public LinePath LinearizeCenterLine(LinearizationOptions options)
{
LinePath transformedPath = path;
if (options.Timestamp.IsValid)
{
RelativeTransform relTransform = Services.RelativePose.GetTransform(timestamp, options.Timestamp);
OperationalTrace.WriteVerbose("in LinearizeCenterLine, tried to find {0}->{1}, got {2}->{3}", timestamp, options.Timestamp, relTransform.OriginTimestamp, relTransform.EndTimestamp);
transformedPath = path.Transform(relTransform);
}
LinePath.PointOnPath startPoint = transformedPath.AdvancePoint(path.ZeroPoint, options.StartDistance);
LinePath subPath = new LinePath();;
if (options.EndDistance > options.StartDistance)
{
subPath = transformedPath.SubPath(startPoint, options.EndDistance - options.StartDistance);
}
if (subPath.Count < 2)
{
subPath.Clear();
Coordinates startPt = path.GetPoint(startPoint);
subPath.Add(startPt);
subPath.Add(path.GetSegment(startPoint.Index).UnitVector *Math.Max(options.EndDistance - options.StartDistance, 0.1) + startPt);
}
return(subPath);
}
public Coordinates[] VehiclePoints(SimVehicleState svs)
{
Polygon p = VehiclePolygon(svs);
LinePath lp = new LinePath(p);
LinePath.PointOnPath c = lp.StartPoint;
List <Coordinates> cs = new List <Coordinates>();
while (!c.Equals(lp.EndPoint))
{
cs.Add(lp.GetPoint(c));
c = lp.AdvancePoint(c, 0.1);
}
return(cs.ToArray());
}
/// <summary>
/// Gets the closest component to a location
/// </summary>
/// <param name="loc"></param>
/// <returns></returns>
public SLComponentType ClosestComponent(Coordinates loc)
{
LinePath iLp = this.InitialPath(loc);
double init = iLp.GetPoint(iLp.GetClosestPoint(loc)).DistanceTo(loc);
LinePath fLp = this.FinalPath(loc);
double fin = fLp.GetPoint(fLp.GetClosestPoint(loc)).DistanceTo(loc);
double inter = Interconnect.DistanceTo(loc);
if (init < inter && init < fin)
{
return(SLComponentType.Initial);
}
else if (fin < inter && fin < init)
{
return(SLComponentType.Final);
}
else
{
return(SLComponentType.Interconnect);
}
}
public void Process(object param)
{
if (cancelled)
{
return;
}
DateTime start = HighResDateTime.Now;
OperationalVehicleState vs = Services.StateProvider.GetVehicleState();
LinePath curBasePath = basePath;
LinePath curLeftBound = leftBound;
LinePath curRightBound = rightBound;
// transform the base path to the current iteration
CarTimestamp curTimestamp = Services.RelativePose.CurrentTimestamp;
if (pathTime != curTimestamp)
{
RelativeTransform relTransform = Services.RelativePose.GetTransform(pathTime, curTimestamp);
curBasePath = curBasePath.Transform(relTransform);
curLeftBound = curLeftBound.Transform(relTransform);
curRightBound = curRightBound.Transform(relTransform);
}
// get the distance between the zero point and the start point
double distToStart = Coordinates.Zero.DistanceTo(curBasePath.GetPoint(curBasePath.StartPoint));
// get the sub-path between 5 and 25 meters ahead
double startDist = TahoeParams.FL;
LinePath.PointOnPath startPoint = curBasePath.AdvancePoint(curBasePath.ZeroPoint, ref startDist);
double endDist = 30;
LinePath.PointOnPath endPoint = curBasePath.AdvancePoint(startPoint, ref endDist);
if (startDist > 0)
{
// we've reached the end
Services.BehaviorManager.Execute(new HoldBrakeBehavior(), null, false);
return;
}
// get the sub-path
LinePath subPath = curBasePath.SubPath(startPoint, endPoint);
// add (0,0) as the starting point
subPath.Insert(0, new Coordinates(0, 0));
// do the same for the left, right bound
startDist = TahoeParams.FL;
endDist = 40;
startPoint = curLeftBound.AdvancePoint(curLeftBound.ZeroPoint, startDist);
endPoint = curLeftBound.AdvancePoint(startPoint, endDist);
curLeftBound = curLeftBound.SubPath(startPoint, endPoint);
startPoint = curRightBound.AdvancePoint(curRightBound.ZeroPoint, startDist);
endPoint = curRightBound.AdvancePoint(startPoint, endDist);
curRightBound = curRightBound.SubPath(startPoint, endPoint);
if (cancelled)
{
return;
}
Services.UIService.PushRelativePath(subPath, curTimestamp, "subpath");
