Revision 4c9fb6ba
Update smart_runaround and add old files.
| scout/libscout/src/BehaviorList.cpp | ||
|---|---|---|
| 27 | 27 |
behavior_list.push_back(behavior<line_follow>); |
| 28 | 28 |
behavior_list.push_back(behavior<navigationMap>); |
| 29 | 29 |
behavior_list.push_back(behavior<wl_test>); |
| 30 |
behavior_list.push_back(behavior<Odometry_new>); |
|
| 30 | 31 |
behavior_list.push_back(behavior<Scheduler>); |
| 31 | 32 |
behavior_list.push_back(behavior<WH_Robot>); |
| 32 | 33 |
behavior_list.push_back(behavior<maze_solve>); |
| 34 |
behavior_list.push_back(behavior<maze_solve_zane>); |
|
| 33 | 35 |
behavior_list.push_back(behavior<smart_runaround>); |
| 34 | 36 |
return; |
| 35 | 37 |
} |
| scout/libscout/src/BehaviorList.h | ||
|---|---|---|
| 28 | 28 |
#include "behaviors/line_follow.h" |
| 29 | 29 |
#include "behaviors/navigationMap.h" |
| 30 | 30 |
#include "behaviors/wl_test.h" |
| 31 |
#include "test_behaviors/Odometry_new.h" |
|
| 31 | 32 |
#include "test_behaviors/Scheduler.h" |
| 32 | 33 |
#include "test_behaviors/WH_Robot.h" |
| 33 | 34 |
#include "test_behaviors/maze_solve.h" |
| 35 |
#include "test_behaviors/maze_solve_zane.h" |
|
| 34 | 36 |
#include "test_behaviors/smart_runaround.h" |
| 35 | 37 |
|
| 36 | 38 |
template<typename T> Behavior* behavior(std::string scoutname, Sensors* sensors){ return (Behavior*)new T(scoutname, sensors); }
|
| scout/libscout/src/test_behaviors/maze_solve.cpp | ||
|---|---|---|
| 25 | 25 |
|
| 26 | 26 |
#include "maze_solve.h" |
| 27 | 27 |
|
| 28 |
using namespace std;
|
|
| 29 |
|
|
| 28 |
#define D_THRESH 600
|
|
| 29 |
#define max(x,y) ((x > y) ? x : y) |
|
| 30 | 30 |
|
| 31 |
// want to have a minimal working thing, use a big enough |
|
| 32 |
// static array and start in the middle |
|
| 33 |
// we assume we are facing right, that affects where we store |
|
| 34 |
// wall information |
|
| 35 |
// -1 for wall, 0 for unseen, 1 for traveled, 2 for critical |
|
| 36 |
#define WALL -1 |
|
| 37 |
#define UNSEEN 0 |
|
| 38 |
#define SEEN 1 |
|
| 39 |
#define CRITICAL 2 |
|
| 40 |
// facings |
|
| 41 |
#define UP 0 |
|
| 42 |
#define RIGHT 1 |
|
| 43 |
#define DOWN 2 |
|
| 44 |
#define LEFT 3 |
|
| 31 |
using namespace std; |
|
| 45 | 32 |
|
| 46 |
// TODO This is bad! It's defined globally across all files. Please put it inside a good scope. -Alex |
|
| 47 |
Duration sonar_update_time(1.5); |
|
| 33 |
void maze_solve::spin_for(double duration) |
|
| 34 |
{
|
|
| 35 |
ros::Rate r(100); // 100 hz |
|
| 36 |
int ticks = int(duration * 100); |
|
| 37 |
for (int i = 0; i < ticks; i++) |
|
| 38 |
{
|
|
| 39 |
spinOnce(); |
|
| 40 |
r.sleep(); |
|
| 41 |
} |
|
| 42 |
} |
|
| 48 | 43 |
|
| 49 | 44 |
void maze_solve::run() |
| 50 | 45 |
{
|
| 51 |
// TODO:first initialize map to all 0's |
|
| 52 | 46 |
ROS_INFO("Starting to solve the maze");
|
| 47 |
|
|
| 53 | 48 |
// Go up to the first line. |
| 54 | 49 |
follow_line(); |
| 50 |
|
|
| 55 | 51 |
// Turn the sonar on. |
| 56 | 52 |
sonar->set_on(); |
| 57 | 53 |
sonar->set_range(0, 23); |
| 58 | 54 |
|
| 59 |
// Wait for the sonar to initialize. |
|
| 60 |
while(!look_around(25, 25, RIGHT) && ok()) |
|
| 61 |
{
|
|
| 62 |
spinOnce(); |
|
| 63 |
} |
|
| 64 |
|
|
| 65 |
// Solve the maze |
|
| 66 |
bool finished = solve(25,25, RIGHT); |
|
| 67 |
|
|
| 68 |
// Check and report final condition. |
|
| 69 |
if (finished) |
|
| 70 |
ROS_INFO("YAY! I have solved the maze");
|
|
| 71 |
else |
|
| 72 |
