├── .gitignore ├── CMakeLists.txt ├── Doxyfile ├── LICENSE ├── README.md ├── data ├── corridor.png ├── corridor.yaml ├── example_dmp.png ├── simple.png ├── simple.yaml └── simple3d.yaml ├── docs ├── annotated.html ├── arrowdown.png ├── arrowright.png ├── bc_s.png ├── bdwn.png ├── classDMP_1_1GraphSearch-members.html ├── classDMP_1_1GraphSearch.html ├── classDMPlanner-members.html ├── classDMPlanner.html ├── classDMPlanner.png ├── classIterativeDMPlanner-members.html ├── classIterativeDMPlanner.html ├── classIterativeDMPlanner.png ├── classJPSPlanner-members.html ├── classJPSPlanner.html ├── classJPS_1_1GraphSearch-members.html ├── classJPS_1_1GraphSearch.html ├── classJPS_1_1MapUtil-members.html ├── classJPS_1_1MapUtil.html ├── classJPS_1_1Timer-members.html ├── classJPS_1_1Timer.html ├── classMapReader-members.html ├── classMapReader.html ├── classes.html ├── closed.png ├── corridor.png ├── data__type_8h.html ├── data__type_8h_source.html ├── data__utils_8h.html ├── data__utils_8h_source.html ├── dir_13e138d54eb8818da29c3992edef070a.html ├── dir_16f9237c2eb6ee71ebe7bb5d56514662.html ├── dir_2c1ec4cfaf5ed43ec260b4f91f837847.html ├── dir_35cd4ee7ff6c8bd90084e84f08e68c51.html ├── dir_3fa5b8fa885cd79655872b42aca83d9a.html ├── dir_4fef79e7177ba769987a8da36c892c5f.html ├── dir_5280bb524ed5294135fd93e0b12dbd44.html ├── dir_63772b626f2709090f0bdca0f40827b4.html ├── dir_6810188cd2ea088282d3e2870d3170c6.html ├── dir_68267d1309a1af8e8297ef4c3efbcdba.html ├── dir_78791bf993c4f7547ae15e7c34d4eefe.html ├── dir_7f7e439ba0927089503219129b4cf038.html ├── dir_a41afb44cd77021f04ef0298981be91e.html ├── dir_a573004c1aa1ac4f8bc48460229ea7de.html ├── dir_cf779efadf30e9c7d82da7dbe2eb33f7.html ├── dir_d44c64559bbebec7f509842c48db8b23.html ├── dir_e3f696d4d044a5899bff98f450f72b77.html ├── dir_f3f15cb6a903102cfaa3bed9fef4749a.html ├── distance__map__planner_2graph__search_8h_source.html ├── distance__map__planner_8h.html ├── distance__map__planner_8h_source.html ├── doc.png ├── doxygen.css ├── doxygen.png ├── dynsections.js ├── example_dmp.png ├── files.html ├── folderclosed.png ├── folderopen.png ├── form_0.png ├── form_1.png ├── form_2.png ├── formula.repository ├── functions.html ├── functions_func.html ├── functions_vars.html ├── globals.html ├── globals_defs.html ├── globals_func.html ├── globals_type.html ├── hierarchy.html ├── index.html ├── jps__planner_2graph__search_8h_source.html ├── jps__planner_8h.html ├── jps__planner_8h_source.html ├── jquery.js ├── map__util_8h.html ├── map__util_8h_source.html ├── menu.js ├── menudata.js ├── nav_f.png ├── nav_g.png ├── nav_h.png ├── open.png ├── read__map_8hpp_source.html ├── search │ ├── all_0.html │ ├── all_0.js │ ├── all_1.html │ ├── all_1.js │ ├── all_10.html │ ├── all_10.js │ ├── all_11.html │ ├── all_11.js │ ├── all_2.html │ ├── all_2.js │ ├── all_3.html │ ├── all_3.js │ ├── all_4.html │ ├── all_4.js │ ├── all_5.html │ ├── all_5.js │ ├── all_6.html │ ├── all_6.js │ ├── all_7.html │ ├── all_7.js │ ├── all_8.html │ ├── all_8.js │ ├── all_9.html │ ├── all_9.js │ ├── all_a.html │ ├── all_a.js │ ├── all_b.html │ ├── all_b.js │ ├── all_c.html │ ├── all_c.js │ ├── all_d.html │ ├── all_d.js │ ├── all_e.html │ ├── all_e.js │ ├── all_f.html │ ├── all_f.js │ ├── classes_0.html │ ├── classes_0.js │ ├── classes_1.html │ ├── classes_1.js │ ├── classes_2.html │ ├── classes_2.js │ ├── classes_3.html │ ├── classes_3.js │ ├── classes_4.html │ ├── classes_4.js │ ├── classes_5.html │ ├── classes_5.js │ ├── classes_6.html │ ├── classes_6.js │ ├── classes_7.html │ ├── classes_7.js │ ├── close.png │ ├── defines_0.html │ ├── defines_0.js │ ├── defines_1.html │ ├── defines_1.js │ ├── files_0.html │ ├── files_0.js │ ├── files_1.html │ ├── files_1.js │ ├── files_2.html │ ├── files_2.js │ ├── functions_0.html │ ├── functions_0.js │ ├── functions_1.html │ ├── functions_1.js │ ├── functions_2.html │ ├── functions_2.js │ ├── functions_3.html │ ├── functions_3.js │ ├── functions_4.html │ ├── functions_4.js │ ├── functions_5.html │ ├── functions_5.js │ ├── functions_6.html │ ├── functions_6.js │ ├── functions_7.html │ ├── functions_7.js │ ├── functions_8.html │ ├── functions_8.js │ ├── functions_9.html │ ├── functions_9.js │ ├── functions_a.html │ ├── functions_a.js │ ├── functions_b.html │ ├── functions_b.js │ ├── functions_c.html │ ├── functions_c.js │ ├── mag_sel.png │ ├── nomatches.html │ ├── pages_0.html │ ├── pages_0.js │ ├── search.css │ ├── search.js │ ├── search_l.png │ ├── search_m.png │ ├── search_r.png │ ├── searchdata.js │ ├── typedefs_0.html │ ├── typedefs_0.js │ ├── typedefs_1.html │ ├── typedefs_1.js │ ├── typedefs_2.html │ ├── typedefs_2.js │ ├── typedefs_3.html │ ├── typedefs_3.js │ ├── typedefs_4.html │ ├── typedefs_4.js │ ├── typedefs_5.html │ ├── typedefs_5.js │ ├── typedefs_6.html │ ├── typedefs_6.js │ ├── variables_0.html │ ├── variables_0.js │ ├── variables_1.html │ ├── variables_1.js │ ├── variables_2.html │ ├── variables_2.js │ ├── variables_3.html │ ├── variables_3.js │ ├── variables_4.html │ ├── variables_4.js │ ├── variables_5.html │ ├── variables_5.js │ ├── variables_6.html │ ├── variables_6.js │ ├── variables_7.html │ ├── variables_7.js │ ├── variables_8.html │ ├── variables_8.js │ ├── variables_9.html │ ├── variables_9.js │ ├── variables_a.html │ ├── variables_a.js │ ├── variables_b.html │ ├── variables_b.js │ ├── variables_c.html │ └── variables_c.js ├── splitbar.png ├── structDMP_1_1State-members.html ├── structDMP_1_1State.html ├── structDMP_1_1compare__state-members.html ├── structDMP_1_1compare__state.html ├── structJPS_1_1JPS2DNeib-members.html ├── structJPS_1_1JPS2DNeib.html ├── structJPS_1_1JPS3DNeib-members.html ├── structJPS_1_1JPS3DNeib.html ├── structJPS_1_1State-members.html ├── structJPS_1_1State.html ├── structJPS_1_1compare__state-members.html ├── structJPS_1_1compare__state.html ├── sync_off.png ├── sync_on.png ├── tab_a.png ├── tab_b.png ├── tab_h.png ├── tab_s.png ├── tabs.css └── timer_8hpp_source.html ├── include ├── jps_basis │ ├── data_type.h │ └── data_utils.h ├── jps_collision │ └── map_util.h └── jps_planner │ ├── distance_map_planner │ ├── distance_map_planner.h │ └── graph_search.h │ └── jps_planner │ ├── graph_search.h │ └── jps_planner.h ├── jps3dConfig.cmake ├── jps3dConfigVersion.cmake ├── package.xml ├── src ├── distance_map_planner │ ├── distance_map_planner.cpp │ └── graph_search.cpp └── jps_planner │ ├── graph_search.cpp │ └── jps_planner.cpp ├── test ├── create_map.cpp ├── read_map.hpp ├── test_distance_map_planner_2d.cpp ├── test_planner_2d.cpp ├── test_planner_3d.cpp └── timer.hpp └── wercker.yml /.gitignore: -------------------------------------------------------------------------------- 1 | build/ 2 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8) 2 | project(jps3d) 3 | 4 | set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 -Wall -Wno-deprecated-declarations") 5 | 6 | IF(NOT CMAKE_BUILD_TYPE) 7 | SET(CMAKE_BUILD_TYPE RelWithDebInfo) 8 | ENDIF() 9 | 10 | set(BUILD_SHARED_LIBS ON) 11 | 12 | FIND_PACKAGE(Eigen3 REQUIRED) 13 | FIND_PACKAGE(PkgConfig REQUIRED) 14 | PKG_CHECK_MODULES(YAMLCPP REQUIRED yaml-cpp) 15 | 16 | IF(YAMLCPP_FOUND) 17 | MESSAGE(STATUS "Found yaml-cpp.") 18 | ELSE() 19 | MESSAGE(FATAL_ERROR "Could not find yaml-cpp.") 20 | ENDIF() 21 | 22 | INCLUDE_DIRECTORIES(include ${EIGEN3_INCLUDE_DIRS}) 23 | 24 | add_library(jps_lib src/jps_planner/graph_search.cpp 25 | src/jps_planner/jps_planner.cpp) 26 | 27 | add_library(dmp_lib src/distance_map_planner/graph_search.cpp 28 | src/distance_map_planner/distance_map_planner.cpp) 29 | 30 | add_executable(create_map test/create_map.cpp) 31 | target_link_libraries(create_map ${YAMLCPP_LIBRARIES}) 32 | 33 | include(CTest) 