def gotoRegion(self, current_reg, next_reg, last=False):
"""
If ``last`` is true, we will move to the center of the region.
Returns ``True`` if we are outside the supposed ``current_reg``
"""
if current_reg == next_reg and not last:
# No need to move!
self.drive_handler.setVelocity(0, 0) # So let's stop
return True
controller = self.get_controller(current_reg, next_reg, last)
pose = self.pose_handler.getPose()
[X, DqX, F, inside, J] = controller(mat(pose[0:2]).T)
self.drive_handler.setVelocity(X[0, 0], X[1, 0], pose[2])
# Transform the region vertices into real coordinates
pointArray = [
self.fwd_coordmap(x)
for x in self.rfi.regions[next_reg].getPoints()
]
vertices = mat(pointArray).T
# Figure out whether we've reached the destination region
if is_inside([pose[0], pose[1]], vertices):
arrived = True
else:
arrived = False
if (arrived !=
(not inside)) and (time.time() - self.last_warning) > 0.5:
print "WARNING: Left current region but not in expected destination region"
# Figure out what region we think we stumbled into
for r in self.rfi.regions:
pointArray = [self.fwd_coordmap(x) for x in r.getPoints()]
vertices = mat(pointArray).T
if is_inside([pose[0], pose[1]], vertices):
print "I think I'm in " + r.name
print pose
break
self.last_warning = time.time()
return arrived
def inRegion_old(self, regionName, initial=False):
"""
Check if the robot is in this region
regionName (string): Name of the region
"""
if initial:
self.prev_pose = self.executor.hsub.getPose()
return True
else:
pose = self.executor.hsub.getPose()
#########################################
### Copied from vectorController.py #####
#########################################
# make sure the pose is valid
if sum(pose) == 0:
pose = self.prev_pose # maybe do interpolation later?
ltlmop_logger.warning("Losing pose... Using old one.")
else:
self.prev_pose = pose
regionNo = self.proj.rfiold.indexOfRegionWithName(regionName)
pointArray = [
x for x in self.proj.rfiold.regions[regionNo].getPoints()
]
pointArray = map(self.executor.hsub.coordmap_map2lab, pointArray)
vertices = numpy.mat(pointArray).T
#ltlmop_logger.debug('self.proj.rfiold.regions:' + str(self.proj.rfiold.regions))
#ltlmop_logger.debug("pose:" + str(pose))
#ltlmop_logger.debug("vertices:" + str(vertices))
#ltlmop_logger.debug(self.proj.rfiold.regions[regionNo].name +": " + str(is_inside([pose[0], pose[1]], vertices)))
return is_inside([pose[0], pose[1]], vertices)
def gotoRegion(self, current_reg, next_reg, last=False):
"""
If ``last`` is true, we will move to the center of the region.
Returns ``True`` if we are outside the supposed ``current_reg``
"""
if current_reg == next_reg and not last:
# No need to move!
self.drive_handler.setVelocity(0, 0) # So let's stop
return False
controller = self.get_controller(current_reg, next_reg, last)
pose = self.pose_handler.getPose()
[X, DqX, F, inside, J] = controller(mat(pose[0:2]).T)
self.drive_handler.setVelocity(X[0,0], X[1,0], pose[2])
# Transform the region vertices into real coordinates
pointArray = [self.fwd_coordmap(x) for x in self.rfi.regions[next_reg].getPoints()]
vertices = mat(pointArray).T
# Figure out whether we've reached the destination region
if is_inside([pose[0], pose[1]], vertices):
arrived = True
else:
arrived = False
if (arrived != (not inside)) and (time.time()-self.last_warning) > 0.5:
print "WARNING: Left current region but not in expected destination region"
# Figure out what region we think we stumbled into
for r in self.rfi.regions:
pointArray = [self.fwd_coordmap(x) for x in r.getPoints()]
vertices = mat(pointArray).T
if is_inside([pose[0], pose[1]], vertices):
print "I think I'm in " + r.name
print pose
break
self.last_warning = time.time()
return arrived
def gotoRegion(self, current_reg, next_reg, last=False):
"""
If ``last`` is True, we will move to the center of the destination region.
Returns ``True`` if we've reached the destination region.
"""
q_gBundle = [[], []] # goal bundle
q_overlap = [[], []] # overlapping points with robot range
pose = self.pose_handler.getPose() # Find our current configuration
#Plot the robot on the map in figure 1
if self.PLOT == True:
plt.figure(self.original_figure)
plt.clf()
self.plotPoly(self.realRobot, 'r')
self.plotPoly(self.robot, 'b')
plt.plot(pose[0], pose[1], 'bo')
self.plotPioneer(self.original_figure)
if current_reg == next_reg and not last:
# No need to move!
self.drive_handler.setVelocity(0, 0) # So let's stop
return False
# Check if Vicon has cut out
if math.isnan(pose[2]):
print "no vicon pose"
print "WARNING: No Vicon data! Pausing."
#self.drive_handler.setVelocity(0, 0) # So let's stop
time.sleep(1)
return False
###This part is run when the robot goes to a new region, otherwise, the original map will be used.
