private bool StepStraight(RRTNode node1, RRTNode node2, double Distance, double Angle)
{
RRTNode start = node1.Clone();
RRTNode end = node2.Clone();
RRTNode lastNode = null;
bool success = true;
//Connect them
for (double i = 0; i <= Distance; i += StepWidthStraight)
{
int NewX = (int)(start.Position.X + i * Math.Cos(Angle));
int NewY = (int)(start.Position.Y + i * Math.Sin(Angle));
if (InternalMap.IsOccupied(NewX, NewY))
{
success = false;
break;
}
RRTNode newNode = null;
if (lastNode == null)
{
newNode = new RRTNode(new System.Drawing.Point(NewX, NewY), node1.Orientation, start);
newNode.Inverted = start.Inverted;
start.Successors.Add(newNode);
}
else
{
newNode = new RRTNode(new System.Drawing.Point(NewX, NewY), node1.Orientation, lastNode);
lastNode.Successors.Add(newNode);
newNode.Inverted = lastNode.Inverted;
}
lastNode = newNode;
}
if (lastNode == null)
{
success = false;
}
//We successfully connected them
if (success)
{
end.Predecessor = lastNode;
lastNode.AddSucessor(end);
if (node1.Predecessor != null)
{
node1.Predecessor.Successors.Clear();
node1.Predecessor.AddSucessor(start);
start.Predecessor = node1.Predecessor;
}
else
{
Console.WriteLine("Node1.Predecessor was null");
}
if (node2.Successors.Count > 0)
{
end.AddSucessor(node2.Successors[0]);
node2.Successors[0].Predecessor = end;
node2.Predecessor = null;
node2.Successors.Clear();
}
else
{
Console.WriteLine("Node2.Successor[0] was null");
}
node1.Successors.Clear();
node2.Successors.Clear();
node2.Predecessor = null;
node1.Predecessor = null;
Path.CalculateLength();
return(true);
}
return(false);
}
/// <summary>
/// Optimize our path so we hit the endpoint
/// </summary>
public void OptimizeForEndPoint()
{
//Go along from then nearest point to the endpoint
RRTNode previous = Path.Start;
Console.WriteLine("Path length before optimization for endpoint: " + Path.Length + " Count: " + Path.CountNodes + " Cost: " + Path.Cost());
Console.WriteLine();
while (previous != null)
{
if (previous == null)
{
break;
}
//Calculate angle delta (angle between orientations) (in degrees)
double delta = previous.Orientation - EndPoint.Orientation;
double angle = RRTHelpers.CalculateAngle(previous, EndPoint);
//Check if the orientation of the selected point is nearly the same as the orientation of the endpoint
//if (Math.Abs(previous.Orientation - EndPoint.Orientation) < AllowedOrientationDeviation * 5 || 180 -Math.Abs(previous.Orientation - EndPoint.Orientation) < AllowedOrientationDeviation * 5 )
if (AnglesAreClose(delta, 0, AllowedOrientationDeviation) && (AnglesAreClose(EndPoint.Orientation, angle * RRTHelpers.ToDegree, MaximumDriftAngle)))
{
//Okey connect them
RRTNode selectedNode = previous;
RRTNode lastNode = null;
//Create a clone we can work on
RRTNode start = selectedNode.Clone();
double Distance = RRTHelpers.CalculateDistance(selectedNode, EndPoint);
if (Math.Abs(RRTHelpers.SanatizeAngle(angle * RRTHelpers.ToDegree)) > this.MaximumDriftAngle)
{
previous = previous.Predecessor;
continue;
}
bool success = true;
//Connect them
for (double i = 0; i <= Distance; i += StepWidthEnd)
{
//Create new point
int NewX = (int)(selectedNode.Position.X + i * Math.Cos(angle));
int NewY = (int)(selectedNode.Position.Y + i * Math.Sin(angle));
//Check if this point is occupied
if (InternalMap.IsOccupied(NewX, NewY))
{
success = false;
break;
}
RRTNode newNode = null;
if (lastNode == null)
{
newNode = new RRTNode(new System.Drawing.Point(NewX, NewY), start.Orientation, start);
start.Successors.Add(newNode);
}
else
{
newNode = new RRTNode(new System.Drawing.Point(NewX, NewY), start.Orientation, lastNode);
lastNode.Successors.Add(newNode);
}
lastNode = newNode;
}
if (lastNode == null)
{
success = false;
}
if (success)
{
Path.Start = lastNode;
//Replace the selectNode with our start node.
