navigation updated with completed dijkstra's algo
Dependents: R5 2016 Robotics Team 1
navigation.cpp@4:a5d44517c65c, 2016-02-23 (annotated)
- Committer:
- j_j205
- Date:
- Tue Feb 23 23:36:03 2016 +0000
- Revision:
- 4:a5d44517c65c
- Parent:
- 3:27cc2bacd6af
- Child:
- 5:d0954e0aecc9
2/23/16 JJ
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
j_j205 | 2:17bd430aeca1 | 1 | #include "StepperDrive.h" |
j_j205 | 0:fd72f6df078c | 2 | #include "navigation.h" |
j_j205 | 0:fd72f6df078c | 3 | #include "stdint.h" |
j_j205 | 2:17bd430aeca1 | 4 | #include <cmath> |
j_j205 | 0:fd72f6df078c | 5 | #include <fstream> |
j_j205 | 0:fd72f6df078c | 6 | #include <stack> |
j_j205 | 0:fd72f6df078c | 7 | #include <set> |
j_j205 | 0:fd72f6df078c | 8 | |
j_j205 | 0:fd72f6df078c | 9 | // FUNCTION: |
j_j205 | 0:fd72f6df078c | 10 | // Navigation(int size = DEFAULT_SIZE) |
j_j205 | 0:fd72f6df078c | 11 | // IN-PARAMETERS: |
j_j205 | 0:fd72f6df078c | 12 | // Number of initial vertices (DEFAULT = 1) |
j_j205 | 0:fd72f6df078c | 13 | // OUT-PARAMETERS: |
j_j205 | 0:fd72f6df078c | 14 | // None |
j_j205 | 0:fd72f6df078c | 15 | // DESCRIPTION: |
j_j205 | 0:fd72f6df078c | 16 | // Default and 1-parameter constructor. |
j_j205 | 0:fd72f6df078c | 17 | Navigation::Navigation(int size = DEFAULT_SIZE) : vertex(DEFAULT_VERTEX), |
j_j205 | 0:fd72f6df078c | 18 | angle(DEFAULT_ANGLE) |
j_j205 | 0:fd72f6df078c | 19 | { |
j_j205 | 0:fd72f6df078c | 20 | graph.resize(size); |
j_j205 | 0:fd72f6df078c | 21 | } |
j_j205 | 0:fd72f6df078c | 22 | |
j_j205 | 0:fd72f6df078c | 23 | // FUNCTION: |
j_j205 | 0:fd72f6df078c | 24 | // addGraphNode(uint16_t src, uint16_t target, uint16_t dist, |
j_j205 | 0:fd72f6df078c | 25 | // uint16_t angle) |
j_j205 | 0:fd72f6df078c | 26 | // IN-PARAMETERS: |
j_j205 | 0:fd72f6df078c | 27 | // Source node (uint16_t), target node (uint16_t), edge distance |
j_j205 | 0:fd72f6df078c | 28 | // (uint16_t), and angle (uint16_t) |
j_j205 | 0:fd72f6df078c | 29 | // OUT-PARAMETERS: |
j_j205 | 0:fd72f6df078c | 30 | // None |
j_j205 | 0:fd72f6df078c | 31 | // DESCRIPTION: |
j_j205 | 0:fd72f6df078c | 32 | // Adds a graph node to the graph. |
j_j205 | 2:17bd430aeca1 | 33 | void Navigation::addGraphNode(uint16_t src, uint16_t target, float dist, |
j_j205 | 2:17bd430aeca1 | 34 | float angle) |
j_j205 | 0:fd72f6df078c | 35 | { |
j_j205 | 0:fd72f6df078c | 36 | graph[src].push_back(graphNode(target, dist, angle)); |
j_j205 | 0:fd72f6df078c | 37 | } |
j_j205 | 0:fd72f6df078c | 38 | |
j_j205 | 0:fd72f6df078c | 39 | // FUNCTION: |
j_j205 | 0:fd72f6df078c | 40 | // addGraphNode(uint16_t src, uint16_t target, uint16_t dist, |
j_j205 | 0:fd72f6df078c | 41 | // uint16_t angle) |
j_j205 | 0:fd72f6df078c | 42 | // IN-PARAMETERS: |
j_j205 | 0:fd72f6df078c | 43 | // Source node (uint16_t) |
j_j205 | 0:fd72f6df078c | 44 | // OUT-PARAMETERS: |
j_j205 | 0:fd72f6df078c | 45 | // None |
j_j205 | 0:fd72f6df078c | 46 | // DESCRIPTION: |
