Revision 4c9fb6ba
Update smart_runaround and add old files.
| 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 |
{
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| 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 |
|
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* is labeled "info" on map. Searches clockwise |
|
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* starting at up. Returns -1 if no direction valid. |
|
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*/ |
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int smart_runaround::choose_direc(int row, int col, int info) |
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float *matrix_mult(float inputs[2], float matrix[2][2]) |
|
| 75 | 72 |
{
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| 76 |
if (map[row-1][col] == info) |
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return UP; |
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else if (map[row][col+1] == info) |
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return RIGHT; |
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| 80 |
else if (map[row+1][col] == info) |
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| 81 |
return DOWN; |
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else if (map[row][col-1] == info) |
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| 83 |
return LEFT; |
|
| 84 |
return -1; |
|
| 73 |
float newX = matrix[0][0]*inputs[0]+matrix[0][1]*inputs[1]; |
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float newY = matrix[1][0]*inputs[0]+matrix[1][1]*inputs[1]; |
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float output[2] = {newX, newY};
|
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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 |
|
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//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 |
{
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// 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); |
|
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/*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 |
|
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// NOT CURRENTLY USED!!! |
|
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bool smart_runaround::solve(int row, int col, int dir) |
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/* return a direction (if any) where adjacent block |
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* is labeled "info" on map. Searches clockwise |
|
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* starting at up. Returns -1 if no direction valid. |
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*/ |
|
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int smart_runaround::choose_direc(int row, int col, int info) |
|
| 145 | 139 |
{
|
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int initial_dir = dir; |
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|
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ROS_INFO("I am at direction %d", dir);
|
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|
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// use backtracking to solve the maze |
|
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if (at_destination()) |
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return true; |
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|
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// Wait for sonar to update. |
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sonar_update_time2.sleep(); |
|
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|
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// this function should fill the adjacent cells around me with |
|
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// wall's or paths |
|
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while(!look_around(row, col, dir) && ok()) |
|
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{
|
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spinOnce(); |
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} |
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|
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/* try go up */ |
|
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if (map[row-1][col] != WALL && initial_dir != UP) |
|
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{
|
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ROS_INFO("GOING UP!");
|
|
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// Turn up. |
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turn_from_to(dir, UP); |
|
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follow_line(); |
|
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// Solve recursively. |
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bool solved = solve(row-1, col, DOWN); |
|
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if (solved) |
|
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{
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return solved; |
|
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} |
|
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else |
|
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{
|
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//Update where we are. |
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dir = UP; |
|
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} |
|
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} |
|
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/* try right */ |
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if (map[row][col+1] != WALL && initial_dir != RIGHT) |
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{
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ROS_INFO("GOING RIGHT!");
|
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// Turn right. |
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turn_from_to(dir, RIGHT); |
|
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follow_line(); |
|
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// Solve recursively. |
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bool solved = solve(row, col+1, LEFT); |
|
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if (solved) |
|
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{
|
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return solved; |
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} |
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else |
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{
|
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//Update where we are. |
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dir = RIGHT; |
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} |
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} |
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/* try down */ |
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if (map[row+1][col] != WALL && initial_dir != DOWN) |
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{
|
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ROS_INFO("GOING DOWN!");
|
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// Turn down. |
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turn_from_to(dir, DOWN); |
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follow_line(); |
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// Solve recursively. |
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bool solved = solve(row+1, col, UP); |
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if (solved) |
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{
|
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return solved; |
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} |
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else |
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{
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//Update where we are. |
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dir = DOWN; |
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} |
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} |
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/* try left */ |
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if (map[row][col-1] != WALL && initial_dir != LEFT) |
