<a class="code" href="structplan__t.html">plan_t</a> *plan, <span class="keywordtype">int</span> i, <span class="keywordtype">double</span> *px, <span class="keywordtype">double</span> *py);
<a name="l00167"></a>00167
<a name="l00168"></a>00168 <span class="comment">// Convert given waypoint cell to global x,y</span>
<a name="l00169"></a>00169 <span class="keywordtype">void</span> plan_convert_waypoint(<a class="code" href="structplan__t.html">plan_t</a>* plan, <a class="code" href="struct__plan__cell__t.html">plan_cell_t</a> *waypoint,
<a name="l00170"></a>00170 <span class="keywordtype">double</span> *px, <span class="keywordtype">double</span> *py);
<a name="l00171"></a>00171
<a name="l00172"></a>00172 <span class="keywordtype">double</span> plan_get_carrot(<a class="code" href="structplan__t.html">plan_t</a>* plan, <span class="keywordtype">double</span>* px, <span class="keywordtype">double</span>* py,
<a name="l00173"></a>00173 <span class="keywordtype">double</span> lx, <span class="keywordtype">double</span> ly,
<a name="l00174"></a>00174 <span class="keywordtype">double</span> maxdist, <span class="keywordtype">double</span> distweight);
<a name="l00175"></a>00175 <span class="keywordtype">int</span> plan_compute_diffdrive_cmds(<a class="code" href="structplan__t.html">plan_t</a>* plan, <span class="keywordtype">double</span>* vx, <span class="keywordtype">double</span> *va,
<a name="l00176"></a>00176 <span class="keywordtype">int</span>* rotate_dir,
<a name="l00177"></a>00177 <span class="keywordtype">double</span> lx, <span class="keywordtype">double</span> ly, <span class="keywordtype">double</span> la,
<a name="l00178"></a>00178 <span class="keywordtype">double</span> gx, <span class="keywordtype">double</span> gy, <span class="keywordtype">double</span> ga,
<a name="l00179"></a>00179 <span class="keywordtype">double</span> goal_d, <span class="keywordtype">double</span> goal_a,
<a name="l00180"></a>00180 <span class="keywordtype">double</span> maxd, <span class="keywordtype">double</span> dweight,
<a name="l00181"></a>00181 <span class="keywordtype">double</span> tvmin, <span class="keywordtype">double</span> tvmax,
<a name="l00182"></a>00182 <span class="keywordtype">double</span> avmin, <span class="keywordtype">double</span> avmax,
<a name="l00183"></a>00183 <span class="keywordtype">double</span> amin, <span class="keywordtype">double</span> amax);
<a name="l00184"></a>00184 <span class="keywordtype">int</span> plan_check_done(<a class="code" href="structplan__t.html">plan_t</a>* plan,
<a name="l00185"></a>00185 <span class="keywordtype">double</span> lx, <span class="keywordtype">double</span> ly, <span class="keywordtype">double</span> la,
<a name="l00186"></a>00186 <span class="keywordtype">double</span> gx, <span class="keywordtype">double</span> gy, <span class="keywordtype">double</span> ga,
<a name="l00187"></a>00187 <span class="keywordtype">double</span> goal_d, <span class="keywordtype">double</span> goal_a);
<a name="l00188"></a>00188
<a name="l00189"></a>00189 <span class="keywordtype">void</span> plan_set_obstacles(<a class="code" href="structplan__t.html">plan_t</a>* plan, <span class="keywordtype">double</span>* obs, <span class="keywordtype">size_t</span> num);
<a name="l00190"></a>00190
<a name="l00191"></a>00191 <span class="preprocessor">#if HAVE_OPENSSL_MD5_H && HAVE_LIBCRYPTO</span>
<a name="l00192"></a>00192 <span class="preprocessor"></span><span class="comment">// Write the cspace occupancy distance values to a file, one per line.</span>
<a name="l00193"></a>00193 <span class="comment">// Read them back in with plan_read_cspace().</span>
<a name="l00194"></a>00194 <span class="comment">// Returns non-zero on error.</span>
<a name="l00195"></a>00195 <span class="keywordtype">int</span> plan_write_cspace(<a class="code" href="structplan__t.html">plan_t</a> *plan, <span class="keyword">const</span> <span class="keywordtype">char</span>* fname, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>* hash);
<a name="l00196"></a>00196
<a name="l00197"></a>00197 <span class="comment">// Read the cspace occupancy distance values from a file, one per line.</span>
<a name="l00198"></a>00198 <span class="comment">// Write them in first with plan_read_cspace().</span>