ROS_INFO("NO! The maze is unsolvable");
|
|
| 73 |
} |
|
| 74 |
|
|
| 75 |
bool maze_solve::solve(int row, int col, int dir) |
|
| 76 |
{
|
|
| 77 |
int initial_dir = dir; |
|
| 78 |
|
|
| 79 |
ROS_INFO("I am at direction %d", dir);
|
|
| 80 |
|
|
| 81 |
// use backtracking to solve the maze |
|
| 82 |
if (at_destination()) |
|
| 83 |
return true; |
|
| 55 |
ROS_INFO("Off we go!");
|
|
| 84 | 56 |
|
| 85 |
// Wait for sonar to update. |
|
| 86 |
sonar_update_time.sleep(); |
|
| 87 |
|
|
| 88 |
// this function should fill the adjacent cells around me with |
|
| 89 |
// wall's or paths |
|
| 90 |
while(!look_around(row, col, dir) && ok()) |
|
| 57 |
while (!at_destination()) |
|
| 91 | 58 |
{
|
| 92 |
spinOnce(); |
|
| 93 |
} |
|
| 94 |
|
|
| 95 |
/* try go up */ |
|
| 96 |
if (map[row-1][col] != WALL && initial_dir != UP) |
|
| 97 |
{
|
|
| 98 |
ROS_INFO("GOING UP!");
|
|
| 99 |
// Turn up. |
|
| 100 |
turn_from_to(dir, UP); |
|
| 101 |
follow_line(); |
|
| 102 |
// Solve recursively. |
|
| 103 |
bool solved = solve(row-1, col, DOWN); |
|
| 104 |
if (solved) |
|
| 59 |
// Wait for sonar to update. |
|
| 60 |
spin_for(1.5); |
|
| 61 |
int* readings = sonar->get_sonar_readings(); |
|
| 62 |
|
|
| 63 |
// Wait until the sonar gives us real values. |
|
| 64 |
bool readings_ok = true; |
|
| 65 |
cout << "["; |
|
| 66 |
for (int i = 0; i < 48; i++) |
|
| 105 | 67 |
{
|
| 106 |
return solved; |
|
| 68 |
if (i == 24 || i == 36 || i == 0) |
|
| 69 |
{
|
|
| 70 |
cout << "(" << readings[i] << ") ";
|
|
| 71 |
} |
|
| 72 |
else |
|
| 73 |
{
|
|
| 74 |
cout << readings[i] << " "; |
|
| 75 |
} |
|
| 76 |
if (readings[i] == 0) |
|
| 77 |
{
|
|
| 78 |
ROS_INFO("Waiting. readings[%d] == 0.", i);
|
|
| 79 |
readings_ok = false; |
|
| 80 |
break; |
|
| 81 |
} |
|
| 107 | 82 |
} |
| 108 |
else |
|
| 109 |
{
|
|
| 110 |
//Update where we are. |
|
| 111 |
dir = UP; |
|
| 112 |
} |
|
| 113 |
} |
|
| 114 |
/* try right */ |
|
| 115 |
if (map[row][col+1] != WALL && initial_dir != RIGHT) |
|
| 116 |
{
|
|
| 117 |
ROS_INFO("GOING RIGHT!");
|
|
| 118 |
// Turn right. |
|
| 119 |
turn_from_to(dir, RIGHT); |
|
| 120 |
follow_line(); |
|
| 121 |
// Solve recursively. |
|
| 122 |
bool solved = solve(row, col+1, LEFT); |
|
| 123 |
if (solved) |
|
| 124 |
{
|
|
| 125 |
return solved; |
|
| 126 |
} |
|
| 127 |
else |
|
| 83 |
cout << endl; |
|
| 84 |
|
|
| 85 |
if (!readings_ok) |
|
| 128 | 86 |
{
|
| 129 |
//Update where we are. |
|
| 130 |
dir = RIGHT; |
|
| 87 |
continue; |
|
| 131 | 88 |
} |
| 132 |
} |
|
| 133 |
/* try down */ |
|
| 134 |
if (map[row+1][col] != WALL && initial_dir != DOWN) |
|
| 135 |
{
|
|
| 136 |
ROS_INFO("GOING DOWN!");
|
|
| 137 |
// Turn down. |
|
| 138 |
turn_from_to(dir, DOWN); |
|
| 139 |
follow_line(); |
|
| 140 |
// Solve recursively. |
|
| 141 |
bool solved = solve(row+1, col, UP); |
|
| 142 |
if (solved) |
|
| 89 |
|
|
| 90 |
int r_read = max(readings[23], max(readings[24], readings[25])); |
|
| 91 |
int s_read = max(readings[35], max(readings[36], readings[37])); |
|
| 92 |
int l_read = max(readings[47], max(readings[0], readings[1])); |
|
| 93 |
|
|
| 94 |
ROS_INFO("Left: %d. Straight: %d. Right: %d.", l_read, s_read, r_read);
|
|
| 95 |
|
|
| 96 |
if (r_read > D_THRESH) // Right |
|
| 143 | 97 |
{
|
| 144 |
return solved; |
|
| 98 |
ROS_INFO("Right.");
|
|
| 99 |
turn_right(); |
|
| 145 | 100 |
} |
| 146 |
else |
|
| 101 |
else if (s_read > D_THRESH) // Straight
|
|
| 147 | 102 |
{
|
| 148 |
//Update where we are.