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{
|
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ROS_INFO("GOING LEFT!");
|
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// Turn down. |
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turn_from_to(dir, LEFT); |
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follow_line(); |
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// Solve recursively. |
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bool solved = solve(row, col-1, RIGHT); |
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if (solved) |
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{
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return solved; |
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} |
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else |
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{
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//Update where we are. |
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dir = LEFT; |
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} |
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} |
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|
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ROS_INFO("DEAD END FOUND, TURNING BACK.");
|
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// we have exhausted all the options. This path is clearly a |
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// dead end. go back to where we come from and return false. |
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turn_from_to(dir, initial_dir); |
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follow_line(); |
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return false; |
|
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if (map[row-1][col] == info) |
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return UP; |
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else if (map[row][col+1] == info) |
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return RIGHT; |
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else if (map[row+1][col] == info) |
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return DOWN; |
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else if (map[row][col-1] == info) |
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return LEFT; |
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return -1; |
|
| 247 | 149 |
} |
| 248 | 150 |
|
| 249 | 151 |
/* this function takes in the current direction, |
| ... | ... | |
| 267 | 169 |
} |
| 268 | 170 |
} |
| 269 | 171 |
|
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/* Purpose: look front, left, and right using sonar, and update |
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* map accordingly. Returns true if and only if sonar is initialized. |
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*/ |
|
| 270 | 175 |
bool smart_runaround::look_around(int row, int col, int dir) |
| 271 | 176 |
{
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// look around current place using sonar |
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// store whether or not |
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// there is a wall into the map |
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// stores at row col 2 if point is critical, 1 otherwise |
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|
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| 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 |
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// Look to the left. |
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float left_distance = readings[0]/1000.0; |
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int left_idx = m_to_idx(left_distance); |
|
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// Look to the front. |
|
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float front_distance = readings[36]/1000.0; |
|
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int front_idx = m_to_idx(front_distance); |
|
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// Look to the right. |
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float right_distance = readings[24]/1000.0; |
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int right_idx = m_to_idx(right_distance); |
|
| 292 |
|
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ROS_INFO("front: %d left: %d right: %d", front_distance, left_distance, right_distance);
|
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if (right_distance == 0 || front_distance == 0 || left_distance == 0) |
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return false; |
|
| 296 |
|
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// determine relative distances on map, based on robot position |
|
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int up_d, right_d, down_d, left_d; |
|
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// determine upward distance |
|
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switch (dir) |
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{
|
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case UP: |
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up_d = front_idx; |
|
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right_d = right_idx; |
|
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down_d = 0; // unknown |
|
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left_d = left_idx; |
|
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break; |
|
| 308 |
case RIGHT: |
|
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up_d = left_idx; |
|
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right_d = front_idx; |
|
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down_d = right_idx; |
|
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left_d = 0; // unknown |
|
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break; |
|
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case DOWN: |
|
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up_d = 0; // unknown |
|
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right_d = left_idx; |
|
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down_d = front_idx; |
|
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left_d = right_idx; |
|
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break; |
|
| 320 |
case LEFT: |
|
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up_d = right_idx; |
|
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right_d = 0; // unknown |
|
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down_d = left_idx; |
|
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left_d = front_idx; |
|
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break; |
|
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} |
|
| 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) |
|
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for(int u = 0; u < 8; u++) |
|
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{
|
|
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if(u = up_d) {
|
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map[row-u][col] = (up_d)?WALL:SEEN; |
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break; |
|
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} |
|
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map[row-u][col] = SEEN; |
|
| 339 |
} |
|
| 340 |
|
|
| 341 |
// map blocks to right of robot |
|
| 342 |
for(int r = 0; r < 8; r++) |
|
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{
|
|
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if(r = right_d) {
|
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map[row][col+r] = (right_d)?WALL:SEEN; |
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break; |
|
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} |
|
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map[row][col+r] = SEEN; |
|
| 349 |
} |
|
| 350 |
|
|
| 351 |
// map blocks under robot (on map) |
|
| 352 |
for(int d = 0; d < 8; d++) |
|
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{
|
|
| 354 |
if(d = down_d) {
|
|
| 355 |
map[row+d][col] = (down_d)?WALL:SEEN; |
|
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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 |
|
Also available in: Unified diff