j_j205 | 0:fd72f6df078c | 47 | // Adds a graph node to the graph, with target, dist, and angle |
j_j205 | 0:fd72f6df078c | 48 | // initialized to infinity |
j_j205 | 0:fd72f6df078c | 49 | void Navigation::addGraphNode(uint16_t src) |
j_j205 | 0:fd72f6df078c | 50 | { |
j_j205 | 0:fd72f6df078c | 51 | graph[src].push_back(graphNode()); |
j_j205 | 0:fd72f6df078c | 52 | } |
j_j205 | 0:fd72f6df078c | 53 | |
j_j205 | 0:fd72f6df078c | 54 | // FUNCTION: |
j_j205 | 0:fd72f6df078c | 55 | // int loadMap(char* infile); |
j_j205 | 0:fd72f6df078c | 56 | // IN-PARAMETERS: |
j_j205 | 0:fd72f6df078c | 57 | // Input file name (*char[]) |
j_j205 | 0:fd72f6df078c | 58 | // OUT-PARAMETERS: |
j_j205 | 0:fd72f6df078c | 59 | // Returns 1 if file doesn't open |
j_j205 | 0:fd72f6df078c | 60 | // Returns 0 if file opens succesfully |
j_j205 | 0:fd72f6df078c | 61 | // DESCRIPTION: |
j_j205 | 0:fd72f6df078c | 62 | // Loads contents of a file as a weighted graph. First entry in the file |
j_j205 | 0:fd72f6df078c | 63 | // should be the number of vertices. All subsequent entries indicate edges |
j_j205 | 0:fd72f6df078c | 64 | // by listing a source vertex, a target vertex, the distance between them |
j_j205 | 0:fd72f6df078c | 65 | // and the angle from source to target (0 - 359 degrees) . Only edges |
j_j205 | 0:fd72f6df078c | 66 | // are listed. Assumes that inverse angles/edges are included in file. |
j_j205 | 0:fd72f6df078c | 67 | int Navigation::loadMap(char* inputFile) |
j_j205 | 0:fd72f6df078c | 68 | { |
j_j205 | 0:fd72f6df078c | 69 | std::ifstream inFile; |
j_j205 | 0:fd72f6df078c | 70 | inFile.open(inputFile); |
j_j205 | 0:fd72f6df078c | 71 | if (!inFile) |
j_j205 | 0:fd72f6df078c | 72 | return 1; // returns 1 if file fails to open |
j_j205 | 0:fd72f6df078c | 73 | |
j_j205 | 0:fd72f6df078c | 74 | int vertices; |
j_j205 | 0:fd72f6df078c | 75 | inFile >> vertices; // reads first entry as number of vertices |
j_j205 | 0:fd72f6df078c | 76 | graph.resize(vertices); // resizes vector as necessary |
j_j205 | 0:fd72f6df078c | 77 | |
j_j205 | 0:fd72f6df078c | 78 | uint16_t src; |
j_j205 | 0:fd72f6df078c | 79 | uint16_t target; |
j_j205 | 2:17bd430aeca1 | 80 | float dist; |
j_j205 | 2:17bd430aeca1 | 81 | float angle; |
j_j205 | 0:fd72f6df078c | 82 | |
j_j205 | 0:fd72f6df078c | 83 | while (!inFile.eof() ) |
j_j205 | 0:fd72f6df078c | 84 | { |
j_j205 | 0:fd72f6df078c | 85 | inFile >> src; |
j_j205 | 0:fd72f6df078c | 86 | inFile >> target; |
j_j205 | 0:fd72f6df078c | 87 | inFile >> dist; |
j_j205 | 0:fd72f6df078c | 88 | inFile >> angle; |
j_j205 | 0:fd72f6df078c | 89 | |
j_j205 | 0:fd72f6df078c | 90 | addGraphNode(src, target, dist, angle); |
j_j205 | 0:fd72f6df078c | 91 | } // loads all data from file into graph |
j_j205 | 0:fd72f6df078c | 92 | |
j_j205 | 0:fd72f6df078c | 93 | return 0; |
j_j205 | 0:fd72f6df078c | 94 | } |
j_j205 | 0:fd72f6df078c | 95 | |
j_j205 | 0:fd72f6df078c | 96 | // FUNCTION: |
j_j205 | 0:fd72f6df078c | 97 | // void getShortestPath(uint16_t src, uint16_t destination) |