|
|
| 149 |
dir = DOWN;
|
|
| 103 |
ROS_INFO("Straight.");
|
|
| 104 |
turn_straight();
|
|
| 150 | 105 |
} |
| 151 |
} |
|
| 152 |
/* try left */ |
|
| 153 |
if (map[row][col-1] != WALL && initial_dir != LEFT) |
|
| 154 |
{
|
|
| 155 |
ROS_INFO("GOING LEFT!");
|
|
| 156 |
// Turn down. |
|
| 157 |
turn_from_to(dir, LEFT); |
|
| 158 |
follow_line(); |
|
| 159 |
// Solve recursively. |
|
| 160 |
bool solved = solve(row, col-1, RIGHT); |
|
| 161 |
if (solved) |
|
| 106 |
else if (l_read > D_THRESH) // Left |
|
| 162 | 107 |
{
|
| 163 |
return solved; |
|
| 108 |
ROS_INFO("Left.");
|
|
| 109 |
turn_left(); |
|
| 164 | 110 |
} |
| 165 |
else |
|
| 111 |
else // Deadend
|
|
| 166 | 112 |
{
|
| 167 |
//Update where we are. |
|
| 168 |
dir = LEFT; |
|
| 169 |
} |
|
| 170 |
} |
|
| 171 |
|
|
| 172 |
ROS_INFO("DEAD END FOUND, TURNING BACK.");
|
|
| 173 |
// we have exhausted all the options. This path is clearly a |
|
| 174 |
// dead end. go back to where we come from and return false. |
|
| 175 |
turn_from_to(dir, initial_dir); |
|
| 176 |
follow_line(); |
|
| 177 |
return false; |
|
| 178 |
} |
|
| 179 |
|
|
| 180 |
// this function takes in the current direction and turns the scout |
|
| 181 |
// into it intended direction |
|
| 182 |
void maze_solve::turn_from_to(int current_dir, int intended_dir) {
|
|
| 183 |
switch ((4 + intended_dir - current_dir) % 4) |
|
| 184 |
{
|
|
| 185 |
case 0: |
|
| 113 |
ROS_INFO("Dead end.");
|
|
| 186 | 114 |
spot_turn(); |
| 187 |
break; |
|
| 188 |
case 1: |
|
| 189 |
turn_left(); |
|
| 190 |
break; |
|
| 191 |
case 2: |
|
| 192 |
turn_straight(); |
|
| 193 |
break; |
|
| 194 |
case 3: |
|
| 195 |
turn_right(); |
|
| 196 |
break; |
|
| 197 |
} |
|
| 198 |
} |
|
| 199 |
|
|
| 200 |
bool maze_solve::look_around(int row, int col, int dir) |
|
| 201 |
{
|
|
| 202 |
// look around current place using sonar |
|
| 203 |
// store whether or not |
|
| 204 |
// there is a wall into the map |
|
| 205 |
// stores at row col 2 if point is critical, 1 otherwise |
|
| 206 |
|
|
| 207 |
int* readings = sonar->get_sonar_readings(); |
|
| 208 |
spinOnce(); |
|
| 209 |
|
|
| 210 |
/* |
|
| 211 |
// Look to the left. |
|
| 212 |
int left_distance = (readings[1] + readings[0] + readings[47])/3; |
|
| 213 |
// Look to the front. |
|
| 214 |
int front_distance = (readings[35] + readings[36] + readings[37])/3; |
|
| 215 |
// Look to the right. |
|
| 216 |
int right_distance = (readings[23] + readings[24] + readings[25])/3; |
|
| 217 |
*/ |
|
| 218 |
// Look to the left. |
|
| 219 |
int left_distance = readings[0]; |
|
| 220 |
// Look to the front. |
|
| 221 |
int front_distance = readings[36]; |
|
| 222 |
// Look to the right. |
|
| 223 |
int right_distance = readings[24]; |
|
| 224 |
|
|
| 225 |
ROS_INFO("front: %d left: %d right: %d", front_distance, left_distance, right_distance);
|
|
| 226 |
|
|
| 227 |
if (right_distance == 0 || front_distance == 0 || left_distance == 0) |
|
| 228 |
return false; |
|
| 115 |
} |
|
| 229 | 116 |
|
| 230 |
switch (dir) |
|
| 231 |
{
|
|
| 232 |
case UP: |
|
| 233 |
// If the distance is less than 500, mark the area as a wall otherwise |
|
| 234 |
// mark it as seen. |
|
| 235 |
map[row][col+1] = (left_distance < 500)?WALL:SEEN; |