start.Predecessor = selectedNode.Predecessor;
selectedNode.Predecessor.Successors.Clear();
selectedNode.Predecessor.AddSucessor(start);
selectedNode.Predecessor = null;
selectedNode.Successors.Clear();
previous = start;
}
}
previous = previous.Predecessor;
}
Path.CalculateLength();
Console.WriteLine("Path length after optimization for endpoint: " + Path.Length + " Count: " + Path.CountNodes + " Cost: " + Path.Cost());
}
private bool StepCurve(RRTNode node1, RRTNode node2, double delta, System.Drawing.Point middle, double radius, double angle, double theta)
{
double outerlength = Math.Abs(delta * RRTHelpers.ToRadians * radius);
double steps = outerlength / StepWidthCurve;
double angleStep = delta / steps;
RRTNode start = node1.Clone();
RRTNode end = node2.Clone();
double beforeLength = 0;
RRTNode temp = node1;
while (temp.Position != end.Position)
{
if (temp == null || temp.Predecessor == null)
{
break;
}
beforeLength += RRTHelpers.CalculateDistance(temp, temp.Predecessor);
temp = temp.Predecessor;
}
RRTNode lastNode = null;
bool success = true;
for (int i = 0; i < (int)steps; i++)
{
int NewX = (int)(middle.X - Math.Cos(RRTHelpers.SanatizeAngle(theta * RRTHelpers.ToDegree + i * angleStep) * RRTHelpers.ToRadians) * radius);
int NewY = (int)(middle.Y - Math.Sin(RRTHelpers.SanatizeAngle(theta * RRTHelpers.ToDegree + i * angleStep) * RRTHelpers.ToRadians) * radius);
double NewOrientation = RRTHelpers.SanatizeAngle(node1.Orientation + i * angleStep);
if (InternalMap.IsOccupied(NewX, NewY))
{
success = false;
break;
}
RRTNode newNode = null;
if (lastNode == null)
{
newNode = new RRTNode(new System.Drawing.Point(NewX, NewY), NewOrientation, start);
newNode.Inverted = start.Inverted;
start.Successors.Add(newNode);
}
else
{
newNode = new RRTNode(new System.Drawing.Point(NewX, NewY), NewOrientation, lastNode);
lastNode.Successors.Add(newNode);
newNode.Inverted = lastNode.Inverted;
//RRTHelpers.DrawImportantNode (newNode, InternalMap, 5, Color.DarkOrange);
}
lastNode = newNode;
}
if (lastNode == null)
{
success = false;
}
//We successfully connected them
if (success)
{
double afterLength = 0;
temp = lastNode;
while (temp.Position != end.Position)
{
if (temp == null || temp.Predecessor == null)
{
break;
}
afterLength += RRTHelpers.CalculateDistance(temp, temp.Predecessor);
temp = temp.Predecessor;
}
if (afterLength > beforeLength)
{
return(false);
}
end.Predecessor = lastNode;
lastNode.AddSucessor(end);
if (node1.Predecessor != null)
{
node1.Predecessor.Successors.Clear();
node1.Predecessor.AddSucessor(start);
start.Predecessor = node1.Predecessor;
}
else
{
Console.WriteLine("Node1.Predecessor was null");
}
if (node2.Successors.Count > 0)
{
end.AddSucessor(node2.Successors[0]);
node2.Successors[0].Predecessor = end;
node2.Predecessor = null;
node2.Successors.Clear();
}
else
{
Console.WriteLine("Node2.Successor[0] was null");
}
node1.Successors.Clear();
node2.Successors.Clear();
node2.Predecessor = null;
node1.Predecessor = null;
Path.CalculateLength();
return(true);
}
return(false);
}
/// <summary>
/// Determins if the given point is valid
/// </summary>
/// <returns><c>true</c>, if valid was pointed, <c>false</c> otherwise.</returns>
/// <param name="_Point">Point.</param>
private bool PointValid(Point _Point)
{
return(InternalMap.IsOccupied(_Point.X, _Point.Y));
}
