public AssociativeTable(Manipulator Agent, int entries)
{
Table = new Dictionary <double, double[]>();
double[] q_init = new double[IKP.ParamNum];
Array.Copy(Agent.q, q_init, IKP.ParamNum);
Random rng = new Random();
IKP Solver = new IKP(0.02, Agent.Links.Length, 10, 0.2, 50);
for (int i = 0; i < 3600; i++)
{
double d = 0.04, a = i; //a = Math.Round(-Math.PI + 2 * Math.PI * rng.NextDouble(), 2);
Vector v = new Vector(d * Math.Cos(a / 10), d * Math.Sin(a / 10));
var res = Solver.Execute(Agent.GripperPos + v);
Array.Copy(q_init, Agent.q, IKP.ParamNum);
while (!res.Item1)
{
res = Solver.Execute(Agent.GripperPos + v);
Array.Copy(q_init, Agent.q, IKP.ParamNum);
}
Table.Add(a, res.Item3);
}
}
public static void Execute()
{
States = new Dictionary <string, bool>();
States.Add("Obstacles", false);
States.Add("Goal", false);
States.Add("Path", false);
States.Add("Joints", false);
States.Add("Tree", false);
States.Add("Attractors", false);
//manipulator
Manip = new Manipulator
{
Links = new double[] { 2, 2, 2, 2 },
q = Misc.ToRad(new double[] { 0, 0, 0, 0 }),
Base = Point.Zero
};
double MaxStep = 1;
Manip.StepRanges = new double[Manip.Links.Length, 2];
for (int i = 0; i < Manip.Links.Length; i++)
{
Manip.StepRanges[i, 0] = -MaxStep;
Manip.StepRanges[i, 1] = MaxStep;
}
//obstacles
Obstacles = new Obstacle[2];
Point[] obst_data = new Point[360];
for (int i = 0; i < obst_data.Length; i++)
{
obst_data[i] = new Point
(
Math.Cos(i * Math.PI / 180) + 0,
Math.Sin(i * Math.PI / 180) + 1.5
);
}
Obstacles[0] = new Obstacle(obst_data);
for (int i = 0; i < obst_data.Length; i++)
{
obst_data[i] = new Point
(
Math.Cos(i * Math.PI / 180) - 2.2,
Math.Sin(i * Math.PI / 180) + 0
);
}
Obstacles[1] = new Obstacle(obst_data);
States["Obstacles"] = true;
//goal
Goal = new Point(-2 * Math.Sqrt(2) - 2, 0);
States["Goal"] = true;
//initialize genetic algorithm parameters
Algorithm.Initialize(Manip, Obstacles);
IKP Solver = new IKP(0.02, Manip.Links.Length, 10, 0.2, 50);
Attractors = new List <Attractor>();
Random rng = new Random();
double work_radius = Manip.Links.Sum(), x, y_plus, y_minus, y;
//adding main attractor
Point AttrPoint = Goal;
double AttrWeight = Manip.DistanceTo(Goal);
Point[] AttrArea = new Point[180];
double r = 0.05 * Math.Pow(AttrWeight / Manip.DistanceTo(Goal), 4);
for (int i = 0; i < AttrArea.Length; i++)
{
AttrArea[i] = new Point
(
r * Math.Cos(i * Math.PI / (AttrArea.Length / 2)) + AttrPoint.x,
r * Math.Sin(i * Math.PI / (AttrArea.Length / 2)) + AttrPoint.y
);
}
Attractors.Add(new Attractor(AttrPoint, AttrWeight, AttrArea, r));
//adding ancillary attractors
while (Attractors.Count < 1000)
{
//work_radius = Manip.Links.Sum();
x = Manip.Base.x + rng.NextDouble() * 2 * work_radius - work_radius;
y_plus = Math.Sqrt(work_radius * work_radius - x * x);
y_minus = -y_plus;
y = Manip.Base.y + (rng.NextDouble() * 2 * (y_plus - y_minus) - (y_plus - y_minus)) / 2;
work_radius -= Manip.Links.Sum() / 2000;
Point p = new Point(x, y);
bool collision = false;
foreach (var obst in Obstacles)
{
if (obst.Contains(p))
{
collision = true;
break;
}
}
if (!collision)
{
AttrPoint = p;
AttrWeight = Manip.DistanceTo(p) + Goal.DistanceTo(p);
AttrArea = new Point[180];
r = 0.05 * Math.Pow(AttrWeight / Manip.DistanceTo(Goal), 4);
for (int i = 0; i < AttrArea.Length; i++)
{
AttrArea[i] = new Point
(
r * Math.Cos(i * Math.PI / (AttrArea.Length / 2)) + AttrPoint.x,
r * Math.Sin(i * Math.PI / (AttrArea.Length / 2)) + AttrPoint.y
);
}
Attractors.Add(new Attractor(AttrPoint, AttrWeight, AttrArea, r));
}
}
States["Attractors"] = true;
Generator.Solver = Solver;
Generator.RRT(new Random(), ref Tree, Goal, Manip, Obstacles, 15000, 0.04);
//Tree.RectifyWhole();
Tree.Node start = Tree.Min(Goal), node_curr = start;
List <Point> path = new List <Point>();
List <double[]> configs = new List <double[]>();
for (int i = start.Layer; i >= 0; i--)
{
if (i == 0)
{
int a;
a = 2;
}
if (node_curr.Layer == i)
{
path.Add(node_curr.p);
configs.Add(node_curr.q);
if (node_curr.Parent != null)
{
int pointsNum = node_curr.Layer - node_curr.Parent.Layer - 1;
if (pointsNum > 0)
{
Tree.Node[] nodes = Tree.Discretize(node_curr, node_curr.Parent, pointsNum);
foreach (var node in nodes)
{
configs.Add(node.q);
}
}
}
node_curr = node_curr.Parent;
}
}
path.Reverse();
configs.Reverse();
States["Tree"] = true;
Path = path;
States["Path"] = true;
Joints = new List <Point[]>();
for (int i = 0; i < configs.Count; i++)
{
if (configs[i] == null)
{
break;
}
if (i == 0)
{
int a;
a = 0;
}
Manip.q = configs[i];
Joints.Add(Manip.Joints);
}
States["Joints"] = true;
}