if not self.previous_current_reg == current_reg:
#print 'getting into bug alogorithm'
#clean up the previous self.map_work
self.map_work = Polygon.Polygon()
# NOTE: Information about region geometry can be found in self.proj.rfi.regions
# create polygon list for regions other than the current_reg and the next_reg
self.map_work += self.map[self.proj.rfi.regions[current_reg].name]
self.map_work += self.map[self.proj.rfi.regions[next_reg].name]
# building current polygon and destination polygon
self.nextRegionPoly = self.map[
self.proj.rfi.regions[next_reg].name]
self.currentRegionPoly = self.map[
self.proj.rfi.regions[current_reg].name]
#set to zero velocity before finding the tranFace
self.drive_handler.setVelocity(0, 0)
if last:
transFace = None
else:
print "Current reg is " + str(
self.proj.rfi.regions[current_reg].name.lower())
print "Next reg is " + str(
self.proj.rfi.regions[next_reg].name.lower())
for i in range(
len(self.proj.rfi.transitions[current_reg][next_reg])):
pointArray_transface = [
x for x in self.proj.rfi.transitions[current_reg]
[next_reg][i]
]
transFace = asarray(
map(self.coordmap_map2lab, pointArray_transface))
bundle_x = (transFace[0, 0] +
transFace[1, 0]) / 2 #mid-point coordinate x
bundle_y = (transFace[0, 1] +
transFace[1, 1]) / 2 #mid-point coordinate y
q_gBundle = hstack((q_gBundle, vstack(
(bundle_x, bundle_y))))
q_gBundle = q_gBundle.transpose()
# Find the closest face to the current position
max_magsq = 1000000
for tf in q_gBundle:
magsq = (tf[0] - pose[0])**2 + (tf[1] - pose[1])**2
if magsq < max_magsq:
connection = 0
tf = tf + (tf - asarray(self.currentRegionPoly.center(
))) / norm(tf - asarray(self.currentRegionPoly.center(
))) * 2.1 * self.PioneerLengthHalf
if not self.nextRegionPoly.covers(
PolyShapes.Circle(self.PioneerLengthHalf * 2,
(tf[0], tf[1]))):
tf = tf - (tf - asarray(
self.currentRegionPoly.center())) / norm(
tf - asarray(self.currentRegionPoly.center(
))) * 4.2 * self.PioneerLengthHalf
if self.nextRegionPoly.covers(
PolyShapes.Circle(
self.PioneerLengthHalf * 2,
(tf[0], tf[1]))):
connection = 1
else:
connection = 1
if connection == 1:
pt1 = tf
max_magsq = magsq
transFace = 1
self.q_g[0] = pt1[0]
self.q_g[1] = pt1[1]
else:
sample = False
while not sample:
self.q_g[0], self.q_g[
1] = self.nextRegionPoly.sample(
random.random)
robo = PolyShapes.Circle(
self.PioneerLengthHalf,
(self.q_g[0], self.q_g[1]))
if not bool(robo - self.nextRegionPoly):
sample = True
"""
# Push the goal point to somewhere inside the next region to ensure the robot will get there.(CHECK!!)
self.q_g = self.q_g+(self.q_g-asarray(self.currentRegionPoly.center()))/norm(self.q_g-asarray(self.currentRegionPoly.center()))*3*self.PioneerLengthHalf
if not self.nextRegionPoly.isInside(self.q_g[0],self.q_g[1]):
self.q_g = self.q_g-(self.q_g-asarray(self.currentRegionPoly.center()))/norm(self.q_g-asarray(self.currentRegionPoly.center()))*6*self.PioneerLengthHalf
"""
#plot exiting point
if self.PLOT_EXIT == True:
plt.figure(self.overlap_figure)
plt.clf()
plt.plot(q_gBundle[:, 0], q_gBundle[:, 1], 'ko')
plt.plot(self.q_g[0], self.q_g[1], 'ro')
plt.plot(pose[0], pose[1], 'bo')
self.plotPioneer(self.overlap_figure, 0)
if transFace is None:
print "ERROR: Unable to find transition face between regions %s and %s. Please check the decomposition (try viewing projectname_decomposed.regions in RegionEditor or a text editor)." % (
self.proj.rfi.regions[current_reg].name,
self.proj.rfi.regions[next_reg].name)
##################################################
#######check whether obstacle is detected#########
##################################################
#Update pose,update self.robot, self.realRobot orientation
self.robot.shift(pose[0] - self.prev_pose[0],
pose[1] - self.prev_pose[1])
self.realRobot.shift(pose[0] - self.prev_pose[0],
pose[1] - self.prev_pose[1])
self.robot.rotate(pose[2] - self.prev_pose[2], pose[0], pose[1])
self.realRobot.rotate(pose[2] - self.prev_pose[2], pose[0], pose[1])
self.prev_pose = pose
############################
########### STEP 1##########
############################
##Check whether obsRange overlaps with obstacle or the boundary (overlap returns the part of robot not covered by the region
# for real Pioneer robot
if self.system == 1:
# motion controller is not in boundary following mode
if self.boundary_following == False:
if self.robocomm.getReceiveObs() == False:
overlap = self.robot - (self.map_work)
else:
overlap = self.robot - (self.map_work -
self.robocomm.getObsPoly())
else: #TRUE
# use a robot with full range all around it
Robot = PolyShapes.Circle(self.obsRange, (pose[0], pose[1]))
Robot.shift(self.shift * cos(pose[2]),
self.shift * sin(pose[2]))
if self.robocomm.getReceiveObs() == False:
overlap = Robot - (self.map_work)
else:
overlap = Robot - (self.map_work -
self.robocomm.getObsPoly())
# for ODE
else:
if self.boundary_following == False:
overlap = self.robot - (self.map_work)
else: #TRUE
overlap = self.robot - (self.map_work)
if self.boundary_following == False:
if bool(overlap): ## overlap of obstacles
#print "There MAYBE overlap~~ check connection to goal"
# check whether the real robot or and path to goal overlap with the obstacle
QGoalPoly = PolyShapes.Circle(self.PioneerLengthHalf,
(self.q_g[0], self.q_g[1]))
path = PolyUtils.convexHull(self.realRobot + QGoalPoly)
if self.system == 1:
if self.robocomm.getReceiveObs() == False:
pathOverlap = path - (self.map_work)
else:
pathOverlap = path - (self.map_work -
self.robocomm.getObsPoly())
else:
pathOverlap = path - (self.map_work)
if bool(
pathOverlap
): # there is overlapping, go into bounding following mode
#print "There IS overlap"
self.q_hit = mat([pose[0], pose[1]]).T