|
| 236 |
map[row+1][col] = (front_distance < 500)?WALL:SEEN; |
|
| 237 |
map[row][col-1] = (right_distance < 500)?WALL:SEEN; |
|
| 238 |
break; |
|
| 239 |
case RIGHT: |
|
| 240 |
// If the distance is less than 500, mark the area as a wall otherwise |
|
| 241 |
// mark it as seen. |
|
| 242 |
map[row+1][col] = (left_distance < 500)?WALL:SEEN; |
|
| 243 |
map[row][col-1] = (front_distance < 500)?WALL:SEEN; |
|
| 244 |
map[row-1][col] = (right_distance < 500)?WALL:SEEN; |
|
| 245 |
break; |
|
| 246 |
case DOWN: |
|
| 247 |
// If the distance is less than 500, mark the area as a wall otherwise |
|
| 248 |
// mark it as seen. |
|
| 249 |
map[row][col-1] = (left_distance < 500)?WALL:SEEN; |
|
| 250 |
map[row-1][col] = (front_distance < 500)?WALL:SEEN; |
|
| 251 |
map[row][col+1] = (right_distance < 500)?WALL:SEEN; |
|
| 252 |
break; |
|
| 253 |
case LEFT: |
|
| 254 |
// If the distance is less than 500, mark the area as a wall otherwise |
|
| 255 |
// mark it as seen. |
|
| 256 |
map[row-1][col] = (left_distance < 500)?WALL:SEEN; |
|
| 257 |
map[row][col+1] = (front_distance < 500)?WALL:SEEN; |
|
| 258 |
map[row+1][col] = (right_distance < 500)?WALL:SEEN; |
|
| 259 |
break; |
|
| 117 |
follow_line(); |
|
| 260 | 118 |
} |
| 261 |
|
|
| 262 |
return true; |
|
| 263 | 119 |
} |
| 264 | 120 |
|
| 265 | 121 |
bool maze_solve::at_destination() |
| 266 | 122 |
{
|
| 267 | 123 |
vector<uint32_t> readings = linesensor->query(); |
| 124 |
//ROS_INFO("Readings: %d %d %d %d %d %d %d %d.", readings[0], readings[1], readings[2], readings[3], readings[4], readings[5], readings[6], readings[7]);
|
|
| 268 | 125 |
if ( readings[0] > 200 && |
| 269 | 126 |
readings[1] < 55 && |
| 270 | 127 |
readings[2] < 55 && |
| ... | ... | |
| 274 | 131 |
readings[6] < 55 && |
| 275 | 132 |
readings[7] > 200 ) |
| 276 | 133 |
{
|
| 134 |
ROS_INFO("\n\nDESTINATION\n\n");
|
|
| 277 | 135 |
return true; |
| 278 | 136 |
} |
| 279 | 137 |
return false; |
| scout/libscout/src/test_behaviors/maze_solve.h | ||
|---|---|---|
| 26 | 26 |
#ifndef _MAZE_SOLVE_H_ |
| 27 | 27 |
#define _MAZE_SOLVE_H_ |
| 28 | 28 |
|
| 29 |
#include <stdio.h> |
|
| 29 | 30 |
#include "../behaviors/line_follow.h" |
| 30 | 31 |
|
| 31 | 32 |
class maze_solve: public line_follow |
| ... | ... | |
| 35 | 36 |
line_follow(scoutname, "maze_solve", sensors) {};
|
| 36 | 37 |
void run(); |
| 37 | 38 |
private: |
| 38 |
bool solve(int row, int col, int dir); |
|
| 39 |
void turn_from_to(int current_dir, int intended_dir); |
|
| 40 |
bool look_around(int row, int col, int dir); |
|
| 39 |
void spin_for(double duration); |
|
| 41 | 40 |
bool at_destination(); |
| 42 | 41 |
|
| 42 |
Duration sonar_update_time; |
|
| 43 |
|
|
| 43 | 44 |
int map[60][60]; |
| 44 | 45 |
}; |
| 45 | 46 |
#endif |
| scout/libscout/src/test_behaviors/smart_runaround.cpp | ||
|---|---|---|
| 59 | 59 |
return pixels/200.0; |
| 60 | 60 |
} |
| 61 | 61 |
|
| 62 |
// meters to pixels |
|
| 63 |
int m_to_idx(float meters) |
|
| 62 |
// millimeters to pixels
|
|
| 63 |
int mm_to_idx(float meters)
|
|
| 64 | 64 |
{
|
| 65 |
float pixels = meters*200.0; |
|
| 65 |
// 200 pixels per meter, and 1000 millimeters per meter |
|
| 66 |
float pixels = meters*0.2; |
