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linear_ship_rrt.py
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linear_ship_rrt.py
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import matplotlib as mpl
mpl.use('Agg')
import matplotlib.pyplot as plt
from matplotlib.collections import PatchCollection
import numpy as np
#only to label
import time
start_time = int(time.time())
import sys
sys.setrecursionlimit(10000)
import shelve
import itertools
import networkx as nx
from rrt import RRT
from lin_ship_visualize_animation import Ship_Sprite
from lqr_tools import LQR_QP, dtfh_lqr, simulate_lti_fb_dt, AQR
from lqr_rrt import LQR_RRT
from rrt_interactive import RRT_Interactive
#[velx, vely, posx, posy]
A = np.matrix([ [1, 0, 0, 0 ],
[0, 1, 0, 0 ],
[1, 0, 1, 0 ],
[0, 1, 0, 1 ]])
#[accx, accy]
B = np.matrix([ [1, 0 ],
[0, 1 ],
[0, 0 ],
[0, 0 ]])
Q = np.zeros(shape=(4,4))
R = np.eye(2)
max_time_horizon = 300
goal = np.array([0,0,100,100,max_time_horizon])
#field_shelve = shelve.open('field_simple.shelve')
#obstacle_paths = field_shelve['obstacle_paths']
from shapely.geometry import Polygon
from descartes.patch import PolygonPatch
from ship_field import obstacles_multipoly, obstacles_polys
#field_poly = Polygon(shell=[(-10,-10),(-10,110),(110,110),(110,-10),(-10,-10)],
# holes=[ [(0,0),(0,100),(100,100),(100,0),(0,0)] ] )
#obstacles_polys.append(field_poly)
ship_sprite = Ship_Sprite()
def isStateValid(state):
#returns True if state is not in collision
assert len(state) == 5
#cheaper to check velocity
if np.linalg.norm(state[[0,1]]) > 2: return False
ship_sprite.update_pose(state[2],state[3])
ship_poly = Polygon(ship_sprite.get_ship_path().vertices)
return not ship_poly.intersects(obstacles_multipoly)
def isActionValid(action):
assert len(action) == 2
#np.linalg.norm(action) < .24
return True
def action_state_valid(x,u):
return isStateValid(x) and isActionValid(u)
def sample():
if np.random.rand()<.9:
statespace = np.random.rand(4)*np.array([10,10,120,120])-np.array([5,5,10,10])
time = np.random.randint(0,max_time_horizon,size=1) + 1
#time = np.array(min(np.random.geometric(.06,size=1),max_time_horizon))
time = np.reshape(time,newshape=(1,))
return np.concatenate((statespace,time))
else: #goal bias
statespace = goal[0:4]
time = np.random.randint(0,max_time_horizon,size=1) + 1
#time = np.array(min(np.random.geometric(.06,size=1),max_time_horizon))
time = np.reshape(time,newshape=(1,))
return np.concatenate((statespace,time))
def distance_from_goal(node):
return 0
def goal_test(node):
goal_region_radius = .01
n = 4
return np.sum(np.abs(node['state'][0:n]-goal[0:n])) < goal_region_radius #disregards time
return distance(node,goal) < goal_region_radius #need to think more carefully about this one
start = np.array([0,0,0,0,0])
lqr_rrt = LQR_RRT(A,B,Q,R,max_time_horizon)
rrt = RRT(state_ndim=5,control_ndim=2)
lqr_rrt.action_state_valid = action_state_valid
lqr_rrt.max_nodes_per_extension = 5
rrt.sample_goal = lambda : goal
rrt.set_distance(lqr_rrt.distance_cache)
rrt.set_same_state(lqr_rrt.same_state)
