/// <summary> /// Get difference of two occupancy map /// </summary> /// <param name="globalMulti">ocGrid1</param> /// <param name="globalSingle">ocGrid2</param> /// <param name="currentPose">current position</param> /// <param name="extentX">x-length of the comparison</param> /// <param name="extentY">y-length of the comparison</param> /// <returns>list of index classes - has ocGrid1 value</returns> public UpdateMapDataMessage Diff(int robotID, OccupancyGrid2D globalMulti, RobotPose currentPose, double extentX, double extentY) { if (!globalOcGridByEachRobotAlgorithm.ContainsKey(robotID)) return null; OccupancyGrid2D globalSingle = globalOcGridByEachRobotAlgorithm[robotID].UhatGM; //OccupancyGrid2D globalSingle = globalOcGridByEachRobot[robotID]; //List<Index> diffIndexToSend = new List<Index>(); List<Position> diffPositionToSend = new List<Position>(); //List<float> heightList = new List<float>(); //List<float> covList = new List<float>(); //List<float> pijList = new List<float>(); List<float> pijSum = new List<float>(); List<float> puHat = new List<float>(); List<float> puHatSquare = new List<float>(); List<float> pSigUhateSquare = new List<float>(); int numCellXHalf = (int)(extentX / globalMulti.ResolutionX); int numCellYHalf = (int)(extentY / globalMulti.ResolutionY); int currentCellX, currentCellY; globalMulti.GetIndicies(currentPose.x, currentPose.y, out currentCellX, out currentCellY); int comparisonCellX, comparisonCellY; for (int i = 0; i < numCellYHalf * 2; i++) // [i, j] = [column, row] { for (int j = 0; j < numCellXHalf * 2; j++) { comparisonCellX = currentCellX - numCellXHalf + j; comparisonCellY = currentCellY - numCellYHalf + i; if (globalMulti.GetCellByIdx(comparisonCellX, comparisonCellY) != globalSingle.GetCellByIdx(comparisonCellX, comparisonCellY)) { double x, y; globalMulti.GetReals(comparisonCellX, comparisonCellY, out x, out y); diffPositionToSend.Add(new Position((float)x, (float)y)); //heightList.Add((float)gaussianMixMapAlgorithm.UhatGM.GetCellByIdx(j, i)); //covList.Add((float)gaussianMixMapAlgorithm.Psig_u_hat_square.GetCellByIdx(j, i)); //pijList.Add((float)gaussianMixMapAlgorithm.Pij_sum.GetCellByIdx(j, i)); pijSum.Add((float)gaussianMixMapAlgorithm.Pij_sum.GetCell(x, y)); puHat.Add((float)gaussianMixMapAlgorithm.Pu_hat.GetCell(x, y)); puHatSquare.Add((float)gaussianMixMapAlgorithm.Pu_hat_square.GetCell(x, y)); pSigUhateSquare.Add((float)gaussianMixMapAlgorithm.Psig_u_hat_square.GetCell(x, y)); } } } return new UpdateMapDataMessage(robotID, diffPositionToSend, pijSum, puHat, puHatSquare, pSigUhateSquare); }
public List<Waypoint> FindPath(Waypoint start, Waypoint goal, OccupancyGrid2D og, out bool success) { List<Waypoint> path = new List<Waypoint>(); //added by aaron (sort of a hack) if (og == null || goal.Coordinate.DistanceTo(start.Coordinate) == 0) { path.Add(new Waypoint(start.Coordinate, true, 0)); success = true; return path; } int xIdx, yIdx; success = true; Vector2[] NESWVector = new Vector2[4]; Vector2[] diagVector = new Vector2[4]; bool[] NESW = new bool[4]; Vector2 startV = start.Coordinate; // Start Vector2 Vector2 goalV = goal.Coordinate; // Goal Vector2 PriorityQueue open = new PriorityQueue(); closed = new