self.boundary_following = True
#Generate m-line polygon
QHitPoly = PolyShapes.Circle(self.PioneerLengthHalf / 4,
(pose[0], pose[1]))
QGoalPoly = PolyShapes.Circle(self.PioneerLengthHalf / 4,
(self.q_g[0], self.q_g[1]))
self.m_line = PolyUtils.convexHull(QHitPoly + QGoalPoly)
#plot the first overlap
if self.PLOT_M_LINE == True:
plt.figure(self.overlap_figure)
plt.clf()
self.plotPoly(QHitPoly, 'k')
self.plotPoly(QGoalPoly, 'k')
self.plotPoly(overlap, 'g')
self.plotPoly(self.m_line, 'b')
plt.plot(pose[0], pose[1], 'bo')
self.plotPioneer(self.overlap_figure, 0)
else: ##head towards the q_goal
if self.system == 1:
if self.robocomm.getReceiveObs(
) == False: # wait for obstacles from Pioneer
vx = 0
vy = 0
else:
dis_cur = vstack((self.q_g[0], self.q_g[1])) - mat(
[pose[0], pose[1]]).T
vx = (dis_cur / norm(dis_cur) / 3)[0, 0]
vy = (dis_cur / norm(dis_cur) / 3)[1, 0]
else:
dis_cur = vstack((self.q_g[0], self.q_g[1])) - mat(
[pose[0], pose[1]]).T
vx = (dis_cur / norm(dis_cur) / 3)[0, 0]
vy = (dis_cur / norm(dis_cur) / 3)[1, 0]
#print "no obstacles 2-ODE true"
else: ##head towards the q_goal
if self.system == 1:
if self.robocomm.getReceiveObs(
) == False: # wait for obstacles from Pioneer
vx = 0
vy = 0
else:
dis_cur = vstack((self.q_g[0], self.q_g[1])) - mat(
[pose[0], pose[1]]).T
vx = (dis_cur / norm(dis_cur) / 3)[0, 0]
vy = (dis_cur / norm(dis_cur) / 3)[1, 0]
else:
dis_cur = vstack(
(self.q_g[0], self.q_g[1])) - mat([pose[0], pose[1]]).T
vx = (dis_cur / norm(dis_cur) / 3)[0, 0]
vy = (dis_cur / norm(dis_cur) / 3)[1, 0]
#print "no obstacles 1-ODE true"
if self.boundary_following == True:
self.q_hit_count += 1
# finding the point to go normal to (closest overlapping point)
j = 0
recheck = 0
while not bool(overlap):
# cannot see the obstacle. Based on the location of the previous point blow up the range of the robot on the left or on the right
j += 1
# finding whether the previous obstacle point is on the left side or the right side of the robot
# angle = angle of the previous point from the x-axis of the field
# omega = angle of the current Pioneer orientation from the x-axis of the field
# cc = differnece between angle and omega ( < pi = previous point on the left of robot, else on the right of robot)
x = self.prev_follow[0] - pose[0]
y = self.prev_follow[1] - pose[1]
angle = atan(y / x)
# convert angle to 2pi
if x > 0 and y > 0:
angle = angle
elif x < 0 and y > 0:
angle = pi + angle
elif x < 0 and y < 0:
angle = pi + angle
else:
angle = 2 * pi + angle
# convert pose to 2pi
if pose[2] < 0:
omega = (2 * pi + pose[2])
else:
omega = pose[2]
if omega > angle:
cc = 2 * pi - (omega - angle)
else:
cc = angle - omega
# on the left
#if angle - omega > 0 and angle - omega < pi:
if cc < pi:
#print "on the left, angle: "+ str(angle) + " omega: "+ str(omega)+ " angle-omega: "+ str(angle-omega)
Robot = PolyShapes.Rectangle(self.range * 2 * j,
self.range * 2 * j)
Robot.shift(pose[0] - self.range * j * 2,
pose[1] - self.range * j)
Robot.rotate(pose[2] - pi / 2, pose[0], pose[1])
# on the right
else:
#print "on the right, angle: "+ str(angle) + " omega: "+ str(omega)+ " angle-omega: "+ str(angle-omega)
Robot = PolyShapes.Rectangle(self.range * 2 * j,
self.range * 2 * j)
Robot.shift(pose[0], pose[1] - self.range * j)
Robot.rotate(pose[2] - pi / 2, pose[0], pose[1])
if self.system == 1:
overlap = Robot - (self.map_work -
self.robocomm.getObsPoly())
else:
overlap = Robot - (self.map_work)
#self.plotPoly(Robot, 'm',2)
#determines as dynamic obstacles and can be go striaight to the goal point
if j >= 2:
dis_cur = vstack(
(self.q_g[0], self.q_g[1])) - mat([pose[0], pose[1]]).T
vx = (dis_cur / norm(dis_cur) / 3)[0, 0]
vy = (dis_cur / norm(dis_cur) / 3)[1, 0]
overlap = None
self.overlap = overlap
self.q_hit_count = 0
self.boundary_following = False
self.m_line = None
self.drive_handler.setVelocity(vx, vy, pose[2])
RobotPoly = PolyShapes.Circle(self.PioneerLengthHalf +
0.06,
(pose[0], pose[1])) ###0.05
departed = not self.currentRegionPoly.overlaps(
self.realRobot)
#departed = not self.currentRegionPoly.overlaps(self.realRobot) and (not (self.nextRegionPoly.overlaps(self.realRobot) and not self.nextRegionPoly.covers(self.realRobot)))
arrived = self.nextRegionPoly.covers(self.realRobot)
return arrived
##extra box plotting in figure 1#
if self.PLOT_OVERLAP == True:
plt.figure(self.original_figure)
plt.clf()
self.plotPoly(self.realRobot, 'r')
self.plotPoly(self.robot, 'b')
self.plotPoly(overlap, 'g', 3)
plt.plot(pose[0], pose[1], 'bo')
self.plotPioneer(self.original_figure)
# find the closest point on the obstacle to the robot
overlap_len = len(overlap)
for j in range(overlap_len):
BoundPolyPoints = asarray(overlap[j])
for i in range(len(BoundPolyPoints) - 1):
bundle_x = (
BoundPolyPoints[i, 0] +
BoundPolyPoints[1 + i, 0]) / 2 #mid-point coordinate x
bundle_y = (
BoundPolyPoints[i, 1] +
BoundPolyPoints[1 + i, 1]) / 2 #mid-point coordinate y
q_overlap = hstack((q_overlap, vstack(
(bundle_x, bundle_y))))
bundle_x = (BoundPolyPoints[len(BoundPolyPoints) - 1, 0] +
BoundPolyPoints[0, 0]) / 2 #mid-point coordinate x
bundle_y = (BoundPolyPoints[len(BoundPolyPoints) - 1, 1] +
BoundPolyPoints[0, 1]) / 2 #mid-point coordinate y
q_overlap = hstack((q_overlap, vstack((bundle_x, bundle_y))))
q_overlap = q_overlap.transpose()
pt = self.closest_pt([pose[0], pose[1]],
vstack(
(q_overlap,
asarray(PolyUtils.pointList(overlap)))))
self.prev_follow = pt
#calculate the vector to follow the obstacle
normal = mat([pose[0], pose[1]] - pt)
#find the distance from the closest point
distance = norm(normal)
velocity = normal * self.trans_matrix
vx = (velocity / norm(velocity) / 3)[0, 0]
vy = (velocity / norm(velocity) / 3)[0, 1]
