ShapeSpacePlanner3DR.h

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//-*-c++-*-
#ifndef _SHAPE_SPACE_PLANNER_3DR_H_
#define _SHAPE_SPACE_PLANNER_3DR_H_

#include "Motion/Kinematics.h"
#include "Planners/RRT/ShapeSpacePlannerBase.h"

//================ RRTNode3DR ================

template <size_t N>
class ShapeSpacePlanner3DR;

template <size_t N>
class RRTNode3DR : public RRTNodeBase {
public:
  
  class NodeValueWrapper {
  private:
    AngSignPi angles[(N==0)?1:N]; // funny array size to help older compilers that error on zero-sized arrays
  public:
    NodeValueWrapper() : angles() {}
    AngSignPi& operator[](int i)       { return angles[i]; }
    AngSignPi  operator[](int i) const { return angles[i]; }
  };
  
  typedef NodeValueWrapper NodeValue_t;
  typedef typename GenericRRTBase::PlannerResult<3> PlannerResult;
  NodeValue_t q;
  
  //! Constructor
  RRTNode3DR(const NodeValue_t &_q, unsigned int _parent) : RRTNodeBase(_parent), q(_q) {};
  
  class CollisionChecker : public ShapeSpaceCollisionCheckerBase<3> {
  protected:
    KinematicJoint* rootJ;
  public:
    fmat::Transform worldT;
  protected:
    
    class JointObstacle {
    public:
      BoxObstacle obstacle;
      KinematicJoint* joint;
      bool valid;
      
      JointObstacle(KinematicJoint* _joint) : obstacle(), joint(_joint), valid(false) {
        obstacle.name = joint->outputOffset.get();
      }
      
      JointObstacle(const BoxObstacle& _obstacle,
                    KinematicJoint* _joint,
                    bool _valid) : obstacle(_obstacle), joint(_joint), valid(_valid) {}
      
      virtual ~JointObstacle() {}
      
      JointObstacle(const JointObstacle& other) : obstacle(other.obstacle), joint(other.joint), valid(other.valid) {}
      JointObstacle& operator=(const JointObstacle& other) {
        obstacle = other.obstacle;
        joint = other.joint;
        valid = other.valid;
        return *this;
      }
      
      bool collides(const JointObstacle& other) const { if (!other.valid) return false; return false; }
      bool collides(const PlannerObstacle3D& obs) const { return obs.collides(obstacle); }
      
      virtual bool setObstacle(const fmat::Transform &worldT, bool own=false);
    };
    
    class LinkObstacle : public JointObstacle {
    public:
      LinkComponent* link;
      
      LinkObstacle(const JointObstacle& jObs) : JointObstacle(jObs.joint), link() {
        this->obstacle.name += "Component";
      }
      
      virtual ~LinkObstacle() {}
      
      void setLink(LinkComponent* _link) { link = _link; }
      
      LinkObstacle(const LinkObstacle& other) : JointObstacle(other.obstacle, other.joint, other.valid), link(other.link) {}
      LinkObstacle& operator=(const LinkObstacle& other) {
        JointObstacle(other.obstacle, other.joint, other.valid);
        link = other.link;
        return *this;
      }
      
      virtual bool setObstacle(const fmat::Transform &worldT, bool own=false); 
    };
    
  public:
    CollisionChecker(DualCoding::ShapeSpace & shs,
                     const DualCoding::Shape<DualCoding::PolygonData> &_worldBounds,
                     float _inflation,
                     unsigned int effectorOffset) :
    ShapeSpaceCollisionCheckerBase<3>(shs, _worldBounds, _inflation), rootJ(), worldT() {
      rootJ = kine->getKinematicJoint(effectorOffset)->cloneBranch();
      for (unsigned int i = 0; i < N; i++)
        rootJ = rootJ->getNextMobileAncestor();
    }
    
    CollisionChecker(const CollisionChecker& other) : rootJ(other.rootJ) {}
    
    CollisionChecker operator=(const CollisionChecker& other) {
      rootJ = other.rootJ;
      return *this;
    }
    
    virtual bool collides(const NodeValue_t &qnew, PlannerResult* result=NULL) const;
    
    template<class T, class U>
    static bool checkComponent(std::vector<T>& full, const U& newObs, T* collisionObs);
    