rrt.set_cost(lqr_rrt.cost)
rrt.set_steer(lqr_rrt.steer_cache)
rrt.set_goal_test(goal_test)
rrt.set_sample(sample)
rrt.set_collision_free(lqr_rrt.collision_free)
rrt.set_distance_from_goal(distance_from_goal)
rrt.gamma_rrt = 1.0
rrt.eta = .2
rrt.c = 1
rrt.max_nodes_in_ball = 30
lqr_rrt.max_steer_cost = .015
rrt.set_start(start)
rrt.init_search()
def draw(rrt,ani_ax=None):
if ani_ax is None:
ani_ax = plt.figure().gca()
ani_ax.cla()
ani_ax.set_xlim(-10,110)
ani_ax.set_ylim(-10,110)
#ani_ax.set_aspect('equal')
#ani_ax.set_aspect('auto')
#should be able to move this out, but patch transforms get stuck and the obstacles don't pan/zoom
obstacles_patches = [PolygonPatch(poly) for poly in obstacles_polys]
obstacle_patch_collection = PatchCollection(obstacles_patches)
ani_ax.add_collection(obstacle_patch_collection)
all_states = np.array(nx.get_node_attributes(rrt.tree,'state').values())
ani_ax.plot(all_states[:,2],all_states[:,3],'g.',alpha=.8,zorder=2)
import copy
if False:
for state in all_states:
ship_sprite.update_pose(state[2],state[3],0)
ship_sprite.update_transform_axes(ani_ax)
for patch in ship_sprite.patches:
ani_ax.add_artist(copy.copy(patch))
#draw dynamical edges
lines = []
for i in rrt.tree.nodes():
s = rrt.tree.predecessors(i)
if len(s) == 0:
continue
assert len(s) == 1 #it's a tree
s = s[0]
x0 = rrt.tree.node[s]['state']
xs = lqr_rrt.run_forward(x0, rrt.tree.node[i]['action'])
xs = np.concatenate((x0.reshape((1,-1)),xs))
lines.append(xs[:,[2,3]])
edge_collection = mpl.collections.LineCollection(lines)
ani_ax.add_collection(edge_collection)
a = rrt.best_solution_goal()
if a is not None:
nodes, xpath_sparse, upath = a
xpath = lqr_rrt.run_forward(start,upath)
ani_ax.plot(xpath[:,2],xpath[:,3],'.',zorder=3)
def hook(rrt):
plt.ioff()
a = plt.figure()
c = rrt.worst_cost
fname = "rrt_2d_di_%d,%d.png"%(start_time,rrt.n_iters)
draw(rrt,a.gca())
a.savefig(fname)
plt.ion()
import shelve
s = shelve.open("rrt_2d_di_%d,%d.shelve"%(start_time,rrt.n_iters))
upath = rrt.best_solution_goal()[2]
xpath = lqr_rrt.run_forward(start,upath)
s['traj'] = xpath
s['utraj'] = upath
s.close()
rrt.improved_solution_hook = hook
rrt_int = RRT_Interactive(rrt,lqr_rrt.run_forward,plot_dims=[2,3],slider_range=(0,max_time_horizon))
obstacles_patches = [PolygonPatch(poly) for poly in obstacles_polys]
obstacle_patch_collection = PatchCollection(obstacles_patches)
rrt_int.int_ax.add_collection(obstacle_patch_collection)
if False and __name__ == '__main__':
# if False:
# rrt.load(shelve.open('kin_rrt.shelve'))
i = 0
if i>0:
rrt.load(shelve.open('linship_rrt_%04d.shelve'%(i-1)))
while (not rrt.found_feasible_solution):
rrt.search(iters=5e1)
s = shelve.open('linship_rrt_%04d.shelve'%i)
rrt.save(s)
s.close()
i+=1
#nearest_id,nearest_distance = rrt.nearest_neighbor(goal)
#print 'nearest neighbor distance: %f, cost: %f'%(nearest_distance,rrt.tree.node[nearest_id]['cost'])
rrt.search(iters=5e2)
xpath = np.array([rrt.tree.node[i]['state'] for i in rrt.best_solution(goal)]).T
T = xpath.shape[1]
traj = np.zeros((T,4))
utraj = np.zeros((T,2))