|
| 66 | 67 |
float idx = pixels/BLOCK_LENGTH; |
| 67 | 68 |
return floor(idx+0.5); |
| 68 | 69 |
} |
| 69 | 70 |
|
| 70 |
/* return a direction (if any) where adjacent block |
|
| 71 |
* is labeled "info" on map. Searches clockwise |
|
| 72 |
* starting at up. Returns -1 if no direction valid. |
|
| 73 |
*/ |
|
| 74 |
int smart_runaround::choose_direc(int row, int col, int info) |
|
| 71 |
float *matrix_mult(float inputs[2], float matrix[2][2]) |
|
| 75 | 72 |
{
|
| 76 |
if (map[row-1][col] == info) |
|
| 77 |
return UP; |
|
| 78 |
else if (map[row][col+1] == info) |
|
| 79 |
return RIGHT; |
|
| 80 |
else if (map[row+1][col] == info) |
|
| 81 |
return DOWN; |
|
| 82 |
else if (map[row][col-1] == info) |
|
| 83 |
return LEFT; |
|
| 84 |
return -1; |
|
| 73 |
float newX = matrix[0][0]*inputs[0]+matrix[0][1]*inputs[1]; |
|
| 74 |
float newY = matrix[1][0]*inputs[0]+matrix[1][1]*inputs[1]; |
|
| 75 |
float output[2] = {newX, newY};
|
|
| 76 |
return output; |
|
| 85 | 77 |
} |
| 86 | 78 |
|
| 87 | 79 |
// TODO This is bad! It's defined globally across all behaviors. Please fix this. -Alex |
| ... | ... | |
| 117 | 109 |
|
| 118 | 110 |
|
| 119 | 111 |
int dir = RIGHT; // current direction |
| 120 |
int new_dir = RIGHT; // direction in which to turn after a scan |
|
| 112 |
//int new_dir = RIGHT; // direction in which to turn after a scan
|
|
| 121 | 113 |
bool success = false; // true when maze solved |
| 122 | 114 |
while(ok()) |
| 123 | 115 |
{
|
| 124 |
// Look left, right, and forward |
|
| 125 | 116 |
look_around(row, col, dir); |
| 126 | 117 |
// Try moving in each direction |
| 127 |
new_dir = choose_direc(row, col, UNSEEN); |
|
| 118 |
/*new_dir = choose_direc(row, col, UNSEEN);
|
|
| 128 | 119 |
if(new_dir < 0) |
| 129 | 120 |
new_dir = choose_direc(row, col, SEEN); |
| 130 | 121 |
if(new_dir >= 0) {
|
| 131 | 122 |
turn_from_to(dir, new_dir); |
| 132 | 123 |
dir = new_dir; |
| 133 |
} |
|
| 124 |
}*/
|
|
| 134 | 125 |
} |
| 135 | 126 |
|
| 136 | 127 |
// Check and report final condition. |
| ... | ... | |
| 140 | 131 |
ROS_INFO("NO! The maze is unsolvable");
|
| 141 | 132 |
} |
| 142 | 133 |
|
| 143 |
// NOT CURRENTLY USED!!! |
|
| 144 |
bool smart_runaround::solve(int row, int col, int dir) |
|
| 134 |
/* return a direction (if any) where adjacent block |
|
| 135 |
* is labeled "info" on map. Searches clockwise |
|
| 136 |
* starting at up. Returns -1 if no direction valid. |
|
| 137 |
*/ |
|
| 138 |
int smart_runaround::choose_direc(int row, int col, int info) |
|
| 145 | 139 |
{
|
| 146 |
int initial_dir = dir; |
|
| 147 |
|
|
| 148 |
ROS_INFO("I am at direction %d", dir);
|
|
| 149 |
|
|
| 150 |
// use backtracking to solve the maze |
|
| 151 |
if (at_destination()) |
|
| 152 |
return true; |
|
| 153 |
|
|
| 154 |
// Wait for sonar to update. |
|
| 155 |
sonar_update_time2.sleep(); |
|
| 156 |
|
|
| 157 |
// this function should fill the adjacent cells around me with |
|
| 158 |
// wall's or paths |
|
| 159 |
while(!look_around(row, col, dir) && ok()) |
|
| 160 |
{
|
|
| 161 |
spinOnce(); |
|
| 162 |
} |
|
| 163 |
|
|
| 164 |
/* try go up */ |
|
| 165 |
if (map[row-1][col] != WALL && initial_dir != UP) |
|
| 166 |
{
|
|
| 167 |
ROS_INFO("GOING UP!");
