update

.idea/.gitignore

@@ -1,3 +1,3 @@
+
 # Default ignored files
-/shelf/
-/workspace.xml
+/workspace.xml

.idea/inspectionProfiles/profiles_settings.xml

@@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>

.idea/misc.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7" project-jdk-type="Python SDK" />
-</project>

.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/path-planning-algorithms.iml" filepath="$PROJECT_DIR$/.idea/path-planning-algorithms.iml" />
-    </modules>
-  </component>
-</project>

.idea/path-planning-algorithms.iml

@@ -1,11 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="jdk" jdkName="Python 3.7" jdkType="Python SDK" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-  <component name="PyDocumentationSettings">
-    <option name="myDocStringFormat" value="Plain" />
-  </component>
-</module>

.idea/vcs.xml

@@ -1,7 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$" vcs="Git" />
-    <mapping directory="$PROJECT_DIR$/CurvesGenerator" vcs="Git" />
-  </component>
-</project>

CurvesGenerator/dubins_path.py

@@ -6,7 +6,7 @@ import math
 import numpy as np
 import matplotlib.pyplot as plt
 from scipy.spatial.transform import Rotation as Rot
-import draw
+import CurvesGenerator.draw as draw
 
 
 # class for PATH element

Sampling_based_Planning/.idea/.gitignore

@@ -1,3 +0,0 @@
-# Default ignored files
-/shelf/
-/workspace.xml

Sampling_based_Planning/.idea/Sampling-based Planning.iml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="jdk" jdkName="Python 3.7" jdkType="Python SDK" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>

Sampling_based_Planning/.idea/dictionaries/zhou.xml

@@ -1,8 +0,0 @@
-<component name="ProjectDictionaryState">
-  <dictionary name="zhou">
-    <words>
-      <w>huiming</w>
-      <w>zhou</w>
-    </words>
-  </dictionary>
-</component>

Sampling_based_Planning/.idea/inspectionProfiles/profiles_settings.xml

@@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>

Sampling_based_Planning/.idea/misc.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7" project-jdk-type="Python SDK" />
-</project>

Sampling_based_Planning/.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/Sampling-based Planning.iml" filepath="$PROJECT_DIR$/.idea/Sampling-based Planning.iml" />
-    </modules>
-  </component>
-</project>

Sampling_based_Planning/.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
-  </component>
-</project>

Sampling_based_Planning/rrt_2D/dubins_rrt_star.py

@@ -17,6 +17,7 @@ sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
 
 from Sampling_based_Planning.rrt_2D import env, plotting, utils
 import CurvesGenerator.dubins_path as dubins
+import CurvesGenerator.draw as draw
 
 
 class Node:
@@ -24,23 +25,24 @@ class Node:
         self.x = x
         self.y = y
         self.yaw = yaw
+        self.parent = None
+        self.cost = 0.0
         self.path_x = []
         self.path_y = []
         self.paty_yaw = []
-        self.parent = None
-        self.cost = 0.0
 
 
-class RrtStarSmart:
-    def __init__(self, sx, sy, syaw, gx, gy, gyaw, step_len,
+class DubinsRRTStar:
+    def __init__(self, sx, sy, syaw, gx, gy, gyaw, vehicle_radius, step_len,
                  goal_sample_rate, search_radius, iter_max):
         self.s_start = Node(sx, sy, syaw)
         self.s_goal = Node(gx, gy, gyaw)
+        self.vr = vehicle_radius
         self.step_len = step_len
         self.goal_sample_rate = goal_sample_rate
         self.search_radius = search_radius
         self.iter_max = iter_max
-        self.curv = 1.0
+        self.curv = 1
 
         self.env = env.Env()
         self.utils = utils.Utils()
@@ -49,9 +51,271 @@ class RrtStarSmart:
         self.delta = self.utils.delta
         self.x_range = self.env.x_range
         self.y_range = self.env.y_range
-        self.obs_circle = self.env.obs_circle
-        self.obs_rectangle = self.env.obs_rectangle
+        self.obs_circle = self.obs_circle()
         self.obs_boundary = self.env.obs_boundary
+        self.utils.update_obs(self.obs_circle, self.obs_boundary, [])
 
