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code clean up
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@AtsushiSakai
AtsushiSakai committed Jan 29, 2020
1 parent 067304a commit 29c02fa
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Showing 2 changed files with 99 additions and 117 deletions.
183 changes: 66 additions & 117 deletions PathPlanning/ReedsSheppPath/reeds_shepp_path_planning.py
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Original file line number Diff line number Diff line change
Expand Up @@ -49,15 +49,15 @@ def mod2pi(x):
return v


def SLS(x, y, phi):
def straight_left_straight(x, y, phi):
phi = mod2pi(phi)
if y > 0.0 and phi > 0.0 and phi < math.pi * 0.99:
if y > 0.0 and 0.0 < phi < math.pi * 0.99:
xd = - y / math.tan(phi) + x
t = xd - math.tan(phi / 2.0)
u = phi
v = math.sqrt((x - xd) ** 2 + y ** 2) - math.tan(phi / 2.0)
return True, t, u, v
elif y < 0.0 and phi > 0.0 and phi < math.pi * 0.99:
elif y < 0.0 < phi < math.pi * 0.99:
xd = - y / math.tan(phi) + x
t = xd - math.tan(phi / 2.0)
u = phi
Expand All @@ -68,7 +68,6 @@ def SLS(x, y, phi):


def set_path(paths, lengths, ctypes):

path = Path()
path.ctypes = ctypes
path.lengths = lengths
Expand All @@ -89,12 +88,12 @@ def set_path(paths, lengths, ctypes):
return paths


def SCS(x, y, phi, paths):
flag, t, u, v = SLS(x, y, phi)
def straight_curve_straight(x, y, phi, paths):
flag, t, u, v = straight_left_straight(x, y, phi)
if flag:
paths = set_path(paths, [t, u, v], ["S", "L", "S"])

flag, t, u, v = SLS(x, -y, -phi)
flag, t, u, v = straight_left_straight(x, -y, -phi)
if flag:
paths = set_path(paths, [t, u, v], ["S", "R", "S"])

Expand All @@ -107,7 +106,7 @@ def polar(x, y):
return r, theta


def LSL(x, y, phi):
def left_straight_left(x, y, phi):
u, t = polar(x - math.sin(phi), y - 1.0 + math.cos(phi))
if t >= 0.0:
v = mod2pi(phi - t)
Expand All @@ -117,99 +116,97 @@ def LSL(x, y, phi):
return False, 0.0, 0.0, 0.0


def LRL(x, y, phi):
def left_right_left(x, y, phi):
u1, t1 = polar(x - math.sin(phi), y - 1.0 + math.cos(phi))

if u1 <= 4.0:
u = -2.0 * math.asin(0.25 * u1)
t = mod2pi(t1 + 0.5 * u + math.pi)
v = mod2pi(phi - t + u)

if t >= 0.0 and u <= 0.0:
if t >= 0.0 >= u:
return True, t, u, v

return False, 0.0, 0.0, 0.0


def CCC(x, y, phi, paths):

flag, t, u, v = LRL(x, y, phi)
def curve_curve_curve(x, y, phi, paths):
flag, t, u, v = left_right_left(x, y, phi)
if flag:
paths = set_path(paths, [t, u, v], ["L", "R", "L"])

flag, t, u, v = LRL(-x, y, -phi)
flag, t, u, v = left_right_left(-x, y, -phi)
if flag:
paths = set_path(paths, [-t, -u, -v], ["L", "R", "L"])

flag, t, u, v = LRL(x, -y, -phi)
flag, t, u, v = left_right_left(x, -y, -phi)
if flag:
paths = set_path(paths, [t, u, v], ["R", "L", "R"])

flag, t, u, v = LRL(-x, -y, phi)
flag, t, u, v = left_right_left(-x, -y, phi)
if flag:
paths = set_path(paths, [-t, -u, -v], ["R", "L", "R"])

# backwards
xb = x * math.cos(phi) + y * math.sin(phi)
yb = x * math.sin(phi) - y * math.cos(phi)
# println(xb, ",", yb,",",x,",",y)

flag, t, u, v = LRL(xb, yb, phi)
flag, t, u, v = left_right_left(xb, yb, phi)
if flag:
paths = set_path(paths, [v, u, t], ["L", "R", "L"])

flag, t, u, v = LRL(-xb, yb, -phi)
flag, t, u, v = left_right_left(-xb, yb, -phi)
if flag:
paths = set_path(paths, [-v, -u, -t], ["L", "R", "L"])

flag, t, u, v = LRL(xb, -yb, -phi)
flag, t, u, v = left_right_left(xb, -yb, -phi)
if flag:
paths = set_path(paths, [v, u, t], ["R", "L", "R"])