|
|
| 168 |
// Turn up. |
|
| 169 |
turn_from_to(dir, UP); |
|
| 170 |
follow_line(); |
|
| 171 |
// Solve recursively. |
|
| 172 |
bool solved = solve(row-1, col, DOWN); |
|
| 173 |
if (solved) |
|
| 174 |
{
|
|
| 175 |
return solved; |
|
| 176 |
} |
|
| 177 |
else |
|
| 178 |
{
|
|
| 179 |
//Update where we are. |
|
| 180 |
dir = UP; |
|
| 181 |
} |
|
| 182 |
} |
|
| 183 |
/* try right */ |
|
| 184 |
if (map[row][col+1] != WALL && initial_dir != RIGHT) |
|
| 185 |
{
|
|
| 186 |
ROS_INFO("GOING RIGHT!");
|
|
| 187 |
// Turn right. |
|
| 188 |
turn_from_to(dir, RIGHT); |
|
| 189 |
follow_line(); |
|
| 190 |
// Solve recursively. |
|
| 191 |
bool solved = solve(row, col+1, LEFT); |
|
| 192 |
if (solved) |
|
| 193 |
{
|
|
| 194 |
return solved; |
|
| 195 |
} |
|
| 196 |
else |
|
| 197 |
{
|
|
| 198 |
//Update where we are. |
|
| 199 |
dir = RIGHT; |
|
| 200 |
} |
|
| 201 |
} |
|
| 202 |
/* try down */ |
|
| 203 |
if (map[row+1][col] != WALL && initial_dir != DOWN) |
|
| 204 |
{
|
|
| 205 |
ROS_INFO("GOING DOWN!");
|
|
| 206 |
// Turn down. |
|
| 207 |
turn_from_to(dir, DOWN); |
|
| 208 |
follow_line(); |
|
| 209 |
// Solve recursively. |
|
| 210 |
bool solved = solve(row+1, col, UP); |
|
| 211 |
if (solved) |
|
| 212 |
{
|
|
| 213 |
return solved; |
|
| 214 |
} |
|
| 215 |
else |
|
| 216 |
{
|
|
| 217 |
//Update where we are. |
|
| 218 |
dir = DOWN; |
|
| 219 |
} |
|
| 220 |
} |
|
| 221 |
/* try left */ |
|
| 222 |
if (map[row][col-1] != WALL && initial_dir != LEFT) |
|
| 223 |
{
|
|
| 224 |
ROS_INFO("GOING LEFT!");
|
|
| 225 |
// Turn down. |
|
| 226 |
turn_from_to(dir, LEFT); |
|
| 227 |
follow_line(); |
|
| 228 |
// Solve recursively. |
|
| 229 |
bool solved = solve(row, col-1, RIGHT); |
|
| 230 |
if (solved) |
|
| 231 |
{
|
|
| 232 |
return solved; |
|
| 233 |
} |
|
| 234 |
else |
|
| 235 |
{
|
|
| 236 |
//Update where we are. |
|
| 237 |
dir = LEFT; |
|
| 238 |
} |
|
| 239 |
} |
|
| 240 |
|
|
| 241 |
ROS_INFO("DEAD END FOUND, TURNING BACK.");
|
|
| 242 |
// we have exhausted all the options. This path is clearly a |
|
| 243 |
// dead end. go back to where we come from and return false. |
|
| 244 |
turn_from_to(dir, initial_dir); |
|
| 245 |
follow_line(); |
|
| 246 |
return false; |
|
| 140 |
if (map[row-1][col] == info) |
|
| 141 |
return UP; |
|
| 142 |
else if (map[row][col+1] == info) |
|
| 143 |
return RIGHT; |
|
| 144 |
else if (map[row+1][col] == info) |
|
| 145 |
return DOWN; |
|
| 146 |
else if (map[row][col-1] == info) |
|
| 147 |
return LEFT; |
|
| 148 |
return -1; |
|
| 247 | 149 |
} |
| 248 | 150 |
|
| 249 | 151 |
/* this function takes in the current direction, |
| ... | ... | |
| 267 | 169 |
} |
| 268 | 170 |
} |
| 269 | 171 |
|
| 172 |
/* Purpose: look front, left, and right using sonar, and update |
|
| 173 |
* map accordingly. Returns true if and only if sonar is initialized. |
|
| 174 |
*/ |
|
| 270 | 175 |
bool smart_runaround::look_around(int row, int col, int dir) |
| 271 | 176 |
{
|
| 272 |
// look around current place using sonar |
|
| 273 |
// store whether or not |
|
| 274 |
// there is a wall into the map |
|
| 275 |
// stores at row col 2 if point is critical, 1 otherwise |
|
| 276 |
|
|
| 277 | 177 |
