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 show_animation(path,
oox,
ooy,
other_x=None,
other_y=None,
other_yaw0=None):
x = path.x
y = path.y
yaw = path.yaw
direction = path.direction
steer = 0.0
for ii in range(0, len(x), 20):
plt.cla()
plt.plot(oox, ooy, ".k")
plt.plot(x, y, "-r", label="Hybrid A* path")
if ii < len(x) - 1:
k = (yaw[ii + 1] - yaw[ii]) / planner.MOTION_RESOLUTION
if direction[ii] == False:
k *= -1
steer = math.atan2(vehicle_lib.WB * k, 1.0)
else:
steer = 0.0
if other_x != None and other_y != None and other_yaw0 != None:
vehicle.plot_trailer(other_x, other_y, other_yaw0, 0)
vehicle.plot_trailer(x[ii], y[ii], yaw[ii], steer)
plt.grid(True)
plt.axis("equal")
plt.pause(0.01)
def estimate_total_rs_cost(self, sx, sy, syaw, mx, my, myaw, gx, gy, gyaw,
ox, oy):
vehicle.plot_trailer(sx, sy, syaw, 0)
vehicle.plot_trailer(OTHER_SX, OTHER_SY, OTHER_SYAW, 0)
cost1 = self.estimate_rs_cost(sx, sy, syaw, mx, my, myaw, ox, oy)
vehicle_x, vehicle_y = planner.vehicle.plot_trailer(
mx, my, myaw, 0.0, True)
oox_add, ooy_add = add_obstacle(vehicle_x, vehicle_y, ox, oy)
cost2 = self.estimate_rs_cost(OTHER_SX, OTHER_SY, OTHER_SYAW, OTHER_GX,
OTHER_GY, OTHER_GYAW, oox_add, ooy_add)
cost3 = self.estimate_rs_cost(mx, my, myaw, gx, gy, gyaw, ox, oy)
return cost1 + cost2 + cost3
ox.append(i)
oy.append(4.0)
for i in range(-8, 8):
ox.append(i)
oy.append(-1.0)
for i in range(4, 9):
ox.append(-25)
oy.append(i)
for i in range(4, 9):
ox.append(25)
oy.append(i)
plt.grid(True)
plt.axis("equal")
plt.plot(ox, oy, '.k')
vehicle.plot_trailer(SX, SY, SYAW, 0)
vehicle.plot_trailer(OTHER_SX, OTHER_SY, OTHER_SYAW, 0)
plt.pause(3)
class States(object):
def __init__(self, sx, sy, syaw, mx, my, myaw, gx, gy, gyaw, ox, oy):
self.sx = sx
self.sy = sy
self.syaw = syaw
self.mx = mx
self.my = my
self.myaw = myaw
self.gx = gx
self.gy = gy
self.gyaw = gyaw
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
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
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, oox, ooy,
planner.XY_GRID_RESOLUTION,
planner.YAW_GRID_RESOLUTION)
if path3 == []:
print 'Cannot find path.(3)'
return
vehicle.plot_trailer(other_sx, other_sy, other_syaw0, 0)
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)
plt.pause(0.1)
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()
for i in range(61):
ox.append(i)
oy.append(60.0)
for i in range(61):
ox.append(0.0)
oy.append(i)
for i in range(20):
ox.append(i)
oy.append(30.0)
for i in range(45):
ox.append(i)
oy.append(40.0)
plt.grid(True)
plt.axis("equal")
plt.plot(ox, oy, '.k')
vehicle.plot_trailer(SX, SY, SYAW, 0)
path1 = planner.calc_hybrid_astar_path(SX, SY, SYAW, GX, GY, GYAW, ox, oy,
planner.XY_GRID_RESOLUTION,
planner.YAW_GRID_RESOLUTION)
#plt.scatter(path1.x, path1.y, "-r", label="Hybrid A* path")
show_animation(path1, ox, oy)
# #plt.scatter(x_path,y_path)
plt.axis([-40, 40, -40, 40])
plt.grid(True)
plt.axis("equal")
# plt.plot(ox, oy, '.k')
plt.show()