j_j205 | 0:fd72f6df078c | 98 | // IN-PARAMETERS: |
j_j205 | 0:fd72f6df078c | 99 | // Target vertex (uint16_t) |
j_j205 | 0:fd72f6df078c | 100 | // OUT-PARAMETERS: |
j_j205 | 0:fd72f6df078c | 101 | // None |
j_j205 | 0:fd72f6df078c | 102 | // DESCRIPTION: |
j_j205 | 0:fd72f6df078c | 103 | // Implementation of Dijkstra's algorithm. Uses current vertex as source |
j_j205 | 0:fd72f6df078c | 104 | // and calculates shortest path information for all other vertices. |
j_j205 | 0:fd72f6df078c | 105 | // Subroutine ends when shortest path for target vertex has been found |
j_j205 | 0:fd72f6df078c | 106 | // and then loads the path into route. |
j_j205 | 0:fd72f6df078c | 107 | void Navigation::getShortestPath(uint16_t destination) |
j_j205 | 0:fd72f6df078c | 108 | { |
j_j205 | 0:fd72f6df078c | 109 | uint16_t src = vertex; |
j_j205 | 0:fd72f6df078c | 110 | uint16_t v; // stores temporary vertex |
j_j205 | 0:fd72f6df078c | 111 | int n = graph.size(); |
j_j205 | 0:fd72f6df078c | 112 | minDistance.clear(); |
j_j205 | 0:fd72f6df078c | 113 | minDistance.resize(n, MAX_DIST); |
j_j205 | 0:fd72f6df078c | 114 | minDistance[src] = 0; |
j_j205 | 0:fd72f6df078c | 115 | previous.clear(); |
j_j205 | 0:fd72f6df078c | 116 | previous.resize(n, -1); |
j_j205 | 2:17bd430aeca1 | 117 | std::set<std::pair<float, uint16_t> > vertex_queue; |
j_j205 | 0:fd72f6df078c | 118 | vertex_queue.insert(std::make_pair(minDistance[src], src)); |
j_j205 | 0:fd72f6df078c | 119 | |
j_j205 | 0:fd72f6df078c | 120 | while (!vertex_queue.empty()) |
j_j205 | 0:fd72f6df078c | 121 | { |
j_j205 | 2:17bd430aeca1 | 122 | float dist = vertex_queue.begin()->first; |
j_j205 | 0:fd72f6df078c | 123 | uint16_t u = vertex_queue.begin()->second; |
j_j205 | 0:fd72f6df078c | 124 | vertex_queue.erase(vertex_queue.begin()); |
j_j205 | 0:fd72f6df078c | 125 | |
j_j205 | 0:fd72f6df078c | 126 | // Visit each edge exiting u |
j_j205 | 0:fd72f6df078c | 127 | const std::vector<graphNode> &neighbors = graph[u]; |
j_j205 | 0:fd72f6df078c | 128 | for (std::vector<graphNode>::const_iterator neighbor_iter = neighbors.begin(); |
j_j205 | 0:fd72f6df078c | 129 | neighbor_iter != neighbors.end(); |
j_j205 | 0:fd72f6df078c | 130 | neighbor_iter++) |
j_j205 | 0:fd72f6df078c | 131 | { |
j_j205 | 0:fd72f6df078c | 132 | v = neighbor_iter->neighbor; |
j_j205 | 2:17bd430aeca1 | 133 | float weight = neighbor_iter->distance; |
j_j205 | 2:17bd430aeca1 | 134 | float distance_through_u = dist + weight; |
j_j205 | 0:fd72f6df078c | 135 | |
j_j205 | 0:fd72f6df078c | 136 | if (distance_through_u < minDistance[v]) |
j_j205 | 0:fd72f6df078c | 137 | { |
j_j205 | 0:fd72f6df078c | 138 | vertex_queue.erase(std::make_pair(minDistance[v], v)); |
j_j205 | 0:fd72f6df078c | 139 | |
j_j205 | 0:fd72f6df078c | 140 | minDistance[v] = distance_through_u; |
j_j205 | 0:fd72f6df078c | 141 | previous[v] = u; |
j_j205 | 0:fd72f6df078c | 142 | vertex_queue.insert(std::make_pair(minDistance[v], v)); |
j_j205 | 0:fd72f6df078c | 143 | } |