int* readings = sonar->get_sonar_readings(); |
| 278 | 178 |
spinOnce(); |
| 279 | 179 |
|
| 280 | 180 |
// Assumption: readings are given in millimeters - Zane |
| 281 | 181 |
|
| 282 |
// distances with respect to robot, NOT map |
|
| 283 |
// Look to the left. |
|
| 284 |
float left_distance = readings[0]/1000.0; |
|
| 285 |
int left_idx = m_to_idx(left_distance); |
|
| 286 |
// Look to the front. |
|
| 287 |
float front_distance = readings[36]/1000.0; |
|
| 288 |
int front_idx = m_to_idx(front_distance); |
|
| 289 |
// Look to the right. |
|
| 290 |
float right_distance = readings[24]/1000.0; |
|
| 291 |
int right_idx = m_to_idx(right_distance); |
|
| 292 |
|
|
| 293 |
ROS_INFO("front: %d left: %d right: %d", front_distance, left_distance, right_distance);
|
|
| 294 |
if (right_distance == 0 || front_distance == 0 || left_distance == 0) |
|
| 295 |
return false; |
|
| 296 |
|
|
| 297 |
// determine relative distances on map, based on robot position |
|
| 298 |
int up_d, right_d, down_d, left_d; |
|
| 299 |
// determine upward distance |
|
| 300 |
switch (dir) |
|
| 301 |
{
|
|
| 302 |
case UP: |
|
| 303 |
up_d = front_idx; |
|
| 304 |
right_d = right_idx; |
|
| 305 |
down_d = 0; // unknown |
|
| 306 |
left_d = left_idx; |
|
| 307 |
break; |
|
| 308 |
case RIGHT: |
|
| 309 |
up_d = left_idx; |
|
| 310 |
right_d = front_idx; |
|
| 311 |
down_d = right_idx; |
|
| 312 |
left_d = 0; // unknown |
|
| 313 |
break; |
|
| 314 |
case DOWN: |
|
| 315 |
up_d = 0; // unknown |
|
| 316 |
right_d = left_idx; |
|
| 317 |
down_d = front_idx; |
|
| 318 |
left_d = right_idx; |
|
| 319 |
break; |
|
| 320 |
case LEFT: |
|
| 321 |
up_d = right_idx; |
|
| 322 |
right_d = 0; // unknown |
|
| 323 |
down_d = left_idx; |
|
| 324 |
left_d = front_idx; |
|
| 325 |
break; |
|
| 326 |
} |
|
| 327 |
|
|
| 328 |
// change map until wall index, or until reading < 500 |
|
| 329 |
// reading < 500 <=> left_idx < 8 (approx.) |
|
| 330 |
|
|
| 331 |
// map blocks above robot (on map) |
|
| 332 |
for(int u = 0; u < 8; u++) |
|
| 333 |
{
|
|
| 334 |
if(u = up_d) {
|
|
| 335 |
map[row-u][col] = (up_d)?WALL:SEEN; |
|
| 336 |
break; |
|
| 337 |
} |
|
| 338 |
map[row-u][col] = SEEN; |
|
| 339 |
} |
|
| 340 |
|
|
| 341 |
// map blocks to right of robot |
|
| 342 |
for(int r = 0; r < 8; r++) |
|
| 343 |
{
|
|
| 344 |
if(r = right_d) {
|
|
| 345 |
map[row][col+r] = (right_d)?WALL:SEEN; |
|
| 346 |
break; |
|
| 347 |
} |
|
| 348 |
map[row][col+r] = SEEN; |
|
| 349 |
} |
|
| 350 |
|
|
| 351 |
// map blocks under robot (on map) |
|
| 352 |
for(int d = 0; d < 8; d++) |
|
| 353 |
{
|
|
| 354 |
if(d = down_d) {
|
|
| 355 |
map[row+d][col] = (down_d)?WALL:SEEN; |
|
| 356 |
break; |
|
| 357 |
} |
|
| 358 |
map[row+d][col] = SEEN; |
|
| 359 |
} |
|
| 360 |
|
|
| 361 |
// map blocks to left of robot |
|
| 362 |
for(int l = 0; l < 8; l++) |
|
| 363 |
{
|
|
| 364 |
if(l = left_d) {
|
|
| 365 |
map[row][col-l] = (left_d)?WALL:SEEN; |
|
| 366 |
break; |
|
| 367 |
} |
|
| 368 |
map[row][col-l] = SEEN; |
|
| 182 |
// matrices for going from robot's frame to base frame |
|
| 183 |
float rightMat[2][2] = {{0, 1}, {-1, 0}};
|
|
| 184 |
float downMat[2][2] = {{-1, 0}, {0, -1}};
|
|
| 185 |
float leftMat[2][2] = {{0, 1}, {1, 0}};
|
|
| 186 |
|
|