  };
  
  static const unsigned int maxInterpolations = 100; //!< Maximum number of interpolation steps in interpolate() when @a truncate is true
  
  virtual float distance(const NodeValue_t &target);
  static void generateSample(const NodeValue_t &lower, const NodeValue_t &upper, NodeValue_t &sample);
  static Interp_t interpolate(const NodeValue_t &start, const NodeValue_t &target, const NodeValue_t &interp, 
                              bool truncate, CollisionChecker *cc, NodeValue_t &reached, bool fromOtherTree);
  
  virtual std::string toString() const;
};

template<size_t N>
float RRTNode3DR<N>::distance(const NodeValue_t &target) {
  float result = 0;
  for (size_t i = 0; i < N; i++) {
    result += target[i]*target[i];
  }
  return result;
}

template<size_t N>
void RRTNode3DR<N>::generateSample(const NodeValue_t &lower, 
                                   const NodeValue_t &upper,
                                   NodeValue_t &sample) {
  for (size_t i = 0; i < N; i++) {
    sample[i] = randRange(lower[i], upper[i]);
  }
}

template<size_t N>
RRTNodeBase::Interp_t RRTNode3DR<N>::interpolate(const NodeValue_t &start, const NodeValue_t &target, const NodeValue_t &interp, 
                                                 bool truncate, CollisionChecker *cc, NodeValue_t &reached, bool fromOtherTree) {
  NodeValue_t delta;
  int steps[N];
  int numSteps = 0;
  for (size_t i = 0; i < N; i++) {
    steps[i] = int(fabs(target[i]-start[i])/interp[i]);
    if (steps[i] > numSteps)
      numSteps = steps[i];
  }
  for (size_t i = 0; i < N; i++) {
    delta[i] = (target[i]-start[i])/float(numSteps);
  }
  
  bool truncated = (unsigned int)numSteps > maxInterpolations && truncate;
  if ( truncated )
    numSteps = maxInterpolations;
  
  // Interpolate along the path and check for collisions
  reached = start;
  for (int t = 0; t < numSteps; t++) {
    for (unsigned int i = 0; i < N; i++) {
      reached[i] += delta[i];
    }
    if ( cc->collides(reached) )
      return COLLISION;
  }
  
  if ( !truncated )
    return REACHED;
  else
    return APPROACHED;
}

template<size_t N>
std::string RRTNode3DR<N>::toString() const {
  char buff[100];
  string result;
  for (size_t i = 0; i < N; i++) {
    sprintf(buff, "%7.2f ", float(q[i]));
    result.append(result);
  }
  return result;
}

template<size_t N>
bool RRTNode3DR<N>::CollisionChecker::collides(const NodeValue_t &qnew, RRTNode3DR<N>::PlannerResult* result) const {
  // set joint angles to test the NodeValue
  KinematicJoint* joint = rootJ;
  for (unsigned int i = 0; i < N; i++) {
    if (!joint) { // just in case...
      std::cout << "*** ERROR: Collision checker cannot find arm joints. Assuming collision." << std::endl;
      return true;
    }
    
    joint->setQ(qnew[i]);
    joint = joint->nextJoint();
    while (joint != NULL && joint->isMobile() == false) joint = joint->nextJoint();
  }
  
  // for check component
  LinkObstacle* collisionObs = NULL;
  
  // create and assign array of joints
  std::vector<JointObstacle> obs;
  for (joint = rootJ; joint != NULL; joint = joint->nextJoint()) {
    obs.push_back(JointObstacle(joint));
  }
  
  for (unsigned int i = 0; i < obs.size(); i++) {
    // if the joint has no boundingbox at all, skip it
    if (!obs[i].setObstacle(worldT))
      continue;
    
    // test if new joint obstacle collides with any other joint obstacle
    std::vector<int> collidingJObs;
    for (int j = 0; j < (int)i-1; j++) { // i-1 so that we don't check adjacent joint collision
      if (obs[j].valid && obs[i].collides(obs[j])) {
        collidingJObs.push_back(j);
      }
    }
    
    // test if new joint obstacle collides with any planner obstacle
    std::vector<PlannerObstacle3D*> collidingPObs;
    for (unsigned int k = 0; k < obstacles.size(); k++) {
      if (obs[i].collides(*(obstacles[k]))) {
        collidingPObs.push_back(obstacles[k]);
      }
    }
    
    // if there are no collisions at all, skip to the next joint
    if (collidingJObs.empty() && collidingPObs.empty())
      continue;
    