<a name="l00199"></a>00199 <span class="comment">// Returns non-zero on error.</span>
<a name="l00200"></a>00200 <span class="keywordtype">int</span> plan_read_cspace(<a class="code" href="structplan__t.html">plan_t</a> *plan, <span class="keyword">const</span> <span class="keywordtype">char</span>* fname, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>* hash);
<a name="l00201"></a>00201
<a name="l00202"></a>00202 <span class="comment">// Compute and return the 16-bit MD5 hash of the map data in the given plan</span>
<a name="l00203"></a>00203 <span class="comment">// object.</span>
<a name="l00204"></a>00204 <span class="keywordtype">void</span> plan_md5(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>* digest, <a class="code" href="structplan__t.html">plan_t</a>* plan);
<a name="l00205"></a>00205 <span class="preprocessor">#endif // HAVE_OPENSSL_MD5_H && HAVE_LIBCRYPTO</span>
<a name="l00206"></a>00206 <span class="preprocessor"></span>
<a name="l00207"></a>00207 <span class="comment">/**************************************************************************</span>
<a name="l00208"></a>00208 <span class="comment"> * Plan manipulation macros</span>
<a name="l00209"></a>00209 <span class="comment"> **************************************************************************/</span>
<a name="l00210"></a>00210
<a name="l00211"></a>00211 <span class="comment">// Convert from plan index to world coords</span>
<a name="l00212"></a>00212 <span class="comment">//#define PLAN_WXGX(plan, i) (((i) - plan->size_x / 2) * plan->scale)</span>
<a name="l00213"></a>00213 <span class="comment">//#define PLAN_WYGY(plan, j) (((j) - plan->size_y / 2) * plan->scale)</span>
<a name="l00214"></a>00214 <span class="preprocessor">#define PLAN_WXGX(plan, i) ((plan)->origin_x + (i) * (plan)->scale)</span>
<a name="l00215"></a>00215 <span class="preprocessor"></span><span class="preprocessor">#define PLAN_WYGY(plan, j) ((plan)->origin_y + (j) * (plan)->scale)</span>
<a name="l00216"></a>00216 <span class="preprocessor"></span>
<a name="l00217"></a>00217 <span class="comment">// Convert from world coords to plan coords</span>
<a name="l00218"></a>00218 <span class="comment">//#define PLAN_GXWX(plan, x) (floor((x) / plan->scale + 0.5) + plan->size_x / 2)</span>
<a name="l00219"></a>00219 <span class="comment">//#define PLAN_GYWY(plan, y) (floor((y) / plan->scale + 0.5) + plan->size_y / 2)</span>
<a name="l00220"></a>00220 <span class="preprocessor">#define PLAN_GXWX(plan, x) ((int)(((x) - (plan)->origin_x) / (plan)->scale + 0.5))</span>
<a name="l00221"></a>00221 <span class="preprocessor"></span><span class="preprocessor">#define PLAN_GYWY(plan, y) ((int)(((y) - (plan)->origin_y) / (plan)->scale + 0.5))</span>
<a name="l00222"></a>00222 <span class="preprocessor"></span>
<a name="l00223"></a>00223 <span class="comment">// Test to see if the given plan coords lie within the absolute plan bounds.</span>
<a name="l00224"></a>00224 <span class="preprocessor">#define PLAN_VALID(plan, i, j) ((i >= 0) && (i < plan->size_x) && (j >= 0) && (j < plan->size_y))</span>
<a name="l00225"></a>00225 <span class="preprocessor"></span><span class="comment">// Test to see if the given plan coords lie within the user-specified plan bounds</span>
<a name="l00226"></a>00226 <span class="preprocessor">#define PLAN_VALID_BOUNDS(plan, i, j) ((i >= plan->min_x) && (i <= plan->max_x) && (j >= plan->min_y) && (j <= plan->max_y))</span>
<a name="l00227"></a>00227 <span class="preprocessor"></span>
<a name="l00228"></a>00228 <span class="comment">// Compute the cell index for the given plan coords.</span>
<a name="l00229"></a>00229 <span class="preprocessor">#define PLAN_INDEX(plan, i, j) ((i) + (j) * plan->size_x)</span>
<a name="l00230"></a>00230 <span class="preprocessor"></span>
<a name="l00231"></a>00231 <span class="preprocessor">#ifdef __cplusplus</span>
<a name="l00232"></a>00232 <span class="preprocessor"></span>}
<a name="l00233"></a>00233 <span class="preprocessor">#endif</span>
<a name="l00234"></a>00234 <span class="preprocessor"></span>
<a name="l00235"></a>00235 <span class="preprocessor">#endif</span>
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