         self.V = [self.s_start]
         self.path = None
+
+    def planning(self):
+
+        for i in range(self.iter_max):
+            print("Iter:", i, ", number of nodes:", len(self.V))
+            rnd = self.Sample()
+            node_nearest = self.Nearest(self.V, rnd)
+            new_node = self.Steer(node_nearest, rnd)
+
+            if new_node and not self.is_collision(new_node):
+                near_indexes = self.Near(self.V, new_node)
+                new_node = self.choose_parent(new_node, near_indexes)
+
+                if new_node:
+                    self.V.append(new_node)
+                    self.rewire(new_node, near_indexes)
+
+            if i % 5 == 0:
+                self.draw_graph()
+
+        last_index = self.search_best_goal_node()
+
+        path = self.generate_final_course(last_index)
+        print("get!")
+        px = [s[0] for s in path]
+        py = [s[1] for s in path]
+        plt.plot(px, py, '-r')
+        plt.pause(0.01)
+        plt.show()
+
+    def draw_graph(self, rnd=None):
+        plt.cla()
+        # for stopping simulation with the esc key.
+        plt.gcf().canvas.mpl_connect('key_release_event',
+                                     lambda event: [exit(0) if event.key == 'escape' else None])
+        for node in self.V:
+            if node.parent:
+                plt.plot(node.path_x, node.path_y, "-g")
+
+        self.plot_grid("dubins rrt*")
+        plt.plot(self.s_start.x, self.s_start.y, "xr")
+        plt.plot(self.s_goal.x, self.s_goal.y, "xr")
+        plt.grid(True)
+        self.plot_start_goal_arrow()
+        plt.pause(0.01)
+
+    def plot_start_goal_arrow(self):
+        draw.Arrow(self.s_start.x, self.s_start.y, self.s_start.yaw, 2, "darkorange")
+        draw.Arrow(self.s_goal.x, self.s_goal.y, self.s_goal.yaw, 2, "darkorange")
+
+    def generate_final_course(self, goal_index):
+        print("final")
+        path = [[self.s_goal.x, self.s_goal.y]]
+        node = self.V[goal_index]
+        while node.parent:
+            for (ix, iy) in zip(reversed(node.path_x), reversed(node.path_y)):
+                path.append([ix, iy])
+            node = node.parent
+        path.append([self.s_start.x, self.s_start.y])
+        return path
+
+    def calc_dist_to_goal(self, x, y):
+        dx = x - self.s_goal.x
+        dy = y - self.s_goal.y
+        return math.hypot(dx, dy)
+
+    def search_best_goal_node(self):
+        dist_to_goal_list = [self.calc_dist_to_goal(n.x, n.y) for n in self.V]
+        goal_inds = [dist_to_goal_list.index(i) for i in dist_to_goal_list if i <= self.step_len]
+
+        safe_goal_inds = []
+        for goal_ind in goal_inds:
+            t_node = self.Steer(self.V[goal_ind], self.s_goal)
+            if t_node and not self.is_collision(t_node):
+                safe_goal_inds.append(goal_ind)
+
+        if not safe_goal_inds:
+            return None
+
+        min_cost = min([self.V[i].cost for i in safe_goal_inds])
+        for i in safe_goal_inds:
+            if self.V[i].cost == min_cost:
+                return i
+
+        return None
+
+    def rewire(self, new_node, near_inds):
+        for i in near_inds:
+            near_node = self.V[i]
+            edge_node = self.Steer(new_node, near_node)
+            if not edge_node:
+                continue
+            edge_node.cost = self.calc_new_cost(new_node, near_node)
+
+            no_collision = ~self.is_collision(edge_node)
+            improved_cost = near_node.cost > edge_node.cost
+
+            if no_collision and improved_cost:
+                self.V[i] = edge_node
+                self.propagate_cost_to_leaves(new_node)
+
+    def choose_parent(self, new_node, near_inds):
+        if not near_inds:
+            return None
+
+        costs = []
+        for i in near_inds:
+            near_node = self.V[i]
+            t_node = self.Steer(near_node, new_node)
+            if t_node and not self.is_collision(t_node):
+                costs.append(self.calc_new_cost(near_node, new_node))
+            else:
+                costs.append(float("inf"))  # the cost of collision node
+        min_cost = min(costs)
+
+        if min_cost == float("inf"):
+            print("There is no good path.(min_cost is inf)")
+            return None
+
+        min_ind = near_inds[costs.index(min_cost)]
+        new_node = self.Steer(self.V[min_ind], new_node)