Services.UIService.PushRelativePath(curLeftBound, curTimestamp, "left bound");
Services.UIService.PushRelativePath(curRightBound, curTimestamp, "right bound");
// run a path smoothing iteration
lock (this) {
planner = new PathPlanner();
}
////////////////////////////////////////////////////////////////////////////////////////////////////
// start of obstacle manager - hik
bool obstacleManagerEnable = true;
PathPlanner.SmoothingResult result;
if (obstacleManagerEnable == true)
{
// generate fake obstacles (for simulation testing only)
double obsSize = 10.5 / 2;
List <Coordinates> obstaclePoints = new List <Coordinates>();
List <Obstacle> obstacleClusters = new List <Obstacle>();
// fake left obstacles (for simulation only)
int totalLeftObstacles = Math.Min(0, curLeftBound.Count - 1);
for (int i = 0; i < totalLeftObstacles; i++)
{
obstaclePoints.Clear();
obstaclePoints.Add(curLeftBound[i] + new Coordinates(obsSize, obsSize));
obstaclePoints.Add(curLeftBound[i] + new Coordinates(obsSize, -obsSize));
obstaclePoints.Add(curLeftBound[i] + new Coordinates(-obsSize, -obsSize));
obstaclePoints.Add(curLeftBound[i] + new Coordinates(-obsSize, obsSize));
obstacleClusters.Add(new Obstacle());
obstacleClusters[obstacleClusters.Count - 1].obstaclePolygon = new Polygon(obstaclePoints);
}
// fake right obstacles (for simulation only)
int totalRightObstacles = Math.Min(0, curRightBound.Count - 1);
for (int i = 0; i < totalRightObstacles; i++)
{
obstaclePoints.Clear();
obstaclePoints.Add(curRightBound[i] + new Coordinates(obsSize, obsSize));
obstaclePoints.Add(curRightBound[i] + new Coordinates(obsSize, -obsSize));
obstaclePoints.Add(curRightBound[i] + new Coordinates(-obsSize, -obsSize));
obstaclePoints.Add(curRightBound[i] + new Coordinates(-obsSize, obsSize));
obstacleClusters.Add(new Obstacle());
obstacleClusters[obstacleClusters.Count - 1].obstaclePolygon = new Polygon(obstaclePoints);
}
// fake center obstacles (for simulation only)
int totalCenterObstacles = Math.Min(0, subPath.Count - 1);
for (int i = 2; i < totalCenterObstacles; i++)
{
obstaclePoints.Clear();
obstaclePoints.Add(subPath[i] + new Coordinates(obsSize, obsSize));
obstaclePoints.Add(subPath[i] + new Coordinates(obsSize, -obsSize));
obstaclePoints.Add(subPath[i] + new Coordinates(-obsSize, -obsSize));
obstaclePoints.Add(subPath[i] + new Coordinates(-obsSize, obsSize));
obstacleClusters.Add(new Obstacle());
obstacleClusters[obstacleClusters.Count - 1].obstaclePolygon = new Polygon(obstaclePoints);
}
obstaclePoints.Clear();
obstaclePoints.Add(new Coordinates(10000, 10000));
obstaclePoints.Add(new Coordinates(10000, 10001));
obstaclePoints.Add(new Coordinates(10001, 10000));
obstacleClusters.Add(new Obstacle());
obstacleClusters[obstacleClusters.Count - 1].obstaclePolygon = new Polygon(obstaclePoints);
obstaclePoints.Clear();
obstaclePoints.Add(new Coordinates(1000, 1000));
obstaclePoints.Add(new Coordinates(1000, 1001));
obstaclePoints.Add(new Coordinates(1001, 1000));
obstacleClusters.Add(new Obstacle());
obstacleClusters[obstacleClusters.Count - 1].obstaclePolygon = new Polygon(obstaclePoints);
obstaclePoints.Clear();
obstaclePoints.Add(new Coordinates(-1000, -1000));
obstaclePoints.Add(new Coordinates(-1000, -1001));
obstaclePoints.Add(new Coordinates(-1001, -1000));
obstacleClusters.Add(new Obstacle());
obstacleClusters[obstacleClusters.Count - 1].obstaclePolygon = new Polygon(obstaclePoints);
foreach (Obstacle obs in obstacleClusters)
{
obs.cspacePolygon = new Polygon(obs.obstaclePolygon.points);
}
// find obstacle path and left/right classification
LinePath obstaclePath = new LinePath();
//Boolean successFlag;
//double laneWidthAtPathEnd = 10.0;
//#warning this currently doesn't work
/*obstacleManager.ProcessObstacles(subPath, new LinePath[] { curLeftBound }, new LinePath[] { curRightBound },
* obstacleClusters, laneWidthAtPathEnd,
* out obstaclePath, out successFlag);
*/
// prepare left and right lane bounds
double laneMinSpacing = 0.1;
double laneDesiredSpacing = 0.5;