# push or pull the robot towards the obstacle depending on whether the robot is close or far from the obstacle.
turn = pi / 4 * (distance - 0.5 * self.obsRange) / (
self.obsRange
) ### change to 0.6 from 0.5 for more allowance in following
corr_matrix = mat([[cos(turn), -sin(turn)], [sin(turn),
cos(turn)]])
v = corr_matrix * mat([[vx], [vy]])
vx = v[0, 0]
vy = v[1, 0]
##plotting overlap on figure 2
if self.PLOT_OVERLAP == True:
plt.figure(self.overlap_figure)
plt.clf()
self.plotPoly(self.m_line, 'b')
self.plotPoly(overlap, 'r')
plt.plot(pt[0], pt[1], 'ro')
plt.plot(pose[0], pose[1], 'bo')
self.plotPioneer(self.overlap_figure, 0)
## conditions that the loop will end
#for 11111
RobotPoly = PolyShapes.Circle(self.PioneerLengthHalf + 0.06,
(pose[0], pose[1])) ####0.05
departed = not self.currentRegionPoly.overlaps(self.realRobot)
#departed = not self.currentRegionPoly.overlaps(self.realRobot) and (not (self.nextRegionPoly.overlaps(self.realRobot) and not self.nextRegionPoly.covers(self.realRobot)))
arrived = self.nextRegionPoly.covers(self.realRobot)
#for 33333
reachMLine = self.m_line.overlaps(RobotPoly)
# 1.reached the next region
if arrived:
self.boundary_following = False
self.m_line = None
self.q_hit_count = 0
print "arriving at the next region. Exit boundary following mode"
vx = 0
vy = 0
"""
# 2.q_hit is reencountered
elif norm(self.q_hit-mat([pose[0],pose[1]]).T) < 0.05 and self.q_hit_count > self.q_hit_Thres:
print "reencounter q_hit. cannot reach q_goal"
vx = 0
vy = 0
"""
# 3.m-line reencountered
elif reachMLine:
#print >>sys.__stdout__, "m-line overlaps RoboPoly, m-line" + str(norm(self.q_g-self.q_hit)-2*self.obsRange) + " distance: " + str(norm(self.q_g-mat([pose[0],pose[1]]).T))
if norm(self.q_g - mat([pose[0], pose[1]]).T
) < norm(self.q_g - self.q_hit) - 2 * self.obsRange:
#print "m-line overlaps RoboPoly, m-line" + str(norm(self.q_g-self.q_hit)-2*self.obsRange) + " distance: " + str(norm(self.q_g-mat([pose[0],pose[1]]).T))
#print "leaving boundary following mode"
self.boundary_following = False
self.m_line = None
self.q_hit_count = 0
leaving = False
# turn the robot till it is facing the goal
while not leaving:
x = self.q_g[0] - self.pose_handler.getPose()[0]
y = self.q_g[1] - self.pose_handler.getPose()[1]
angle = atan(y / x)
if x > 0 and y > 0:
angle = angle
elif x < 0 and y > 0:
angle = pi + angle
elif x < 0 and y < 0:
angle = pi + angle
else:
angle = 2 * pi + angle
if self.pose_handler.getPose()[2] < 0:
omega = (2 * pi + self.pose_handler.getPose()[2])
#print >>sys.__stdout__,"omega<0: "+ str(omega)
else:
omega = self.pose_handler.getPose()[2]
#print >>sys.__stdout__,"omega: "+ str(omega)
if omega > angle:
cc = 2 * pi - (omega - angle)
else:
cc = angle - omega
# angle(goal point orientation) on the left of omega(robot orientation)
#if angle - omega > 0 and angle - omega < pi:
if cc < pi:
#print>>sys.__stdout__, "turn left"
vx, vy = self.turnLeft(cc)
# on the right
else:
#print>>sys.__stdout__, "turn right"
vx, vy = self.turnRight(2 * pi - cc)
#print>>sys.__stdout__, "omega: "+ str(omega) + " angle: "+ str(angle) + " (omega-angle): " + str(omega-angle)
self.drive_handler.setVelocity(
vx, vy,
self.pose_handler.getPose()[2])
if omega - angle < pi / 6 and omega - angle > -pi / 6:
leaving = True
#Check whether the robot can leave now (the robot has to be closer to the goal than when it is at q_hit to leave)
QGoalPoly = PolyShapes.Circle(self.PioneerLengthHalf,
(self.q_g[0], self.q_g[1]))
path = PolyUtils.convexHull(self.realRobot + QGoalPoly)
if self.system == 1:
if self.robocomm.getReceiveObs() == False:
pathOverlap = path - (self.map_work)
else:
pathOverlap = path - (self.map_work -
self.robocomm.getObsPoly())
else:
pathOverlap = path - (self.map_work)
if not bool(pathOverlap):
#print "There is NO MORE obstacles in front for now."