+
+        return new_node
+
+    def calc_new_cost(self, from_node, to_node):
+        d, _ = self.get_distance_and_angle(from_node, to_node)
+        return from_node.cost + d
+
+    def propagate_cost_to_leaves(self, parent_node):
+        for node in self.V:
+            if node.parent == parent_node:
+                node.cost = self.calc_new_cost(parent_node, node)
+                self.propagate_cost_to_leaves(node)
+
+    @staticmethod
+    def get_distance_and_angle(node_start, node_end):
+        dx = node_end.x - node_start.x
+        dy = node_end.y - node_start.y
+        return math.hypot(dx, dy), math.atan2(dy, dx)
+
+    def Near(self, nodelist, node):
+        n = len(nodelist) + 1
+        r = min(self.search_radius * math.sqrt((math.log(n)) / n), self.step_len)
+
+        dist_table = [(nd.x - node.x) ** 2 + (nd.y - node.y) ** 2 for nd in nodelist]
+        node_near_ind = [ind for ind in range(len(dist_table)) if dist_table[ind] <= r ** 2]
+
+        return node_near_ind
+
+    def Steer(self, node_start, node_end):
+        sx, sy, syaw = node_start.x, node_start.y, node_start.yaw
+        gx, gy, gyaw = node_end.x, node_end.y, node_end.yaw
+        maxc = self.curv
+
+        path = dubins.calc_dubins_path(sx, sy, syaw, gx, gy, gyaw, maxc)
+
+        if len(path.x) <= 1:
+            return None
+
+        node_new = Node(path.x[-1], path.y[-1], path.yaw[-1])
+        node_new.path_x = path.x
+        node_new.path_y = path.y
+        node_new.path_yaw = path.yaw
+        node_new.cost = node_start.cost + path.L
+        node_new.parent = node_start
+
+        return node_new
+
+    def Sample(self):
+        delta = self.utils.delta
+
+        if random.random() > self.goal_sample_rate:
+            return Node(random.uniform(self.x_range[0] + delta, self.x_range[1] - delta),
+                        random.uniform(self.y_range[0] + delta, self.y_range[1] - delta),
+                        random.uniform(-math.pi, math.pi))
+        else:
+            return self.s_goal
+
+    @staticmethod
+    def Nearest(nodelist, n):
+        return nodelist[int(np.argmin([(nd.x - n.x) ** 2 + (nd.y - n.y) ** 2
+                                       for nd in nodelist]))]
+
+    def is_collision(self, node):
+        for ox, oy, r in self.obs_circle:
+            dx = [ox - x for x in node.path_x]
+            dy = [oy - y for y in node.path_y]
+            dist = np.hypot(dx, dy)
+
+            if min(dist) < r + self.delta:
+                return True
+
+        return False
+
+    def animation(self):
+        self.plot_grid("dubins rrt*")
+        self.plot_arrow()
+        plt.show()
+
+    def plot_arrow(self):
+        draw.Arrow(self.s_start.x, self.s_start.y, self.s_start.yaw, 2.5, "darkorange")
+        draw.Arrow(self.s_goal.x, self.s_goal.y, self.s_goal.yaw, 2.5, "darkorange")
+
+    def plot_grid(self, name):
+
+        for (ox, oy, w, h) in self.obs_boundary:
+            self.ax.add_patch(
+                patches.Rectangle(
+                    (ox, oy), w, h,
+                    edgecolor='black',
+                    facecolor='black',
+                    fill=True
+                )
+            )
+
+        for (ox, oy, r) in self.obs_circle:
+            self.ax.add_patch(
+                patches.Circle(
+                    (ox, oy), r,
+                    edgecolor='black',
+                    facecolor='gray',
+                    fill=True
+                )
+            )
+
+        plt.plot(self.s_start.x, self.s_start.y, "bs", linewidth=3)
+        plt.plot(self.s_goal.x, self.s_goal.y, "gs", linewidth=3)
+
+        plt.title(name)
+        plt.axis("equal")
+
+    @staticmethod
+    def obs_circle():
+        obs_cir = [
+            [10, 10, 3],
+            [15, 22, 3],
+            [22, 8, 2.5],
+            [26, 16, 2],
+            [37, 10, 3],
+            [37, 23, 3],
+            [45, 15, 2]
+        ]
+
+        return obs_cir
+
+
+def main():
+    sx, sy, syaw = 5, 5, np.deg2rad(90)
+    gx, gy, gyaw = 45, 25, np.deg2rad(0)
+    goal_sample_rate = 0.1
+    search_radius = 50.0
+    step_len = 30.0
+    iter_max = 250
+    vehicle_radius = 2.0
+
+    drrtstar = DubinsRRTStar(sx, sy, syaw, gx, gy, gyaw, vehicle_radius, step_len,
+                             goal_sample_rate, search_radius, iter_max)
+    drrtstar.planning()
+
+
+if __name__ == '__main__':
+    main()