    /* Assuming there is any collision, we now test each LinkComponent,
     so we need to assign a vector of components, including the
     joint's own obstacle */
    JointObstacle jointOwnObs(obs[i].joint);
    jointOwnObs.setObstacle(worldT, true); // true flag specifies we're using the LinkComponent BB, (without children)
    
    std::vector<LinkObstacle> componentObs(obs[i].joint->components.size(), LinkObstacle(obs[i]));
    for (unsigned int c = 0; c < obs[i].joint->components.size(); c++) {
      componentObs[c].setLink(&(obs[i].joint->components[c]));
      componentObs[c].setObstacle(worldT, true);
    }
    
    // if there is a collision with a joint obstacle, check the sub-components to confirm
    for (unsigned int jObs = 0; jObs < collidingJObs.size(); jObs++) {
      unsigned int numComponents = obs[collidingJObs[jObs]].joint->components.size();
      
      // if there aren't any subcomponents in either, then there must be a collision
      if (componentObs.size() == 0 && numComponents == 0) {
        if (result) {
          result->movingObstacle = new BoxObstacle(obs[i].obstacle);
          result->collidingObstacle = new BoxObstacle(obs[collidingJObs[jObs]].obstacle);
        }
        return true;
      }
      
      // set the second joint's components
      // but whenever one is added, check for collision with previous
      JointObstacle collidingOwnObs(obs[collidingJObs[jObs]]);
      collidingOwnObs.setObstacle(worldT, true);
      
      // check if both joints' own obstacles collide
      if (collidingOwnObs.collides(jointOwnObs)) {
        if (result) {
          result->movingObstacle = new BoxObstacle(collidingOwnObs.obstacle);
          result->collidingObstacle = new BoxObstacle(jointOwnObs.obstacle);
        }
        return true;
      }
      // check if the colliding joint's own obstacle collides with joint's components
      if (checkComponent(componentObs, collidingOwnObs, collisionObs)) {
        if (result) {
          result->movingObstacle = new BoxObstacle(collidingOwnObs.obstacle);
          result->collidingObstacle = new BoxObstacle(collisionObs->obstacle);
        }
        return true;
      }
      
      // check if any of the colliding joint's components collides with the joint's own obstacle
      LinkObstacle componentOb(obs[collidingJObs[jObs]]);
      for (unsigned int c = 0; i < numComponents; c++) {
        componentOb.setLink(&(obs[collidingJObs[jObs]].joint->components[c]));
        componentOb.setObstacle(worldT, true);
        if (componentOb.collides(jointOwnObs)) {
          if (result) {
            result->movingObstacle = new BoxObstacle(componentOb.obstacle);
            result->collidingObstacle = new BoxObstacle(jointOwnObs.obstacle);
          }
          return true;
        }
        
        // check if any of both joints' components collide
        if (checkComponent(componentObs, componentOb, collisionObs)) {
          if (result) {
            result->movingObstacle = new BoxObstacle(componentOb.obstacle);
            result->collidingObstacle = new BoxObstacle(collisionObs->obstacle);
          }
          return true;
        }
      }
    }
    
    // if there is a collision with a planner obstacle, check the subcomponents to confirm
    for (unsigned int p = 0; p < collidingPObs.size(); p++) {
      if (jointOwnObs.collides(*(collidingPObs[p]))) {
        if (result) {
          result->movingObstacle = new BoxObstacle(jointOwnObs.obstacle);
          result->collidingObstacle = collidingPObs[p];
        }
        return true;
      }
      if (checkComponent(componentObs, *(collidingPObs[p]), collisionObs)) {
        if (result) {
          result->movingObstacle = new BoxObstacle(collisionObs->obstacle);
          result->collidingObstacle = collidingPObs[p];
        }
        return true;
      }
    }
  }
  