# check if the robot is closer to the goal compared with q_hit
if norm(self.q_hit - mat(self.q_g).T) > norm(
mat([pose[0], pose[1]]).T - mat(self.q_g).T):
#print "The robot is closer than the leaving point. The robot can leave"
self.boundary_following = False
self.m_line = None
self.q_hit_count = 0
dis_cur = vstack(
(self.q_g[0], self.q_g[1])) - mat([pose[0], pose[1]]).T
vx = (dis_cur / norm(dis_cur) / 3)[0, 0]
vy = (dis_cur / norm(dis_cur) / 3)[1, 0]
else:
lala = 1
#print "not leaving bug algorithm. difference(-farther) =" + str(norm(self.q_hit-mat(self.q_g).T) - norm(mat([pose[0],pose[1]]).T-mat(self.q_g).T))
"""
# Pass this desired velocity on to the drive handler
# Check if there are obstacles within 0.35m of the robot, if so, stop the robot
if self.system == 1:
if self.robocomm.getSTOP() == True:
vx = 0
vy = 0
"""
#vx = 0
#vy = 0
self.overlap = overlap
self.drive_handler.setVelocity(vx, vy, pose[2])
# Set the current region as the previous current region(for checking whether the robot has arrived at the next region)
self.previous_current_reg = current_reg
# check whether robot has arrived at the next region
RobotPoly = PolyShapes.Circle(self.PioneerLengthHalf + 0.06,
(pose[0], pose[1])) ###0.05
#departed = not self.currentRegionPoly.overlaps(self.realRobot) and (not (self.nextRegionPoly.overlaps(self.realRobot) and not self.nextRegionPoly.covers(self.realRobot)))
departed = not self.currentRegionPoly.overlaps(self.realRobot)
arrived = self.nextRegionPoly.covers(self.realRobot)
if arrived:
self.q_hit_count = 0
self.boundary_following = False
self.m_line = None
if departed and (
not arrived) and (time.time() - self.last_warning) > 0.5:
print "WARNING: Left current region but not in expected destination region"
# Figure out what region we think we stumbled into
for r in self.proj.rfi.regions:
pointArray = [self.coordmap_map2lab(x) for x in r.getPoints()]
vertices = mat(pointArray).T
if is_inside([pose[0], pose[1]], vertices):
#print "I think I'm in " + r.name
#print pose
break
self.last_warning = time.time()
return arrived
def gotoRegion(self, current_reg, next_reg, last=False):
"""
If ``last`` is True, we will move to the center of the destination region.
Returns ``True`` if we've reached the destination region.
"""
q_gBundle = [[],[]] # goal bundle
q_overlap = [[],[]] # overlapping points with robot range
pose = self.pose_handler.getPose() # Find our current configuration
#Plot the robot on the map in figure 1
if self.PLOT == True:
plt.figure(self.original_figure)
plt.clf()
self.plotPoly(self.realRobot, 'r')
self.plotPoly(self.robot, 'b')
plt.plot(pose[0],pose[1],'bo')
self.plotPioneer(self.original_figure)
if current_reg == next_reg and not last:
# No need to move!
self.drive_handler.setVelocity(0, 0) # So let's stop
return False
# Check if Vicon has cut out
if math.isnan(pose[2]):
print "no vicon pose"
print "WARNING: No Vicon data! Pausing."
#self.drive_handler.setVelocity(0, 0) # So let's stop
time.sleep(1)
return False
###This part is run when the robot goes to a new region, otherwise, the original map will be used.
if not self.previous_current_reg == current_reg:
#print 'getting into bug alogorithm'
#clean up the previous self.map_work
self.map_work = Polygon.Polygon()
# NOTE: Information about region geometry can be found in self.proj.rfi.regions
# create polygon list for regions other than the current_reg and the next_reg
self.map_work += self.map[self.proj.rfi.regions[current_reg].name]
self.map_work += self.map[self.proj.rfi.regions[next_reg].name]
# building current polygon and destination polygon
self.nextRegionPoly = self.map[self.proj.rfi.regions[next_reg].name]
self.currentRegionPoly = self.map[self.proj.rfi.regions[current_reg].name]
#set to zero velocity before finding the tranFace
self.drive_handler.setVelocity(0, 0)
if last:
transFace = None
else:
print "Current reg is " + str(self.proj.rfi.regions[current_reg].name.lower())
print "Next reg is "+ str(self.proj.rfi.regions[next_reg].name.lower())
for i in range(len(self.proj.rfi.transitions[current_reg][next_reg])):
pointArray_transface = [x for x in self.proj.rfi.transitions[current_reg][next_reg][i]]
transFace = asarray(map(self.coordmap_map2lab,pointArray_transface))
bundle_x = (transFace[0,0] +transFace[1,0])/2 #mid-point coordinate x
bundle_y = (transFace[0,1] +transFace[1,1])/2 #mid-point coordinate y
q_gBundle = hstack((q_gBundle,vstack((bundle_x,bundle_y))))
q_gBundle = q_gBundle.transpose()
# Find the closest face to the current position
max_magsq = 1000000
for tf in q_gBundle:
magsq = (tf[0] - pose[0])**2 + (tf[1] - pose[1])**2
if magsq < max_magsq:
connection = 0
tf = tf+(tf-asarray(self.currentRegionPoly.center()))/norm(tf-asarray(self.currentRegionPoly.center()))*2.1*self.PioneerLengthHalf
if not self.nextRegionPoly.covers(PolyShapes.Circle(self.PioneerLengthHalf*2,(tf[0],tf[1]))):
tf = tf-(tf-asarray(self.currentRegionPoly.center()))/norm(tf-asarray(self.currentRegionPoly.center()))*4.2*self.PioneerLengthHalf
if self.nextRegionPoly.covers(PolyShapes.Circle(self.PioneerLengthHalf*2,(tf[0],tf[1]))):
connection = 1
else:
connection = 1
if connection == 1:
pt1 = tf
max_magsq = magsq
transFace = 1
self.q_g[0] = pt1[0]
self.q_g[1] = pt1[1]
else:
sample = False
while not sample:
self.q_g[0],self.q_g[1] = self.nextRegionPoly.sample(random.random)
robo = PolyShapes.Circle(self.PioneerLengthHalf,(self.q_g[0],self.q_g[1]))
if not bool(robo - self.nextRegionPoly):
sample = True
"""