OccupancyGrid2D(resX, resY, extentX, extentY); opened = new OccupancyGrid2D(resX, resY, extentX, extentY); GetIndicies(startV.X, startV.Y, out xIdx, out yIdx); startV = new Vector2(xIdx, yIdx); GetIndicies(goalV.X, goalV.Y, out xIdx, out yIdx); goalV = new Vector2(xIdx, yIdx); Node root = new Node(goalV, goalV.DistanceTo(startV), 0, null); Node current = root; open.Push(current); // Do the spreading/discovering stuff until we discover a path. while (current.xy != startV) { if (open.q.Count == 0 || open.q.Count > MAX_OPEN) { Console.WriteLine("Failure in DSstar. Open count is: " + open.q.Count); success = false; break; } current = open.Pop(); NESWVector[0] = new Vector2(current.xy.X, current.xy.Y - 1); NESWVector[1] = new Vector2(current.xy.X + 1, current.xy.Y); NESWVector[2] = new Vector2(current.xy.X, current.xy.Y + 1); NESWVector[3] = new Vector2(current.xy.X - 1, current.xy.Y); diagVector[0] = new Vector2(current.xy.X + 1, current.xy.Y - 1); diagVector[1] = new Vector2(current.xy.X + 1, current.xy.Y + 1); diagVector[2] = new Vector2(current.xy.X - 1, current.xy.Y + 1); diagVector[3] = new Vector2(current.xy.X - 1, current.xy.Y - 1); for (int i = 0; i < 4; i++) { if ((int)og.GetCellByIdx((int)NESWVector[i].X, (int)NESWVector[i].Y) < 255) { if (closed.GetCellByIdx((int)NESWVector[i].X, (int)NESWVector[i].Y) == 0) { NESW[i] = true; if (opened.GetCellByIdx((int)NESWVector[i].X, (int)NESWVector[i].Y) == 0) { open.Push(new Node(NESWVector[i], NESWVector[i].DistanceTo(startV), current.h + 1 + og.GetCellByIdx((int)NESWVector[i].X, (int)NESWVector[i].Y) / blurWeight, current)); opened.SetCellByIdx((int)NESWVector[i].X, (int)NESWVector[i].Y, 1); } } } } for (int i = 0; i < 4; i++) { if (NESW[i % 4] && NESW[(i + 1) % 4]) { if (og.GetCellByIdx((int)diagVector[i].X, (int)diagVector[i].Y) < 255) { if (closed.GetCellByIdx((int)diagVector[i].X, (int)diagVector[i].Y) == 0) { if (opened.GetCellByIdx((int)diagVector[i].X, (int)diagVector[i].Y) == 0) { open.Push(new Node(diagVector[i], diagVector[i].DistanceTo(startV), current.h + 1.4 + og.GetCellByIdx((int)diagVector[i].X, (int)diagVector[i].Y) / blurWeight, current)); opened.SetCellByIdx((int)diagVector[i].X, (int)diagVector[i].Y, 1); } } } } } for (int i = 0; i < 4; i++) NESW[i] = false; closed.SetCellByIdx((int) current.xy.X, (int) current.xy.Y, 1); } // Build a path using the discovered path. double x, y; Waypoint waypoint; // First waypoint is a user waypoint GetReals((int)current.xy.X, (int)current.xy.Y, out x, out y); waypoint = new Waypoint(x + resX / 2, y + resY / 2, true, og.GetCellByIdx((int)current.xy.X, (int)current.xy.Y)); path.Add(waypoint); current = current.dad; // Middle waypoints are path waypoints while (current != root && current != null) { GetReals((int) current.xy.X, (int) current.xy.Y, out x, out y); waypoint = new Waypoint(x + resX / 2, y + resY / 2, false, og.GetCellByIdx((int)current.xy.X, (int)current.xy.Y)); path.Add(waypoint); current = current.dad; } // Last waypoint is a user waypoint if (current != null) { GetReals((int)current.xy.X, (int)current.xy.Y, out x, out y); waypoint = new Waypoint(x + resX / 2, y + resY / 2, true, og.GetCellByIdx((int)current.xy.X, (int)current.xy.Y)); path.Add(waypoint); } return path; }