flag, t, u, v = LRL(-xb, -yb, phi)
flag, t, u, v = left_right_left(-xb, -yb, phi)
if flag:
paths = set_path(paths, [-v, -u, -t], ["R", "L", "R"])

return paths


def CSC(x, y, phi, paths):
flag, t, u, v = LSL(x, y, phi)
def curve_straight_curve(x, y, phi, paths):
flag, t, u, v = left_straight_left(x, y, phi)
if flag:
paths = set_path(paths, [t, u, v], ["L", "S", "L"])

flag, t, u, v = LSL(-x, y, -phi)
flag, t, u, v = left_straight_left(-x, y, -phi)
if flag:
paths = set_path(paths, [-t, -u, -v], ["L", "S", "L"])

flag, t, u, v = LSL(x, -y, -phi)
flag, t, u, v = left_straight_left(x, -y, -phi)
if flag:
paths = set_path(paths, [t, u, v], ["R", "S", "R"])

flag, t, u, v = LSL(-x, -y, phi)
flag, t, u, v = left_straight_left(-x, -y, phi)
if flag:
paths = set_path(paths, [-t, -u, -v], ["R", "S", "R"])

flag, t, u, v = LSR(x, y, phi)
flag, t, u, v = left_straight_right(x, y, phi)
if flag:
paths = set_path(paths, [t, u, v], ["L", "S", "R"])

flag, t, u, v = LSR(-x, y, -phi)
flag, t, u, v = left_straight_right(-x, y, -phi)
if flag:
paths = set_path(paths, [-t, -u, -v], ["L", "S", "R"])

flag, t, u, v = LSR(x, -y, -phi)
flag, t, u, v = left_straight_right(x, -y, -phi)
if flag:
paths = set_path(paths, [t, u, v], ["R", "S", "L"])

flag, t, u, v = LSR(-x, -y, phi)
flag, t, u, v = left_straight_right(-x, -y, phi)
if flag:
paths = set_path(paths, [-t, -u, -v], ["R", "S", "L"])

return paths


def LSR(x, y, phi):
def left_straight_right(x, y, phi):
u1, t1 = polar(x + math.sin(phi), y - 1.0 - math.cos(phi))
u1 = u1 ** 2
if u1 >= 4.0:
Expand All @@ -224,60 +221,60 @@ def LSR(x, y, phi):
return False, 0.0, 0.0, 0.0


def generate_path(q0, q1, maxc):
def generate_path(q0, q1, max_curvature):
dx = q1[0] - q0[0]
dy = q1[1] - q0[1]
dth = q1[2] - q0[2]
c = math.cos(q0[2])
s = math.sin(q0[2])
x = (c * dx + s * dy) * maxc
y = (-s * dx + c * dy) * maxc
x = (c * dx + s * dy) * max_curvature
y = (-s * dx + c * dy) * max_curvature

paths = []
paths = SCS(x, y, dth, paths)
paths = CSC(x, y, dth, paths)
paths = CCC(x, y, dth, paths)
paths = straight_curve_straight(x, y, dth, paths)
paths = curve_straight_curve(x, y, dth, paths)
paths = curve_curve_curve(x, y, dth, paths)

return paths


def interpolate(ind, l, m, maxc, ox, oy, oyaw, px, py, pyaw, directions):

if m == "S":
px[ind] = ox + l / maxc * math.cos(oyaw)
py[ind] = oy + l / maxc * math.sin(oyaw)
pyaw[ind] = oyaw
def interpolate(ind, length, mode, max_curvature, origin_x, origin_y, origin_yaw, path_x, path_y, path_yaw, directions):
if mode == "S":
path_x[ind] = origin_x + length / max_curvature * math.cos(origin_yaw)
path_y[ind] = origin_y + length / max_curvature * math.sin(origin_yaw)
path_yaw[ind] = origin_yaw
else: # curve
ldx = math.sin(l) / maxc
if m == "L": # left turn
ldy = (1.0 - math.cos(l)) / maxc
elif m == "R": # right turn
ldy = (1.0 - math.cos(l)) / -maxc
gdx = math.cos(-oyaw) * ldx + math.sin(-oyaw) * ldy
gdy = -math.sin(-oyaw) * ldx + math.cos(-oyaw) * ldy
px[ind] = ox + gdx
py[ind] = oy + gdy

if m == "L": # left turn
pyaw[ind] = oyaw + l
elif m == "R": # right turn
pyaw[ind] = oyaw - l

if l > 0.0:
ldx = math.sin(length) / max_curvature
ldy = 0.0
if mode == "L": # left turn
ldy = (1.0 - math.cos(length)) / max_curvature
elif mode == "R": # right turn
ldy = (1.0 - math.cos(length)) / -max_curvature
gdx = math.cos(-origin_yaw) * ldx + math.sin(-origin_yaw) * ldy
gdy = -math.sin(-origin_yaw) * ldx + math.cos(-origin_yaw) * ldy
path_x[ind] = origin_x + gdx
path_y[ind] = origin_y + gdy