j_j205 | 0:fd72f6df078c | 144 | if (v == destination) |
j_j205 | 0:fd72f6df078c | 145 | break; |
j_j205 | 0:fd72f6df078c | 146 | } |
j_j205 | 0:fd72f6df078c | 147 | if (v == destination) |
j_j205 | 0:fd72f6df078c | 148 | break; |
j_j205 | 0:fd72f6df078c | 149 | } |
j_j205 | 0:fd72f6df078c | 150 | while (v != src) |
j_j205 | 0:fd72f6df078c | 151 | { |
j_j205 | 0:fd72f6df078c | 152 | route.push(v); |
j_j205 | 0:fd72f6df078c | 153 | v = previous[v]; |
j_j205 | 0:fd72f6df078c | 154 | } |
j_j205 | 0:fd72f6df078c | 155 | } |
j_j205 | 0:fd72f6df078c | 156 | |
j_j205 | 1:a53d97b74fab | 157 | // FUNCTION: |
j_j205 | 1:a53d97b74fab | 158 | // void executeRoute() |
j_j205 | 1:a53d97b74fab | 159 | // IN-PARAMETERS: |
j_j205 | 1:a53d97b74fab | 160 | // Address of left and right steppers (StepperMotor &) |
j_j205 | 1:a53d97b74fab | 161 | // OUT-PARAMETERS: |
j_j205 | 1:a53d97b74fab | 162 | // None |
j_j205 | 1:a53d97b74fab | 163 | // DESCRIPTION: |
j_j205 | 1:a53d97b74fab | 164 | // Sends command to steppers to execute route. |
j_j205 | 2:17bd430aeca1 | 165 | void Navigation::executeRoute(Serial &pc, StepperDrive &drive) |
j_j205 | 1:a53d97b74fab | 166 | { |
j_j205 | 1:a53d97b74fab | 167 | uint16_t target; |
j_j205 | 2:17bd430aeca1 | 168 | float targetAngle; |
j_j205 | 2:17bd430aeca1 | 169 | float targetDist; |
j_j205 | 2:17bd430aeca1 | 170 | float differenceAngle; |
j_j205 | 4:a5d44517c65c | 171 | |
j_j205 | 1:a53d97b74fab | 172 | while (!route.empty() ) |
j_j205 | 1:a53d97b74fab | 173 | { |
j_j205 | 1:a53d97b74fab | 174 | target = route.top(); |
j_j205 | 1:a53d97b74fab | 175 | route.pop(); |
j_j205 | 4:a5d44517c65c | 176 | |
j_j205 | 2:17bd430aeca1 | 177 | for (int i = 0; i < graph[vertex].size(); i++) |
j_j205 | 2:17bd430aeca1 | 178 | { |
j_j205 | 2:17bd430aeca1 | 179 | if (graph[vertex][i].neighbor == target) |
j_j205 | 2:17bd430aeca1 | 180 | { |
j_j205 | 2:17bd430aeca1 | 181 | targetAngle = graph[vertex][i].angle; |
j_j205 | 2:17bd430aeca1 | 182 | targetDist = graph[vertex][i].distance; |
j_j205 | 2:17bd430aeca1 | 183 | break; |
j_j205 | 2:17bd430aeca1 | 184 | } |
j_j205 | 2:17bd430aeca1 | 185 | } |
j_j205 | 4:a5d44517c65c | 186 | |
j_j205 | 2:17bd430aeca1 | 187 | if (targetAngle != angle) |
j_j205 | 2:17bd430aeca1 | 188 | { |
j_j205 | 2:17bd430aeca1 | 189 | differenceAngle = targetAngle - angle; |
j_j205 | 4:a5d44517c65c | 190 | |
j_j205 | 2:17bd430aeca1 | 191 | if (abs(differenceAngle) > 180) |
j_j205 | 2:17bd430aeca1 | 192 | { |
j_j205 | 4:a5d44517c65c | 193 | if (differenceAngle < 0) // |
j_j205 | 2:17bd430aeca1 | 194 | differenceAngle = 360 - abs(differenceAngle); |
j_j205 | 2:17bd430aeca1 | 195 | else |
j_j205 | 2:17bd430aeca1 | 196 | differenceAngle = -(360 - differenceAngle); |
j_j205 | 2:17bd430aeca1 | 197 | } |
j_j205 | 4:a5d44517c65c | 198 | |
j_j205 | 2:17bd430aeca1 | 199 | else |
j_j205 | 2:17bd430aeca1 | 200 | { |
j_j205 | 2:17bd430aeca1 | 201 | /* do nothing */ |
j_j205 | 2:17bd430aeca1 | 202 | } |