  // no collision detected
  return false;
}

template<size_t N>
template<class T, class U>
bool RRTNode3DR<N>::CollisionChecker::checkComponent(std::vector<T>& full, const U& newObs, T* collisionObs) {
  for (unsigned int i = 0; i < full.size(); i++) {
    if (full[i].collides(newObs)) {
      collisionObs = &full[i];
      return true;
    }
  }
  return false;
}

template<size_t N>
bool RRTNode3DR<N>::CollisionChecker::JointObstacle::setObstacle(const fmat::Transform &worldT, bool own) {
  /*  if (joint == NULL) {
   std::cout << "***ERROR Joint value is null in CollisionChecker." << std::endl;
   valid = false;
   }
   else {
   if (own)
   valid = joint->getOwnBB2D(worldT * joint->getFullT(), obstacle);
   else
   valid = joint->getBB2D(worldT * joint->getFullT(), obstacle);
   }*/
  return valid;
}

template<size_t N>
bool RRTNode3DR<N>::CollisionChecker::LinkObstacle::setObstacle(const fmat::Transform &worldT, bool own) {
  /*if (this->joint == NULL || link == NULL) {
   std::cout << "***ERROR Joint/link value is null in CollisionChecker." << std::endl;
   this->valid = false;
   }
   else {
   if (own)
   this->valid = link->getOwnBB2D(worldT * this->joint->getFullT(), this->obstacle);
   else
   this->valid = link->getBB2D(worldT * this->joint->getFullT(), this->obstacle);
   }*/
  return this->valid;
}

//================ ShapeSpacePlanner3DR ================

//! Plans a path in a n-dimensional angular space, uses forward kinematics for collision testing
template <size_t N>
class ShapeSpacePlanner3DR : public GenericRRT<RRTNode3DR<N>, 3> {
public:
  typedef RRTNode3DR<N> NodeType_t;
  typedef typename NodeType_t::NodeValue_t NodeValue_t;
  typedef typename GenericRRTBase::PlannerResult<3> PlannerResult;
  
  ShapeSpacePlanner3DR(DualCoding::ShapeSpace &shs,
                       const DualCoding::Shape<DualCoding::PolygonData> &worldBounds,
                       float inflation,
                       unsigned int effectorOffset,
                       AdmissibilityPredicate<NodeType_t> *predicate=NULL);
  
  ShapeSpacePlanner3DR(const ShapeSpacePlanner3DR& other) {
    for (size_t i = 0; i < N; i++)
      joints[i] = other.joints[i];
  }
  
  ShapeSpacePlanner3DR operator=(const ShapeSpacePlanner3DR& other) {
    for (size_t i = 0; i < N; i++)
      joints[i] = other.joints[i];
    return *this;
  }
  
  KinematicJoint* joints[N];
  fmat::Transform worldT;
  
  virtual ~ShapeSpacePlanner3DR() {}
  
  using GenericRRT<NodeType_t, 3>::planPath;
  PlannerResult
  planPath(NodeValue_t start,
           NodeValue_t end,
           NodeValue_t interpolationStep,
           const fmat::Transform& _worldT,
           unsigned int _maxIterations=40000,
           std::vector<NodeValue_t> *pathResult=NULL,
           std::vector<NodeType_t> *treeStartResult=NULL,
           std::vector<NodeType_t> *treeEndResult=NULL);
  
  //! Populates a Shape<GraphicsData> with BoundingBoxes
  void plotTree(const std::vector<NodeType_t> &tree,
                Shape<GraphicsData> &graphics,
                rgb color=rgb(255,0,0));
  
  //! Populates a Shape<GraphicsData> with BoundingBoxes
  void plotPath(const std::vector<NodeValue_t> &tree,
                Shape<GraphicsData> &graphics,
                rgb color=rgb(255,0,0));
  
  //! Returns BoundingBox of each link, for plotTree()
  void getBoxes(std::vector<std::vector<std::pair<float,float> > >& boxes, const KinematicJoint& joint);
  
};

template<size_t N>
ShapeSpacePlanner3DR<N>::ShapeSpacePlanner3DR(DualCoding::ShapeSpace &shs,
                                              const DualCoding::Shape<DualCoding::PolygonData> &worldBounds,
                                              float inflation,
                                              unsigned int effectorOffset,
                                              AdmissibilityPredicate<NodeType_t> *_predicate) :
GenericRRT<NodeType_t, 3>::GenericRRT(new typename NodeType_t::CollisionChecker(shs, worldBounds, inflation, effectorOffset), _predicate),
worldT() {
  KinematicJoint* joint = kine->getKinematicJoint(effectorOffset)->cloneBranch();
  if (joint->isMobile() == false) joint = joint->getNextMobileAncestor();
  NodeValue_t lower, upper;
  
  for (unsigned int i = N; i > 0; i--) {
    lower[i-1] = joint->qmin;
    upper[i-1] = joint->qmax;
    joints[i-1] = joint;
    joint = joint->getNextMobileAncestor();
  }
  
