def trajectory(start, goal, cursor):
p, r = TG.calc_path(cursor, start.q, goal.q)
if r is not None and p[4]>0:
u = TG.calc_velocity(start.v, start.a, goal.v, p[4])
if u[3] is not None and u[3]>0:
path = TG.spiral3_calc(p,r,q=start.q,ref_delta_s=0.2)
traj = TG.calc_trajectory(u,p,r,s=p[4],path=path,q0=start.q, ref_time=start.time, ref_length=start.length)
return traj
return None
def trajectory_reverse(start, goal, cursor):
if start.v<=0. and goal.v<=0:
q1 = (start.x, start.y, start.theta, start.k)
q0 = (goal.x, goal.y, goal.theta, goal.k)
p, r = TG.calc_path(cursor, q0, q1)
# print(p,r)
if r is not None and p[4]>0:
u = TG.calc_velocity(start.v, start.a, goal.v, -p[4])
# print(u)
if u[3] is not None and u[3]>0:
path = TG.spiral3_calc(p,r,q=q0,ref_delta_s=0.2)
# print(path[:,0])
path = path[::-1, :] #reverse
# print(path[:,0])
traj = TG.calc_trajectory_reverse(u, p, r, s=p[4], path=path, ref_time=start.time, ref_length=start.length)
return traj
return None
def extend_plot():
# database connection
conn = sqlite3.connect('InitialGuessTable.db')
cursor = conn.cursor()
# plot
fig = plt.figure()
ax1 = fig.add_subplot(111)
# road center line points
p = (0.,0.,0.,0.,90.) # (p0~p3, sg)
center_line = TG.spiral3_calc(p, q=(5.,50.,0.))
# print(center_line)
# road
road = Road(center_line)
for i in range(road.grid_num_lateral+1):
if (i % road.grid_num_per_lane) == 0:
ax1.plot(road.longitudinal_lines[:,2*i], road.longitudinal_lines[:,2*i+1], color='green', linewidth=1.5)
else:
ax1.plot(road.longitudinal_lines[:,2*i], road.longitudinal_lines[:,2*i+1], color='black', linewidth=0.3)
for i in range(road.grid_num_longitudinal+1):
ax1.plot(road.lateral_lines[:,2*i], road.lateral_lines[:,2*i+1],color='black', linewidth=0.3)
# vehicle
cfg0 = road.sl2xy(5.,0.)
veh = Vehicle(trajectory=np.array([[-1.,-1.,cfg0[0], cfg0[1], cfg0[2], cfg0[3], 0.,5.,0.]]))
# workspace
ws = Workspace(vehicle=veh, road=road)
road_lane_bitmap0 = ws.lane_grids[0]
road_lane_bitmap1 = ws.lane_grids[1]
road_lane_bitmap2 = ws.lane_grids[2]
# write the lane bitmaps into files
# np.savetxt('road_lane_bitmap0.txt', road_lane_bitmap0, fmt='%i',delimiter=' ')
# np.savetxt('road_lane_bitmap1.txt', road_lane_bitmap1, fmt='%i',delimiter=' ')
# np.savetxt('road_lane_bitmap2.txt', road_lane_bitmap2, fmt='%i',delimiter=' ')
# road bitmap
road_bitmap = road_lane_bitmap0 + road_lane_bitmap1 + road_lane_bitmap2
road_bitmap = np.where(road_bitmap>1.e-6, 1., 0.)
# np.savetxt('road_bitmap.txt', road_bitmap, fmt='%i', delimiter=' ')
# base bitmap
base = 1. - road_bitmap
# base = np.where(base>1.e-6, np.inf, 0)
# np.savetxt('base_bitmap.txt', base, fmt='%i', delimiter=' ')
# static obstacles
cfg1 = road.sl2xy(25., 0.)
cfg2 = road.sl2xy(25., -road.lane_width)
cfg3 = road.sl2xy(55.,0.)
cfg4 = road.sl2xy(55., road.lane_width)
obst1 = Vehicle(trajectory=np.array([[-1.,-1.,cfg1[0], cfg1[1], cfg1[2], cfg1[3], 0.,0.,0.]]))
obst2 = Vehicle(trajectory=np.array([[-1.,-1.,cfg2[0], cfg2[1], cfg2[2], cfg2[3], 0.,0.,0.]]))
obst3 = Vehicle(trajectory=np.array([[-1.,-1.,cfg3[0], cfg3[1], cfg3[2], cfg3[3], 0.,0.,0.]]))
obst4 = Vehicle(trajectory=np.array([[-1.,-1.,cfg4[0], cfg4[1], cfg4[2], cfg4[3], 0.,0.,0.]]))
base += ws.grids_occupied_by_polygon(obst1.vertex)
base += ws.grids_occupied_by_polygon(obst2.vertex)
base += ws.grids_occupied_by_polygon(obst3.vertex)
base += ws.grids_occupied_by_polygon(obst4.vertex)
base = np.where(base>1.e-6, 1.,0.)
# np.savetxt('scenario_1/static_bitmap.txt', base, fmt='%i', delimiter=' ')
# collision map
collision_map = cv2.filter2D(base, -1, ws.collision_filter)
collision_map = np.where(collision_map>1.e-6, 1., 0.)
# np.savetxt('scenario_1/collision_bitmap.txt', collision_map, fmt='%i', delimiter=' ')
# cost map
cost_map = cv2.filter2D(collision_map, -1, ws.cost_filter)
cost_map += collision_map
cost_map = np.where(cost_map>1., np.inf, cost_map)
cost_map = np.where(cost_map<1.e-16, 0., cost_map)
# np.savetxt('scenario_1/cost_grayscale_map.txt', cost_map, fmt='%1.6f', delimiter='\t')
# plot
# fig = plt.figure()
# ax1 = fig.add_subplot(111)
costmap_plot = np.where( cost_map >1., 1., cost_map)
ax1.imshow(costmap_plot, cmap=plt.cm.Reds, origin="lower",extent=(0.,ws.resolution*ws.row,0.,ws.resolution*ws.column))
ax1.plot(center_line[:,1], center_line[:,2], color='maroon', linestyle='--', linewidth=2.)
count = 0
start_state = State(road=road, r_s=5., r_l=0., v=5.)
ax1.plot(start_state.x, start_state.y, 'rs')
current = start_state
outs = current.out_set(road)
for (i,j,v,a) in outs:
# print(i,j,v,a)
next_state = State(road=road, r_i=i, r_j=j, v=v)
# print(current.q, next_state.q)
p, r = TG.calc_path(cursor, current.q, next_state.q)
if r is not None:
if p[4]>0:
u = TG.calc_velocity(current.v, a, v, p[4])
if u[3] is not None and u[3]>0:
path = TG.spiral3_calc(p,r,q=current.q,ref_delta_s=0.2)
traj = TG.calc_trajectory(u,p,r,s=p[4],path=path,q0=current.q, ref_time=current.time, ref_length=current.length)
# if next_state == goal_state:
# cost = TG.eval_trajectory(traj, cost_map, vehicle=veh, road=road, truncate=False)
# else:
cost, traj = TG.eval_trajectory(traj, cost_map, vehicle=veh, road=road)
if not np.isinf(cost) and traj is not None:
count += 1
next_state.update(cost, traj, current, road)
# plot
ax1.plot(traj[:,2], traj[:,3], linewidth=1.)
ax1.text(traj[-1,2], traj[-1,3],'{0:.2f}'.format(cost))
# close database connection
cursor.close()
conn.close()
#
# plt.legend()
plt.axis('equal')
# plt.savefig('scenario_1/planning_result.png', dpi=600)
plt.show()