| 187 |
// Look to the left (and update map). |
|
| 188 |
float left_distance = readings[0]; // w.r.t. robot |
|
| 189 |
if(left_distance == 0) |
|
| 190 |
return false; |
|
| 191 |
int left_idx = -mm_to_idx(left_distance); // w.r.t. map |
|
| 192 |
// plot to map if indices are valid |
|
| 193 |
if (0 <= left_idx && left_idx < MAP_LENGTH) |
|
| 194 |
map[row][col+left_idx] = SEEN; |
|
| 195 |
|
|
| 196 |
// Look in the other directions (and update map). |
|
| 197 |
for (int i = 24; i < 48; i++) {
|
|
| 198 |
float distance = readings[i]; // w.r.t. robot |
|
| 199 |
if(distance == 0) |
|
| 200 |
return false; |
|
| 201 |
if(distance >= 500) |
|
| 202 |
break; // too far to be accurate |
|
| 203 |
float theta = (M_PI/24)*i - M_PI; |
|
| 204 |
float xDist = distance*cos(theta); // w.r.t. robot |
|
| 205 |
float yDist = distance*sin(theta); // w.r.t. robot |
|
| 206 |
float inputs[2] = {xDist, yDist};
|
|
| 207 |
float *ans; |
|
| 208 |
|
|
| 209 |
// re-orient x and y distances based on direction |
|
| 210 |
switch(dir) {
|
|
| 211 |
case UP: |
|
| 212 |
ans[0] = xDist; |
|
| 213 |
ans[1] = yDist; |
|
| 214 |
break; |
|
| 215 |
case RIGHT: |
|
| 216 |
ans = matrix_mult(inputs, rightMat); |
|
| 217 |
break; |
|
| 218 |
case DOWN: |
|
| 219 |
ans = matrix_mult(inputs, downMat); |
|
| 220 |
break; |
|
| 221 |
case LEFT: |
|
| 222 |
ans = matrix_mult(inputs, leftMat); |
|
| 223 |
break; |
|
| 224 |
} |
|
| 225 |
// indices into the map |
|
| 226 |
int pixDistX = row + mm_to_idx(ans[0]); |
|
| 227 |
int pixDistY = col + mm_to_idx(ans[1]); |
|
| 228 |
// plot to map if indices are valid |
|
| 229 |
if (0 <= pixDistX && pixDistX < MAP_LENGTH |
|
| 230 |
&& 0 <= pixDistY && pixDistY < MAP_LENGTH) |
|
| 231 |
map[pixDistX][pixDistY] = SEEN; |
|
| 369 | 232 |
} |
| 370 |
|
|
| 371 | 233 |
return true; |
| 372 | 234 |
} |
| 373 | 235 |
|
| scout/libscout/src/test_behaviors/smart_runaround.h | ||
|---|---|---|
| 26 | 26 |
#ifndef _SMART_RUNAROUND_H_ |
| 27 | 27 |
#define _SMART_RUNAROUND_H_ |
| 28 | 28 |
|
| 29 |
#include <math.h> |
|
| 29 | 30 |
#include "../behaviors/line_follow.h" |
| 30 | 31 |
/* Details about map: |
| 31 | 32 |
* 1 meter = 200 pixels |
| ... | ... | |
| 45 | 46 |
void run(); |
| 46 | 47 |
private: |
| 47 | 48 |
int choose_direc(int row, int col, int info); |
| 48 |
bool solve(int row, int col, int dir); |
|
| 49 | 49 |
void turn_from_to(int current_dir, int intended_dir); |
| 50 | 50 |
bool look_around(int row, int col, int dir); |
| 51 | 51 |
bool at_destination(); |
| ... | ... | |
| 60 | 60 |
* map even if it starts at a boundary and goes to |
| 61 | 61 |
* the other side. |
| 62 | 62 |
* Rows top to bottom, and columns left to right |
| 63 |
*/ |
|
| 63 |
*/
|
|
| 64 | 64 |
int map[MAP_LENGTH][MAP_LENGTH]; |
| 65 | 65 |
}; |
| 66 | 66 |
#endif |
| scout/scoutsim/src/sim_frame.cpp | ||
|---|---|---|
| 87 | 87 |
|
| 88 | 88 |
wxBitmap lines_bitmap; |
| 89 | 89 |
wxBitmap walls_bitmap; |
| 90 |
ROS_INFO("Loading map: %s", display_map_name.c_str());
|
|
| 90 | 91 |
path_bitmap.LoadFile(wxString::FromAscii(display_map_name.c_str())); |
| 91 | 92 |
|
| 92 | 93 |
// Try to load the file; if it fails, make a new blank file |
Also available in: Unified diff