def main_middle(sx,
sy,
syaw,
mx,
my,
myaw,
other_sx,
other_sy,
other_syaw,
other_gx,
other_gy,
other_gyaw,
other_other_x=None,
other_other_y=None,
other_other_yaw=None):
# set obstacles
global ox, oy
oox = ox[:]
ooy = oy[:]
tox, toy = ox[:], oy[:]
kdtree = planner.KDTree(np.vstack((tox, toy)).T)
if vehicle_lib.check_collision(oox, ooy, [mx], [my], [myaw],
kdtree) == False:
return None, None, None
vehicle_x, vehicle_y = planner.vehicle.plot_trailer(
mx, my, myaw, 0.0, True)
oox_add, ooy_add = add_obstacle(vehicle_x, vehicle_y, oox, ooy)
path2 = planner.calc_hybrid_astar_path(other_sx, other_sy, other_syaw,
other_gx, other_gy, other_gyaw,
oox_add, ooy_add,
planner.XY_GRID_RESOLUTION,
planner.YAW_GRID_RESOLUTION)
if path2 == []:
print 'The middle state is invalid(2)'
return None, None, None
# path generation
path1 = planner.calc_hybrid_astar_path(sx, sy, syaw, mx, my, myaw, oox,
ooy, planner.XY_GRID_RESOLUTION,
planner.YAW_GRID_RESOLUTION)
if path1 == []:
print 'Cannot find path.(1)'
return None, None, None
vehicle.plot_trailer(other_sx, other_sy, other_syaw, 0)
show_animation(path1, ox, oy, other_sx, other_sy, other_syaw,
other_other_x, other_other_y, other_other_yaw)
show_animation(path2, ox, oy, mx, my, myaw, other_other_x, other_other_y,
other_other_yaw)
plt.pause(0.01)
return mx, my, myaw
def estimate_rs_cost(self, sx, sy, syaw, gx, gy, gyaw, ox, oy):
tox,toy = ox[:], oy[:]
oox,ooy = ox[:], oy[:]
kdtree = planner.KDTree(np.vstack((tox, toy)).T)
nstart = planner.Node(round(sx / planner.XY_GRID_RESOLUTION), round(sy / planner.XY_GRID_RESOLUTION), round(syaw / planner.YAW_GRID_RESOLUTION), True, [sx], [sy], [syaw], [True],
0.0, 0.0, -1)
ngoal = planner.Node(round(gx / planner.XY_GRID_RESOLUTION), round(gy / planner.XY_GRID_RESOLUTION), round(gyaw / planner.YAW_GRID_RESOLUTION), True, [gx], [gy], [gyaw], [True],
0.0, 0.0, -1)
c = planner.calc_config(oox, ooy, planner.XY_GRID_RESOLUTION, planner.YAW_GRID_RESOLUTION)
isupdated, fpath = planner.update_node_with_analystic_expantion(nstart, ngoal, c, oox, ooy, kdtree)
if isupdated:
cost = fpath.cost
return cost
else:
return 10000
def main(x, y, yaw):
sx = SX # [m]
sy = SY # [m]
syaw0 = SYAW
# goal state
gx = GX # [m]
gy = GY # [m]
gyaw0 = GYAW
other_sx = OTHER_SX # [m]
other_sy = OTHER_SY # [m]
other_syaw0 = OTHER_SYAW
other_gx = OTHER_GX # [m]
other_gy = OTHER_GY # [m]
other_gyaw0 = OTHER_GYAW
mx = x # [m]
my = y # [m]
myaw0 = yaw
# set obstacles
global ox, oy
oox = ox[:]
ooy = oy[:]
tox, toy = ox[:], oy[:]
kdtree = planner.KDTree(np.vstack((tox, toy)).T)
if vehicle_lib.check_collision(oox, ooy, [mx], [my], [myaw0],
kdtree) == False:
return
# path generation
vehicle_x, vehicle_y = planner.vehicle.plot_trailer(
mx, my, myaw0, 0.0, True)
oox_add, ooy_add = add_obstacle(vehicle_x, vehicle_y, oox, ooy)
path2 = planner.calc_hybrid_astar_path(other_sx, other_sy, other_syaw0,
other_gx, other_gy, other_gyaw0,
oox_add, ooy_add,
planner.XY_GRID_RESOLUTION,
planner.YAW_GRID_RESOLUTION)
if path2 == []:
print('The middle state is invalid(2)')
return
path1 = planner.calc_hybrid_astar_path(sx, sy, syaw0, mx, my, myaw0, oox,
ooy, planner.XY_GRID_RESOLUTION,
planner.YAW_GRID_RESOLUTION)
if path1 == []:
print('Cannot find path.(1)')
return
path3 = planner.calc_hybrid_astar_path(mx, my, myaw0, gx, gy, gyaw0, oox,
ooy, planner.XY_GRID_RESOLUTION,
planner.YAW_GRID_RESOLUTION)
if path3 == []:
print('Cannot find path.(3)')
return
# global total_cost
# global final_path1
# global final_path2
# global final_path3,final_mx,final_my,final_myaw0
#
# if path1.cost + path2.cost + path3.cost < total_cost:
# final_path1 = path1
# final_path2 = path2
# final_path3 = path3
# final_mx = mx
# final_my = my
# final_myaw0 = myaw0
plt.grid(True)
plt.axis("equal")
plt.plot(ox, oy, '.k')
plt.pause(5)
show_animation(path1, ox, oy, other_sx, other_sy, other_syaw0)
show_animation(path2, ox, oy, mx, my, myaw0)
show_animation(path3, ox, oy, other_gx, other_gy, other_gyaw0)
def main(x, y, yaw):
sx = SX # [m]
sy = SY # [m]
syaw0 = SYAW
# goal state
gx = GX # [m]
gy = GY # [m]
gyaw0 = GYAW
other_sx = OTHER_SX # [m]
other_sy = OTHER_SY # [m]
other_syaw0 = OTHER_SYAW
other_gx = OTHER_GX # [m]
other_gy = OTHER_GY # [m]
other_gyaw0 = OTHER_GYAW
mx = x # [m]
my = y # [m]
myaw0 = np.deg2rad(yaw)
# set obstacles
ox = []
oy = []
# for i in range(-8, 8):
# ox.append(i)
# oy.append(12.0)
for i in range(-25, -8):
ox.append(i)
oy.append(9.0)
for i in range(8, 25):
ox.append(i)
oy.append(9.0)
for i in range(-25, -8):
ox.append(i)
oy.append(4.0)
for i in range(-3, 5):
ox.append(-8.0)
oy.append(i)
for i in range(-3, 5):
ox.append(8.0)
oy.append(i)
for i in range(8, 25):
ox.append(i)
oy.append(4.0)
# for i in range(-8, 8):
# ox.append(i)
# oy.append(1.0)
for i in range(-8, 8):
ox.append(i)
oy.append(12.0)
for i in range(4, 9):
ox.append(-25)
oy.append(i)
for i in range(4, 9):
ox.append(25)
oy.append(i)
oox = ox[:]
ooy = oy[:]
tox, toy = ox[:], oy[:]
kdtree = planner.KDTree(np.vstack((tox, toy)).T)
# plt.plot(ox,oy,'.k')
# plt.show()
if vehicle_lib.check_collision(oox, ooy, [mx], [my], [myaw0],
kdtree) == False:
return
# path generation
path1 = planner.calc_hybrid_astar_path(sx, sy, syaw0, mx, my, myaw0, ox,
oy, planner.XY_GRID_RESOLUTION,
planner.YAW_GRID_RESOLUTION)
if path1 == []:
print 'Cannot find path.(1)'
return
vehicle_x, vehicle_y = planner.vehicle.plot_trailer(
mx, my, myaw0, 0.0, True)
oox_add, ooy_add = add_obstacle(vehicle_x, vehicle_y, oox, ooy)
path2 = planner.calc_hybrid_astar_path(other_sx, other_sy, other_syaw0,
other_gx, other_gy, other_gyaw0,
oox_add, ooy_add,
planner.XY_GRID_RESOLUTION,
planner.YAW_GRID_RESOLUTION)
if path2 == []:
print 'The middle state is invalid(2)'
return
path3 = planner.calc_hybrid_astar_path(mx, my, myaw0, gx, gy, gyaw0, ox,
oy, planner.XY_GRID_RESOLUTION,
planner.YAW_GRID_RESOLUTION)
if path3 == []:
print 'Cannot find path.(3)'
return
# global total_cost
# global final_path1
# global final_path2
# global final_path3,final_mx,final_my,final_myaw0
#
# if path1.cost + path2.cost + path3.cost < total_cost:
# final_path1 = path1
# final_path2 = path2
# final_path3 = path3
# final_mx = mx
# final_my = my
# final_myaw0 = myaw0
vehicle.plot_trailer(other_sx, other_sy, other_syaw0, 0)
show_animation(path1, oox, ooy, other_sx, other_sy, other_syaw0)
show_animation(path2, oox, ooy, mx, my, myaw0)
show_animation(path3, oox, ooy, other_gx, other_gy, other_gyaw0)
plt.show()