# Push the goal point to somewhere inside the next region to ensure the robot will get there.(CHECK!!)
self.q_g = self.q_g+(self.q_g-asarray(self.currentRegionPoly.center()))/norm(self.q_g-asarray(self.currentRegionPoly.center()))*3*self.PioneerLengthHalf
if not self.nextRegionPoly.isInside(self.q_g[0],self.q_g[1]):
self.q_g = self.q_g-(self.q_g-asarray(self.currentRegionPoly.center()))/norm(self.q_g-asarray(self.currentRegionPoly.center()))*6*self.PioneerLengthHalf
"""
#plot exiting point
if self.PLOT_EXIT == True:
plt.figure(self.overlap_figure)
plt.clf()
plt.plot(q_gBundle[:,0],q_gBundle[:,1],'ko' )
plt.plot(self.q_g[0],self.q_g[1],'ro')
plt.plot(pose[0],pose[1],'bo')
self.plotPioneer(self.overlap_figure,0)
if transFace is None:
print "ERROR: Unable to find transition face between regions %s and %s. Please check the decomposition (try viewing projectname_decomposed.regions in RegionEditor or a text editor)." % (self.proj.rfi.regions[current_reg].name, self.proj.rfi.regions[next_reg].name)
##################################################
#######check whether obstacle is detected#########
##################################################
#Update pose,update self.robot, self.realRobot orientation
self.robot.shift(pose[0]-self.prev_pose[0],pose[1]-self.prev_pose[1])
self.realRobot.shift(pose[0]-self.prev_pose[0],pose[1]-self.prev_pose[1])
self.robot.rotate(pose[2]-self.prev_pose[2],pose[0],pose[1])
self.realRobot.rotate(pose[2]-self.prev_pose[2],pose[0],pose[1])
self.prev_pose = pose
############################
########### STEP 1##########
############################
##Check whether obsRange overlaps with obstacle or the boundary (overlap returns the part of robot not covered by the region
# for real Pioneer robot
if self.system == 1:
# motion controller is not in boundary following mode
if self.boundary_following == False:
if self.robocomm.getReceiveObs() == False:
overlap = self.robot - ( self.map_work)
else:
overlap = self.robot - ( self.map_work - self.robocomm.getObsPoly())
else: #TRUE
# use a robot with full range all around it
Robot = PolyShapes.Circle(self.obsRange,(pose[0],pose[1]))
Robot.shift(self.shift*cos(pose[2]),self.shift*sin(pose[2]))
if self.robocomm.getReceiveObs() == False:
overlap = Robot - ( self.map_work)
else:
overlap = Robot - ( self.map_work - self.robocomm.getObsPoly())
# for ODE
else:
if self.boundary_following == False:
overlap = self.robot - (self.map_work)
else:#TRUE
overlap = self.robot - (self.map_work)
if self.boundary_following == False:
if bool(overlap): ## overlap of obstacles
#print "There MAYBE overlap~~ check connection to goal"
# check whether the real robot or and path to goal overlap with the obstacle
QGoalPoly= PolyShapes.Circle(self.PioneerLengthHalf,(self.q_g[0],self.q_g[1]))
path = PolyUtils.convexHull(self.realRobot + QGoalPoly)
if self.system == 1:
if self.robocomm.getReceiveObs() == False:
pathOverlap = path - ( self.map_work)
else:
pathOverlap = path - ( self.map_work - self.robocomm.getObsPoly())
else:
pathOverlap = path - ( self.map_work)
if bool(pathOverlap): # there is overlapping, go into bounding following mode
#print "There IS overlap"
self.q_hit = mat([pose[0],pose[1]]).T
self.boundary_following = True
#Generate m-line polygon
QHitPoly = PolyShapes.Circle(self.PioneerLengthHalf/4,(pose[0],pose[1]))
QGoalPoly= PolyShapes.Circle(self.PioneerLengthHalf/4,(self.q_g[0],self.q_g[1]))
self.m_line = PolyUtils.convexHull(QHitPoly + QGoalPoly)
#plot the first overlap
if self.PLOT_M_LINE == True:
plt.figure(self.overlap_figure)
plt.clf()
self.plotPoly(QHitPoly,'k')
self.plotPoly(QGoalPoly,'k')
self.plotPoly(overlap,'g')
self.plotPoly(self.m_line,'b')
plt.plot(pose[0],pose[1],'bo')
self.plotPioneer(self.overlap_figure,0)
else: ##head towards the q_goal
if self.system == 1:
if self.robocomm.getReceiveObs() == False: # wait for obstacles from Pioneer
vx = 0
vy = 0
else:
dis_cur = vstack((self.q_g[0],self.q_g[1]))- mat([pose[0],pose[1]]).T
vx = (dis_cur/norm(dis_cur)/3)[0,0]
vy = (dis_cur/norm(dis_cur)/3)[1,0]
else:
dis_cur = vstack((self.q_g[0],self.q_g[1]))- mat([pose[0],pose[1]]).T
vx = (dis_cur/norm(dis_cur)/3)[0,0]
vy = (dis_cur/norm(dis_cur)/3)[1,0]
#print "no obstacles 2-ODE true"
else: ##head towards the q_goal
if self.system == 1:
if self.robocomm.getReceiveObs() == False: # wait for obstacles from Pioneer