double laneAlphaS = 10000;
List <Boundary> leftBounds = new List <Boundary>();
List <Boundary> rightBounds = new List <Boundary>();
leftBounds.Add(new Boundary(curLeftBound, laneMinSpacing, laneDesiredSpacing, laneAlphaS));
rightBounds.Add(new Boundary(curRightBound, laneMinSpacing, laneDesiredSpacing, laneAlphaS));
// sort out obstacles as left and right
double obstacleMinSpacing = 0.1;
double obstacleDesiredSpacing = 1.0;
double obstacleAlphaS = 10000;
Boundary bound;
int totalObstacleClusters = obstacleClusters.Count;
for (int i = 0; i < totalObstacleClusters; i++)
{
if (obstacleClusters[i].avoidanceStatus == AvoidanceStatus.Left)
{
// obstacle cluster is to the left of obstacle path
bound = new Boundary(obstacleClusters[i].obstaclePolygon.points, obstacleMinSpacing,
obstacleDesiredSpacing, obstacleAlphaS, true);
bound.CheckFrontBumper = true;
leftBounds.Add(bound);
}
else if (obstacleClusters[i].avoidanceStatus == AvoidanceStatus.Right)
{
// obstacle cluster is to the right of obstacle path
bound = new Boundary(obstacleClusters[i].obstaclePolygon.points, obstacleMinSpacing,
obstacleDesiredSpacing, obstacleAlphaS, true);
bound.CheckFrontBumper = true;
rightBounds.Add(bound);
}
else
{
// obstacle cluster is outside grid, hence ignore obstacle cluster
}
}
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
// PlanPath function call with obstacle path and obstacles
result = planner.PlanPath(obstaclePath, obstaclePath, leftBounds, rightBounds,
0, maxSpeed, vs.speed, null, curTimestamp, false);
stopwatch.Stop();
Console.WriteLine("============================================================");
Console.WriteLine("With ObstacleManager - Planner - Elapsed (ms): {0}", stopwatch.ElapsedMilliseconds);
Console.WriteLine("============================================================");
}
else
{
Stopwatch stopwatch = new Stopwatch();
stopwatch.Start();
// original PlanPath function call
result = planner.PlanPath(subPath, curLeftBound, curRightBound,
0, maxSpeed, vs.speed, null, curTimestamp);
stopwatch.Stop();
Console.WriteLine("============================================================");
Console.WriteLine("Without ObstacleManager - Planner - Elapsed (ms): {0}", stopwatch.ElapsedMilliseconds);
Console.WriteLine("============================================================");
}
// end of obstacle manager - hik
////////////////////////////////////////////////////////////////////////////////////////////////////
//PathPlanner.PlanningResult result = planner.PlanPath(subPath, curLeftBound, curRightBound, 0, maxSpeed, vs.speed, null, curTimestamp);
//SmoothedPath path = new SmoothedPath(pathTime);
lock (this) {
planner = null;
}
if (cancelled)
{
return;
}
if (result.result == UrbanChallenge.PathSmoothing.SmoothResult.Sucess)
{
// start tracking the path
Services.TrackingManager.QueueCommand(TrackingCommandBuilder.GetSmoothedPathVelocityCommand(result.path));
//Services.TrackingManager.QueueCommand(TrackingCommandBuilder.GetConstantSteeringConstantSpeedCommand(-.5, 2));
/*TrackingCommand cmd = new TrackingCommand(
* new FeedbackSpeedCommandGenerator(new ConstantSpeedGenerator(2, null)),
* new SinSteeringCommandGenerator(),
* true);
* Services.TrackingManager.QueueCommand(cmd);*/
// send the path's we're tracking to the UI
Services.UIService.PushRelativePath(result.path, curTimestamp, "smoothed path");
cancelled = true;
}
}
public Coordinates ClosestToPolygon(Polygon p, Coordinates c)
{
LinePath lp = new LinePath(p);
return lp.GetPoint(lp.GetClosestPoint(c));
}
public Coordinates[] VehiclePoints(SimVehicleState svs)
{
Polygon p = VehiclePolygon(svs);
LinePath lp = new LinePath(p);
LinePath.PointOnPath c = lp.StartPoint;
List<Coordinates> cs = new List<Coordinates>();
while (!c.Equals(lp.EndPoint))
{
cs.Add(lp.GetPoint(c));
c = lp.AdvancePoint(c, 0.1);
}
return cs.ToArray();
}
public Coordinates ClosestToPolygon(Polygon p, Coordinates c)
{
LinePath lp = new LinePath(p);
return(lp.GetPoint(lp.GetClosestPoint(c)));
}