/// <summary>
/// Constructor for the Planar Informed RRT algorithm.
/// It uses a more adapted strategy with various attempts:
/// 1) try to reach the target in a straight line.
/// 2) If reaching the target in a straight line fails, a search for a path on the vertical and then on the horizontal
/// plane, defined by the connecting line from the
/// start to the goal position is attempted. Until the maximum allowed nodes in the plane is reached or a path is
/// found.
/// 3) If these two / three attempts had no success, the normal informed RRT strategy is used until a path is found or
/// the maximum amount of allowed nodes is reached.
/// </summary>
/// <param name="rrtConfig">Base RRT configuration</param>
/// <param name="targetBias">
/// This number indicated how often the random point shouldn't be random, but placed at the
/// position of the target.So if targetBias = 10, every 10th random position will be at the position of the target,
/// hence
/// not random for this case.
/// </param>
/// <param name="factor2DSearch">
/// influences the amount of attempted nodes added in the vertical ot horizontal plane.
/// Should be >1. Increasing the factor increases the amount of nodes in the planar search.
/// </param>
public RRTInformedPlanar(RRTConfig rrtConfig, int targetBias, float factor2DSearch = 10.0f) : base(rrtConfig,
targetBias)
{
_planeNormalHorizontal = GetHorizontalPlaneNormalVector(Tree.RootNode.Position, PosTarget);
_planeNormalVertical = GetVerticalPlaneNormalVector(Tree.RootNode.Position, PosTarget);
// set the maximum amount of nodes per plane depending on the distance from start to finish
_max2DIterationsPerPlane =
(int)((Tree.RootNode.Position - PosTarget).magnitude / rrtConfig.MAXBranchLength * factor2DSearch);
_maxRadius = (rrtConfig.SearchAreaMax - rrtConfig.SearchAreaMin).magnitude;
}
/// <summary>
/// Constructor for the Pruning Informed RRT* algorithm. Which is an adapted version of the informed RRT* search.
/// The difference is, that it prunes the tree everytime a new shorter path is found.
/// </summary>
/// <param name="rrtConfig">Base RRT configuration</param>
/// <param name="radius">radius in which a shorter possible parent nodes will be searched for each node</param>
/// <param name="targetBias">
/// This number indicated how often the random point shouldn't be random, but placed at the
/// postion of the target.So if targetBias = 10, every 10th random position will be at the position of the target,
/// hence not random for this case.
/// </param>
public RRTStarInformedPruning(RRTConfig rrtConfig, float radius = 1, int targetBias = 20) : base(rrtConfig,
radius, targetBias)
{
}
/// <summary>
/// Constructor for the RRT* algorithm.
/// This strategy allows to find the shortest possible path when running the search long enough.
/// This is because the existing path is improved when a better one is found and the tree is restructured throughout
/// the search process.
/// </summary>
/// <param name="rrtConfig">Base RRT configuration</param>
/// <param name="radius">radius in which a shorter possible parent nodes will be searched for each node</param>
public RRTStar(RRTConfig rrtConfig, float radius = 1) : base(rrtConfig)
{
_radius = radius;
}
/// <summary>
/// Constructor for the Informed RRT with reduction algorithm. It uses a targetBias. This number indicated how often
/// the random point shouldn't be random, but placed at the position of the target.
/// So if targetBias = 10, every 10th random position will be at the position of the target, hence not random.
/// Using a targetBias has the advantage of faster overall convergence
/// In in this strategy nodes which fail to extend to new nodes frequently are removed from the search
/// tree.
/// This reduces the risk of local minima and improves the search performance for complex cases.
/// </summary>
/// <param name="rrtConfig">Base RRT configuration</param>
/// <param name="targetBias">
/// This number indicated how often the random point shouldn't be random, but placed at the
/// position of the target.So if targetBias = 10, every 10th random position will be at the position of the target,
/// hence not random for this case.
/// </param>
/// <param name="maxAllowedFailures">
/// the limit of how often trying to add a child node to a node can fail, before removing
/// the node from the search tree
/// </param>
public RRTInformedWithReduction(RRTConfig rrtConfig, int targetBias, int maxAllowedFailures = 3) : base(
rrtConfig, targetBias)
{
_maxAllowedFailures = maxAllowedFailures;
}
/// <summary>
/// Base constructor
/// </summary>
/// <param name="rrtConfig">Base RRT configuration</param>
protected RRTSearchStrategy(RRTConfig rrtConfig)
{
Config = rrtConfig;
PosTarget = Config.GOTarget.transform.position;
Tree = Config.Tree;
}
/// <summary>
/// Constructor fot the basic RRT strategy.
/// Nodes are added to the tree in a completely random manner, hence the position of a new node is always random.
/// </summary>
/// <param name="rrtConfig">Base RRT configuration</param>
public RRTBasic(RRTConfig rrtConfig) : base(rrtConfig)
{
}
/// <summary>
/// Constructor for the Planar Informed RRT With Reduction algorithm.
/// It works like the Informed Planar RRT but in this strategy nodes which fail to extend to new nodes frequently are
/// removed from the search tree.
/// This reduces the risk of local minima and improves the search performance for complex cases.
/// </summary>
/// <param name="rrtConfig">Base RRT configuration</param>
/// <param name="targetBias">
/// This number indicated how often the random point shouldn't be random, but placed at the
/// position of the target.So if targetBias = 10, every 10th random position will be at the position of the target,
/// hence not random for this case.
/// </param>
/// <param name="factor2DSearch">
/// influences the amount of attempted nodes added in the vertical ot horizontal plane.
/// Should be >1. Increasing the factor increases the amount of nodes in the planar search.
/// </param>
/// <param name="maxAllowedFailures">
/// the limit of how often trying to add a child node to a node can fail, before removing
/// the node from the search tree
/// </param>
public RRTInformedPlanarWithReduction(RRTConfig rrtConfig, int targetBias, float factor2DSearch = 10.0f,
int maxAllowedFailures = 3) : base(
rrtConfig, targetBias, factor2DSearch)
{
_maxAllowedFailures = maxAllowedFailures;
}
/// <summary>
/// Constructor for the Informed RRT* algorithm. Which is a combination of the informed RRT with target bias and the
/// basic RRT* algorithm.
/// </summary>
/// <param name="rrtConfig">Base RRT configuration</param>
/// <param name="radius">radius in which a shorter possible parent nodes will be searched for each node</param>
/// <param name="targetBias">
/// This number indicated how often the random point shouldn't be random, but placed at the
/// postion of the target.So if targetBias = 10, every 10th random position will be at the position of the target,
/// hence not random for this case.
/// </param>
public RRTStarInformed(RRTConfig rrtConfig, float radius = 1, int targetBias = 20) : base(rrtConfig, radius)
{
TargetBias = targetBias;
}
/// <summary>
/// Constructor for the Informed RRT algorithm. It uses a target bias. This target bias indicates how often the random
/// point shouldn't be random, but placed at the postion of the target.
/// So if targetBias = 10, every 10th random position will be at the position of the target, hence not random.
/// Using a targetBias has the advantage of faster overall search convergence.
/// </summary>
/// <param name="rrtConfig">Base RRT configuration</param>
/// <param name="targetBias">
/// This number indicated how often the random point shouldn't be random, but placed at the
/// postion of the target. So if targetBias = 10, every 10th random position will be at the position of the target,
/// hence not random for this case.
/// </param>
public RRTInformed(RRTConfig rrtConfig, int targetBias = 20) : base(rrtConfig)
{
TargetBias = targetBias;
}