vx = 0
vy = 0
else:
dis_cur = vstack((self.q_g[0],self.q_g[1]))- mat([pose[0],pose[1]]).T
vx = (dis_cur/norm(dis_cur)/3)[0,0]
vy = (dis_cur/norm(dis_cur)/3)[1,0]
else:
dis_cur = vstack((self.q_g[0],self.q_g[1]))- mat([pose[0],pose[1]]).T
vx = (dis_cur/norm(dis_cur)/3)[0,0]
vy = (dis_cur/norm(dis_cur)/3)[1,0]
#print "no obstacles 1-ODE true"
if self.boundary_following == True:
self.q_hit_count += 1
# finding the point to go normal to (closest overlapping point)
j = 0
recheck = 0
while not bool(overlap):
# cannot see the obstacle. Based on the location of the previous point blow up the range of the robot on the left or on the right
j += 1
# finding whether the previous obstacle point is on the left side or the right side of the robot
# angle = angle of the previous point from the x-axis of the field
# omega = angle of the current Pioneer orientation from the x-axis of the field
# cc = differnece between angle and omega ( < pi = previous point on the left of robot, else on the right of robot)
x = self.prev_follow[0] -pose[0]
y = self.prev_follow[1] -pose[1]
angle = atan(y/x)
# convert angle to 2pi
if x > 0 and y > 0:
angle = angle
elif x < 0 and y > 0:
angle = pi + angle
elif x <0 and y < 0:
angle = pi + angle
else:
angle = 2*pi + angle
# convert pose to 2pi
if pose[2] < 0:
omega = (2*pi + pose[2])
else:
omega = pose[2]
if omega > angle:
cc = 2*pi - (omega - angle)
else:
cc = angle - omega
# on the left
#if angle - omega > 0 and angle - omega < pi:
if cc < pi:
#print "on the left, angle: "+ str(angle) + " omega: "+ str(omega)+ " angle-omega: "+ str(angle-omega)
Robot = PolyShapes.Rectangle(self.range*2*j,self.range*2*j)
Robot.shift(pose[0]-self.range*j*2,pose[1]-self.range*j)
Robot.rotate(pose[2]-pi/2,pose[0],pose[1])
# on the right
else:
#print "on the right, angle: "+ str(angle) + " omega: "+ str(omega)+ " angle-omega: "+ str(angle-omega)
Robot = PolyShapes.Rectangle(self.range*2*j,self.range*2*j)
Robot.shift(pose[0],pose[1]-self.range*j)
Robot.rotate(pose[2]-pi/2,pose[0],pose[1])
if self.system == 1:
overlap = Robot - ( self.map_work - self.robocomm.getObsPoly())
else:
overlap = Robot - ( self.map_work)
#self.plotPoly(Robot, 'm',2)
#determines as dynamic obstacles and can be go striaight to the goal point
if j >= 2:
dis_cur = vstack((self.q_g[0],self.q_g[1]))- mat([pose[0],pose[1]]).T
vx = (dis_cur/norm(dis_cur)/3)[0,0]
vy = (dis_cur/norm(dis_cur)/3)[1,0]
overlap = None
self.overlap = overlap
self.q_hit_count = 0
self.boundary_following = False
self.m_line = None
self.drive_handler.setVelocity(vx,vy, pose[2])
RobotPoly = PolyShapes.Circle(self.PioneerLengthHalf+0.06,(pose[0],pose[1])) ###0.05
departed = not self.currentRegionPoly.overlaps(self.realRobot)
#departed = not self.currentRegionPoly.overlaps(self.realRobot) and (not (self.nextRegionPoly.overlaps(self.realRobot) and not self.nextRegionPoly.covers(self.realRobot)))
arrived = self.nextRegionPoly.covers(self.realRobot)
return arrived
##extra box plotting in figure 1#
if self.PLOT_OVERLAP == True:
plt.figure(self.original_figure)
plt.clf()
self.plotPoly(self.realRobot, 'r')
self.plotPoly(self.robot, 'b')
self.plotPoly(overlap,'g',3)
plt.plot(pose[0],pose[1],'bo')
self.plotPioneer(self.original_figure)
# find the closest point on the obstacle to the robot
overlap_len = len(overlap)
for j in range(overlap_len):
BoundPolyPoints = asarray(overlap[j])
for i in range(len(BoundPolyPoints)-1):
bundle_x = (BoundPolyPoints[i,0] +BoundPolyPoints[1+i,0])/2 #mid-point coordinate x
bundle_y = (BoundPolyPoints[i,1] +BoundPolyPoints[1+i,1])/2 #mid-point coordinate y
q_overlap = hstack((q_overlap,vstack((bundle_x,bundle_y))))
bundle_x = (BoundPolyPoints[len(BoundPolyPoints)-1,0] +BoundPolyPoints[0,0])/2 #mid-point coordinate x
bundle_y = (BoundPolyPoints[len(BoundPolyPoints)-1,1] +BoundPolyPoints[0,1])/2 #mid-point coordinate y
q_overlap = hstack((q_overlap,vstack((bundle_x,bundle_y))))
q_overlap = q_overlap.transpose()
pt = self.closest_pt([pose[0],pose[1]], vstack((q_overlap,asarray(PolyUtils.pointList(overlap)))))
self.prev_follow = pt
#calculate the vector to follow the obstacle
normal = mat([pose[0],pose[1]] - pt)
#find the distance from the closest point
distance = norm(normal)
velocity = normal * self.trans_matrix
vx = (velocity/norm(velocity)/3)[0,0]
vy = (velocity/norm(velocity)/3)[0,1]