Search_based_Planning/.idea/Search-based Planning.iml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<module type="PYTHON_MODULE" version="4">
-  <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="jdk" jdkName="Python 3.7" jdkType="Python SDK" />
-    <orderEntry type="sourceFolder" forTests="false" />
-  </component>
-</module>

Search_based_Planning/.idea/dictionaries/Huiming_Zhou.xml

@@ -1,10 +0,0 @@
-<component name="ProjectDictionaryState">
-  <dictionary name="Huiming Zhou">
-    <words>
-      <w>astar</w>
-      <w>dijk</w>
-      <w>huiming</w>
-      <w>zhou</w>
-    </words>
-  </dictionary>
-</component>

Search_based_Planning/.idea/inspectionProfiles/profiles_settings.xml

@@ -1,6 +0,0 @@
-<component name="InspectionProjectProfileManager">
-  <settings>
-    <option name="USE_PROJECT_PROFILE" value="false" />
-    <version value="1.0" />
-  </settings>
-</component>

Search_based_Planning/.idea/misc.xml

@@ -1,4 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.7" project-jdk-type="Python SDK" />
-</project>

Search_based_Planning/.idea/modules.xml

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="ProjectModuleManager">
-    <modules>
-      <module fileurl="file://$PROJECT_DIR$/.idea/Search-based Planning.iml" filepath="$PROJECT_DIR$/.idea/Search-based Planning.iml" />
-    </modules>
-  </component>
-</project>

Search_based_Planning/.idea/vcs.xml

@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="VcsDirectoryMappings">
-    <mapping directory="$PROJECT_DIR$/.." vcs="Git" />
-  </component>
-</project>