  this->setLimits(lower, upper);
}

template<size_t N>
typename ShapeSpacePlanner3DR<N>::PlannerResult
ShapeSpacePlanner3DR<N>::planPath(NodeValue_t start,
                                  NodeValue_t end,
                                  NodeValue_t interpolationStep,
                                  const fmat::Transform& _worldT,
                                  unsigned int maxIterations,
                                  std::vector<NodeValue_t> *pathResult,
                                  std::vector<NodeType_t> *treeStartResult,
                                  std::vector<NodeType_t> *treeEndResult) {
  this->setInterpolation(interpolationStep);
  this->worldT = _worldT;
  this->cc->worldT = _worldT;
  return GenericRRT<NodeType_t, 3>::planPath(start, end, maxIterations,
                                             pathResult, treeStartResult, treeEndResult);
}

template<size_t N>
void ShapeSpacePlanner3DR<N>::plotTree(const std::vector<NodeType_t> &tree,
                                       Shape<GraphicsData> &graphics,
                                       rgb color) {
  for ( unsigned int i = 0; i < tree.size(); i++ ) {
    // set joint values
    for (size_t j = 0; j < N; j++)
      joints[j]->setQ(tree[i].q[j]);
    
    // get bounding box of every link
    std::vector<std::vector<std::pair<float,float> > > boxes;
    getBoxes(boxes, *joints[0]);
    
    // add to element
    for (size_t b = 0; b < boxes.size(); b++) {
      graphics->add(new GraphicsData::PolygonElement(boxes[b], true, color));
    }
  }
}

template<size_t N>
void ShapeSpacePlanner3DR<N>::plotPath(const std::vector<NodeValue_t> &path,
                                       Shape<GraphicsData> &graphics,
                                       rgb color) {
  for ( unsigned int i = 0; i < path.size(); i++ ) {
    // set joint values
    for (size_t j = 0; j < N; j++)
      joints[j]->setQ(path[i][j]);
    
    // set robot transformation in WorldSpace (converts from BaseFrame -> "WorldFrame")
    DualCoding::Point p = VRmixin::theAgent->getCentroid();
    worldT.translation() = -fmat::pack(p.coordX(),p.coordY(),p.coordZ());
    worldT.rotation() = fmat::rotationZ(-VRmixin::theAgent->getOrientation());
    
    // get bounding box of every link
    std::vector<std::vector<std::pair<float,float> > > boxes;
    getBoxes(boxes, *joints[0]);
    
    // set first and last to different colors
    rgb theColor;
    if (i == 0) theColor = rgb(255,0,0);
    else if (i == path.size()-1) theColor = rgb(0,255,0);
    else theColor = color;
    
    // add to element
    for (size_t b = 0; b < boxes.size(); b++) {
      graphics->add(new GraphicsData::PolygonElement(boxes[b], true, theColor));
    }
  }
}

template<size_t N>
void ShapeSpacePlanner3DR<N>::getBoxes(std::vector<std::vector<std::pair<float,float> > >& boxes, const KinematicJoint& joint) {  
  // we don't have to go through all branches, because we already cloned the branch
  if (joint.nextJoint() != NULL)
    getBoxes(boxes, *joint.nextJoint());
  
  // get the joint's BB (in obstacle format)
  std::vector<std::pair<float,float> > points(4);
  RectangularObstacle ro;
  joint.getOwnBB2D(worldT * joint.getFullT(), ro);
  
  if (ro.getExtents() != fmat::Column<2>()) {
    // set points
    for (int p = 0; p < 4; p++) {
      fmat::Column<2> corner = ro.getCorner(static_cast<RectangularObstacle::CornerOrder>(p));
      points[p] = std::pair<float,float>(corner[0], corner[1]);
    }
    boxes.push_back(points);
  }
  
  // do the same for each link
  for (KinematicJoint::component_iterator it = joint.components.begin(); it != joint.components.end(); ++it) {
    // set points
    (*it)->getOwnBB2D(worldT * joint.getFullT(), ro);
    for (int p = 0; p < 4; p++) {
      fmat::Column<2> corner = ro.getCorner(static_cast<RectangularObstacle::CornerOrder>(p));
      points[p] = std::pair<float,float>(corner[0], corner[1]);
    }
    boxes.push_back(points);
  }
}

#endif