if mode == "L": # left turn
path_yaw[ind] = origin_yaw + length
elif mode == "R": # right turn
path_yaw[ind] = origin_yaw - length

if length > 0.0:
directions[ind] = 1
else:
directions[ind] = -1

return px, py, pyaw, directions
return path_x, path_y, path_yaw, directions


def generate_local_course(L, lengths, mode, maxc, step_size):
npoint = math.trunc(L / step_size) + len(lengths) + 4
def generate_local_course(total_length, lengths, mode, max_curvature, step_size):
n_point = math.trunc(total_length / step_size) + len(lengths) + 4

px = [0.0 for i in range(npoint)]
py = [0.0 for i in range(npoint)]
pyaw = [0.0 for i in range(npoint)]
directions = [0.0 for i in range(npoint)]
px = [0.0 for _ in range(n_point)]
py = [0.0 for _ in range(n_point)]
pyaw = [0.0 for _ in range(n_point)]
directions = [0.0 for _ in range(n_point)]
ind = 1

if lengths[0] > 0.0:
Expand Down Expand Up @@ -305,14 +302,14 @@ def generate_local_course(L, lengths, mode, maxc, step_size):
while abs(pd) <= abs(l):
ind += 1
px, py, pyaw, directions = interpolate(
ind, pd, m, maxc, ox, oy, oyaw, px, py, pyaw, directions)
ind, pd, m, max_curvature, ox, oy, oyaw, px, py, pyaw, directions)
pd += d

ll = l - pd - d # calc remain length

ind += 1
px, py, pyaw, directions = interpolate(
ind, l, m, maxc, ox, oy, oyaw, px, py, pyaw, directions)
ind, l, m, max_curvature, ox, oy, oyaw, px, py, pyaw, directions)

# remove unused data
while px[-1] == 0.0:
Expand Down Expand Up @@ -344,22 +341,17 @@ def calc_paths(sx, sy, syaw, gx, gy, gyaw, maxc, step_size):
* iy + q0[1] for (ix, iy) in zip(x, y)]
path.yaw = [pi_2_pi(iyaw + q0[2]) for iyaw in yaw]
path.directions = directions
path.lengths = [l / maxc for l in path.lengths]
path.lengths = [length / maxc for length in path.lengths]
path.L = path.L / maxc

# print(paths)

return paths


def reeds_shepp_path_planning(sx, sy, syaw,
gx, gy, gyaw, maxc, step_size=0.2):

paths = calc_paths(sx, sy, syaw, gx, gy, gyaw, maxc, step_size)

if not paths:
# print("No path")
# print(sx, sy, syaw, gx, gy, gyaw)
return None, None, None, None, None

minL = float("Inf")
Expand All @@ -374,48 +366,6 @@ def reeds_shepp_path_planning(sx, sy, syaw,
return bpath.x, bpath.y, bpath.yaw, bpath.ctypes, bpath.lengths


def test():

NTEST = 5

for i in range(NTEST):
start_x = (np.random.rand() - 0.5) * 10.0 # [m]
start_y = (np.random.rand() - 0.5) * 10.0 # [m]
start_yaw = np.deg2rad((np.random.rand() - 0.5) * 180.0) # [rad]

end_x = (np.random.rand() - 0.5) * 10.0 # [m]
end_y = (np.random.rand() - 0.5) * 10.0 # [m]
end_yaw = np.deg2rad((np.random.rand() - 0.5) * 180.0) # [rad]

curvature = 1.0 / (np.random.rand() * 20.0)
step_size = 0.1

px, py, pyaw, mode, clen = reeds_shepp_path_planning(
start_x, start_y, start_yaw, end_x, end_y, end_yaw, curvature, step_size)

if show_animation: # pragma: no cover
plt.cla()
# for stopping simulation with the esc key.
plt.gcf().canvas.mpl_connect('key_release_event',
lambda event: [exit(0) if event.key == 'escape' else None])
plt.plot(px, py, label="final course " + str(mode))

# plotting
plot_arrow(start_x, start_y, start_yaw)
plot_arrow(end_x, end_y, end_yaw)

plt.legend()
plt.grid(True)
plt.axis("equal")
plt.xlim(-10, 10)
plt.ylim(-10, 10)
plt.pause(1.0)

# plt.show()

print("Test done")


def main():
print("Reeds Shepp path planner sample start!!")

Expand Down Expand Up @@ -451,5 +401,4 @@ def main():


if __name__ == '__main__':
test()
main()
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