Search_based_Planning/.idea/workspace.xml

@@ -1,293 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<project version="4">
-  <component name="BranchesTreeState">
-    <expand>
-      <path>
-        <item name="ROOT" type="e8cecc67:BranchNodeDescriptor" />
-        <item name="LOCAL_ROOT" type="e8cecc67:BranchNodeDescriptor" />
-      </path>
-      <path>
-        <item name="ROOT" type="e8cecc67:BranchNodeDescriptor" />
-        <item name="REMOTE_ROOT" type="e8cecc67:BranchNodeDescriptor" />
-      </path>
-      <path>
-        <item name="ROOT" type="e8cecc67:BranchNodeDescriptor" />
-        <item name="REMOTE_ROOT" type="e8cecc67:BranchNodeDescriptor" />
-        <item name="GROUP_NODE:origin" type="e8cecc67:BranchNodeDescriptor" />
-      </path>
-    </expand>
-    <select />
-  </component>
-  <component name="ChangeListManager">
-    <list default="true" id="025aff36-a6aa-4945-ab7e-b2c625055f47" name="Default Changelist" comment="">
-      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-    </list>
-    <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
-    <option name="SHOW_DIALOG" value="false" />
-    <option name="HIGHLIGHT_CONFLICTS" value="true" />
-    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
-    <option name="LAST_RESOLUTION" value="IGNORE" />
-  </component>
-  <component name="FileTemplateManagerImpl">
-    <option name="RECENT_TEMPLATES">
-      <list>
-        <option value="Python Script" />
-      </list>
-    </option>
-  </component>
-  <component name="Git.Settings">
-    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$/.." />
-  </component>
-  <component name="ProjectId" id="1dQBIivqkvFljqtAc1O2MqInYWf" />
-  <component name="ProjectLevelVcsManager" settingsEditedManually="true">
-    <ConfirmationsSetting value="2" id="Add" />
-  </component>
-  <component name="ProjectViewState">
-    <option name="hideEmptyMiddlePackages" value="true" />
-    <option name="showLibraryContents" value="true" />
-  </component>
-  <component name="PropertiesComponent">
-    <property name="ASKED_ADD_EXTERNAL_FILES" value="true" />
-    <property name="RunOnceActivity.OpenProjectViewOnStart" value="true" />
-    <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
-    <property name="last_opened_file_path" value="$PROJECT_DIR$" />
-    <property name="restartRequiresConfirmation" value="false" />
-    <property name="run.code.analysis.last.selected.profile" value="aDefault" />
-    <property name="settings.editor.selected.configurable" value="com.jetbrains.python.configuration.PyActiveSdkModuleConfigurable" />
-  </component>
-  <component name="RecentsManager">
-    <key name="MoveFile.RECENT_KEYS">
-      <recent name="C:\Users\Huiming Zhou\Desktop\path planning algorithms\Search-based Planning\Search_2D" />
-    </key>
-  </component>
-  <component name="RunDashboard">
-    <option name="ruleStates">
-      <list>
-        <RuleState>
-          <option name="name" value="ConfigurationTypeDashboardGroupingRule" />
-        </RuleState>
-        <RuleState>
-          <option name="name" value="StatusDashboardGroupingRule" />
-        </RuleState>
-      </list>
-    </option>
-  </component>
-  <component name="RunManager" selected="Python.best_first">
-    <configuration name="ARAstar" type="PythonConfigurationType" factoryName="Python" temporary="true">
-      <module name="Search-based Planning" />
-      <option name="INTERPRETER_OPTIONS" value="" />
-      <option name="PARENT_ENVS" value="true" />
-      <envs>
-        <env name="PYTHONUNBUFFERED" value="1" />
-      </envs>
-      <option name="SDK_HOME" value="" />
-      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/Search_2D" />
-      <option name="IS_MODULE_SDK" value="true" />
-      <option name="ADD_CONTENT_ROOTS" value="true" />
-      <option name="ADD_SOURCE_ROOTS" value="true" />
-      <option name="SCRIPT_NAME" value="$PROJECT_DIR$/Search_2D/ARAstar.py" />
-      <option name="PARAMETERS" value="" />
-      <option name="SHOW_COMMAND_LINE" value="false" />
-      <option name="EMULATE_TERMINAL" value="false" />
-      <option name="MODULE_MODE" value="false" />
-      <option name="REDIRECT_INPUT" value="false" />
-      <option name="INPUT_FILE" value="" />
-      <method v="2" />
-    </configuration>
-    <configuration name="D_star_Lite" type="PythonConfigurationType" factoryName="Python" temporary="true">
-      <module name="Search-based Planning" />
-      <option name="INTERPRETER_OPTIONS" value="" />
-      <option name="PARENT_ENVS" value="true" />
-      <envs>
-        <env name="PYTHONUNBUFFERED" value="1" />
-      </envs>
-      <option name="SDK_HOME" value="" />
-      <option name="WORKING_DIRECTORY" value="$PROJECT_DIR$/Search_2D" />
-      <option name="IS_MODULE_SDK" value="true" />
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