j_j205 | 4:a5d44517c65c | 203 | |
j_j205 | 2:17bd430aeca1 | 204 | /* send -(differenceAngle) to motors */ |
j_j205 | 3:27cc2bacd6af | 205 | int returnVal = drive.move(0, ((-differenceAngle)*(PI / 180.0)) ); |
j_j205 | 4:a5d44517c65c | 206 | pc.printf("\nChanged angle %f degrees to %f", differenceAngle, targetAngle); |
j_j205 | 4:a5d44517c65c | 207 | |
j_j205 | 2:17bd430aeca1 | 208 | // wait for move to complete |
j_j205 | 2:17bd430aeca1 | 209 | while(!drive.isMoveDone()) |
j_j205 | 2:17bd430aeca1 | 210 | { |
j_j205 | 3:27cc2bacd6af | 211 | wait(1e-6); |
j_j205 | 2:17bd430aeca1 | 212 | } |
j_j205 | 2:17bd430aeca1 | 213 | } |
j_j205 | 4:a5d44517c65c | 214 | |
j_j205 | 2:17bd430aeca1 | 215 | /* send targetDist to motors */ |
j_j205 | 3:27cc2bacd6af | 216 | int returnVal = drive.move(targetDist, 0); |
j_j205 | 2:17bd430aeca1 | 217 | pc.printf("\nMoved forward a distance of %f to node %i", targetDist, target); |
j_j205 | 3:27cc2bacd6af | 218 | |
j_j205 | 2:17bd430aeca1 | 219 | // wait for move to complete |
j_j205 | 2:17bd430aeca1 | 220 | while(!drive.isMoveDone()) |
j_j205 | 2:17bd430aeca1 | 221 | { |
j_j205 | 3:27cc2bacd6af | 222 | wait(1e-6); |
j_j205 | 2:17bd430aeca1 | 223 | } |
j_j205 | 4:a5d44517c65c | 224 | |
j_j205 | 2:17bd430aeca1 | 225 | vertex = target; |
j_j205 | 2:17bd430aeca1 | 226 | angle = targetAngle; |
j_j205 | 1:a53d97b74fab | 227 | } |
j_j205 | 1:a53d97b74fab | 228 | } |
j_j205 | 1:a53d97b74fab | 229 | |
j_j205 | 0:fd72f6df078c | 230 | // utility function |
j_j205 | 0:fd72f6df078c | 231 | void Navigation::printPrevious(Serial &pc) |
j_j205 | 0:fd72f6df078c | 232 | { |
j_j205 | 0:fd72f6df078c | 233 | for(int i = 0; i < previous.size(); i++) |
j_j205 | 0:fd72f6df078c | 234 | { |
j_j205 | 2:17bd430aeca1 | 235 | pc.printf("Node %f is prev to node %f\n", previous[i], i); |
j_j205 | 0:fd72f6df078c | 236 | } |
j_j205 | 0:fd72f6df078c | 237 | } |
j_j205 | 0:fd72f6df078c | 238 | |
j_j205 | 0:fd72f6df078c | 239 | // utility function |
j_j205 | 0:fd72f6df078c | 240 | void Navigation::printRoute(Serial &pc) |
j_j205 | 0:fd72f6df078c | 241 | { |
j_j205 | 0:fd72f6df078c | 242 | while (!route.empty() ) |
j_j205 | 0:fd72f6df078c | 243 | { |
j_j205 | 0:fd72f6df078c | 244 | pc.printf("Go to node %i\n", route.top() ); |
j_j205 | 0:fd72f6df078c | 245 | route.pop(); |
j_j205 | 0:fd72f6df078c | 246 | } |
j_j205 | 0:fd72f6df078c | 247 | } |
j_j205 | 0:fd72f6df078c | 248 | |
j_j205 | 0:fd72f6df078c | 249 | // utility function |
j_j205 | 0:fd72f6df078c | 250 | void Navigation::printGraph(Serial &pc) |
j_j205 | 0:fd72f6df078c | 251 | { |
j_j205 | 0:fd72f6df078c | 252 | for (int i = 0; i < graph.size(); i++) |
j_j205 | 0:fd72f6df078c | 253 | for (int j = 0; j < graph[i].size(); j++) |
j_j205 | 0:fd72f6df078c | 254 | { |
j_j205 | 2:17bd430aeca1 | 255 | pc.printf("Node %i to %i = dist - %f, angle - %f\n", i, j, graph[i][j].distance, graph[i][j].angle); |
j_j205 | 0:fd72f6df078c | 256 | } |
j_j205 | 4:a5d44517c65c | 257 | } |