# push or pull the robot towards the obstacle depending on whether the robot is close or far from the obstacle.
turn = pi/4*(distance-0.5*self.obsRange)/(self.obsRange) ### change to 0.6 from 0.5 for more allowance in following
corr_matrix = mat([[cos(turn),-sin(turn)],[sin(turn),cos(turn)]])
v = corr_matrix*mat([[vx],[vy]])
vx = v[0,0]
vy = v[1,0]
##plotting overlap on figure 2
if self.PLOT_OVERLAP == True:
plt.figure(self.overlap_figure)
plt.clf()
self.plotPoly(self.m_line,'b');
self.plotPoly(overlap,'r');
plt.plot(pt[0],pt[1],'ro')
plt.plot(pose[0],pose[1],'bo')
self.plotPioneer(self.overlap_figure,0)
## conditions that the loop will end
#for 11111
RobotPoly = PolyShapes.Circle(self.PioneerLengthHalf+0.06,(pose[0],pose[1])) ####0.05
departed = not self.currentRegionPoly.overlaps(self.realRobot)
#departed = not self.currentRegionPoly.overlaps(self.realRobot) and (not (self.nextRegionPoly.overlaps(self.realRobot) and not self.nextRegionPoly.covers(self.realRobot)))
arrived = self.nextRegionPoly.covers(self.realRobot)
#for 33333
reachMLine= self.m_line.overlaps(RobotPoly)
# 1.reached the next region
if arrived:
self.boundary_following = False
self.m_line = None
self.q_hit_count = 0
print "arriving at the next region. Exit boundary following mode"
vx = 0
vy = 0
"""
# 2.q_hit is reencountered
elif norm(self.q_hit-mat([pose[0],pose[1]]).T) < 0.05 and self.q_hit_count > self.q_hit_Thres:
print "reencounter q_hit. cannot reach q_goal"
vx = 0
vy = 0
"""
# 3.m-line reencountered
elif reachMLine:
#print >>sys.__stdout__, "m-line overlaps RoboPoly, m-line" + str(norm(self.q_g-self.q_hit)-2*self.obsRange) + " distance: " + str(norm(self.q_g-mat([pose[0],pose[1]]).T))
if norm(self.q_g-mat([pose[0],pose[1]]).T) < norm(self.q_g-self.q_hit)-2*self.obsRange:
#print "m-line overlaps RoboPoly, m-line" + str(norm(self.q_g-self.q_hit)-2*self.obsRange) + " distance: " + str(norm(self.q_g-mat([pose[0],pose[1]]).T))
#print "leaving boundary following mode"
self.boundary_following = False
self.m_line = None
self.q_hit_count = 0
leaving = False
# turn the robot till it is facing the goal
while not leaving:
x = self.q_g[0] -self.pose_handler.getPose()[0]
y = self.q_g[1] -self.pose_handler.getPose()[1]
angle = atan(y/x)
if x > 0 and y > 0:
angle = angle
elif x < 0 and y > 0:
angle = pi + angle
elif x <0 and y < 0:
angle = pi + angle
else:
angle = 2*pi + angle
if self.pose_handler.getPose()[2] < 0:
omega = (2*pi + self.pose_handler.getPose()[2])
#print >>sys.__stdout__,"omega<0: "+ str(omega)
else:
omega = self.pose_handler.getPose()[2]
#print >>sys.__stdout__,"omega: "+ str(omega)
if omega > angle:
cc = 2*pi - (omega - angle)
else:
cc = angle - omega
# angle(goal point orientation) on the left of omega(robot orientation)
#if angle - omega > 0 and angle - omega < pi:
if cc < pi:
#print>>sys.__stdout__, "turn left"
vx,vy = self.turnLeft(cc)
# on the right
else:
#print>>sys.__stdout__, "turn right"
vx, vy = self.turnRight(2*pi-cc)
#print>>sys.__stdout__, "omega: "+ str(omega) + " angle: "+ str(angle) + " (omega-angle): " + str(omega-angle)
self.drive_handler.setVelocity(vx,vy, self.pose_handler.getPose()[2])
if omega - angle < pi/6 and omega - angle > -pi/6:
leaving = True
#Check whether the robot can leave now (the robot has to be closer to the goal than when it is at q_hit to leave)
QGoalPoly= PolyShapes.Circle(self.PioneerLengthHalf,(self.q_g[0],self.q_g[1]))
path = PolyUtils.convexHull(self.realRobot + QGoalPoly)
if self.system == 1:
if self.robocomm.getReceiveObs() == False:
pathOverlap = path - ( self.map_work)
else:
pathOverlap = path - ( self.map_work - self.robocomm.getObsPoly())
else:
pathOverlap = path - ( self.map_work)
if not bool(pathOverlap):
#print "There is NO MORE obstacles in front for now."
# check if the robot is closer to the goal compared with q_hit
if norm(self.q_hit-mat(self.q_g).T) > norm(mat([pose[0],pose[1]]).T-mat(self.q_g).T) :
#print "The robot is closer than the leaving point. The robot can leave"
self.boundary_following = False
self.m_line = None
self.q_hit_count = 0
dis_cur = vstack((self.q_g[0],self.q_g[1]))- mat([pose[0],pose[1]]).T
vx = (dis_cur/norm(dis_cur)/3)[0,0]
vy = (dis_cur/norm(dis_cur)/3)[1,0]
else:
lala = 1
#print "not leaving bug algorithm. difference(-farther) =" + str(norm(self.q_hit-mat(self.q_g).T) - norm(mat([pose[0],pose[1]]).T-mat(self.q_g).T))
"""
# Pass this desired velocity on to the drive handler
# Check if there are obstacles within 0.35m of the robot, if so, stop the robot
if self.system == 1:
if self.robocomm.getSTOP() == True:
vx = 0
vy = 0
"""
#vx = 0
#vy = 0
self.overlap = overlap
self.drive_handler.setVelocity(vx,vy, pose[2])
# Set the current region as the previous current region(for checking whether the robot has arrived at the next region)
self.previous_current_reg = current_reg
# check whether robot has arrived at the next region
RobotPoly = PolyShapes.Circle(self.PioneerLengthHalf+0.06,(pose[0],pose[1])) ###0.05
#departed = not self.currentRegionPoly.overlaps(self.realRobot) and (not (self.nextRegionPoly.overlaps(self.realRobot) and not self.nextRegionPoly.covers(self.realRobot)))
departed = not self.currentRegionPoly.overlaps(self.realRobot)
arrived = self.nextRegionPoly.covers(self.realRobot)
if arrived:
self.q_hit_count = 0
self.boundary_following = False
self.m_line = None
if departed and (not arrived) and (time.time()-self.last_warning) > 0.5:
print "WARNING: Left current region but not in expected destination region"
# Figure out what region we think we stumbled into
for r in self.proj.rfi.regions:
pointArray = [self.coordmap_map2lab(x) for x in r.getPoints()]
vertices = mat(pointArray).T
if is_inside([pose[0], pose[1]], vertices):
#print "I think I'm in " + r.name
#print pose
break
self.last_warning = time.time()
return arrived