34 | 35 | add_executable(test_planner_2d test/test_planner_2d.cpp) 36 | target_link_libraries(test_planner_2d jps_lib ${YAMLCPP_LIBRARIES} ${Boost_LIBRARIES}) 37 | add_test(test_planner_2d test_planner_2d ${CMAKE_SOURCE_DIR}/data/corridor.yaml) 38 | 39 | add_executable(test_planner_3d test/test_planner_3d.cpp) 40 | target_link_libraries(test_planner_3d jps_lib ${YAMLCPP_LIBRARIES}) 41 | add_test(test_planner_3d test_planner_3d ${CMAKE_SOURCE_DIR}/data/simple3d.yaml) 42 | 43 | add_executable(test_distance_map_planner_2d test/test_distance_map_planner_2d.cpp) 44 | target_link_libraries(test_distance_map_planner_2d jps_lib dmp_lib ${YAMLCPP_LIBRARIES} ${Boost_LIBRARIES}) 45 | add_test(test_distance_map_planner_2d test_distance_map_planner_2d ${CMAKE_SOURCE_DIR}/data/corridor.yaml) 46 | 47 | 48 | install(FILES "${PROJECT_NAME}Config.cmake" "${PROJECT_NAME}ConfigVersion.cmake" 49 | DESTINATION "share/${PROJECT_NAME}/cmake") 50 | 51 | install(TARGETS jps_lib dmp_lib 52 | RUNTIME DESTINATION bin 53 | LIBRARY DESTINATION lib 54 | ARCHIVE DESTINATION lib) 55 | 56 | install(DIRECTORY include/jps_basis include/jps_planner include/jps_collision 57 | DESTINATION include) 58 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | BSD 3-Clause License 2 | 3 | Copyright (c) 2017, sikang 4 | All rights reserved. 5 | 6 | Redistribution and use in source and binary forms, with or without 7 | modification, are permitted provided that the following conditions are met: 8 | 9 | * Redistributions of source code must retain the above copyright notice, this 10 | list of conditions and the following disclaimer. 11 | 12 | * Redistributions in binary form must reproduce the above copyright notice, 13 | this list of conditions and the following disclaimer in the documentation 14 | and/or other materials provided with the distribution. 15 | 16 | * Neither the name of the copyright holder nor the names of its 17 | contributors may be used to endorse or promote products derived from 18 | this software without specific prior written permission. 19 | 20 | THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 21 | AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 22 | IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE 23 | DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE 24 | FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL 25 | DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR 26 | SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 27 | CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, 28 | OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE 29 | OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 30 | -------------------------------------------------------------------------------- /data/corridor.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/data/corridor.png -------------------------------------------------------------------------------- /data/example_dmp.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/data/example_dmp.png -------------------------------------------------------------------------------- /data/simple.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/data/simple.png -------------------------------------------------------------------------------- /data/simple3d.yaml: -------------------------------------------------------------------------------- 1 | - start: [0, 0, 0] 2 | - goal: [4, 4, 4] 3 | - origin: [0, 0, 0] 4 | - dim: [5, 5, 5] 5 | - resolution: 1 6 | 7 | # Simple 5x5x5 gird 8 | - data: [ 9 | # ↓ start 10 | 0, 1, 1, 1, 1, 11 | 0, 1, 1, 1, 1, 12 | 0, 1, 1, 1, 1, 13 | 0, 1, 1, 1, 1, 14 | 0, 1, 1, 1, 1, 15 | 16 | 1, 1, 1, 1, 1, 17 | 1, 1, 1, 1, 1, 18 | 1, 1, 1, 1, 1, 19 | 1, 1, 1, 1, 1, 20 | 0, 0, 0, 0, 0, 21 | 22 | 1, 1, 1, 1, 0, 23 | 1, 1, 1, 1, 0, 24 | 1, 1, 1, 1, 0, 25 | 1, 1, 1, 1, 0, 26 | 1, 1, 1, 1, 0, 27 | 28 | 0, 0, 0, 0, 0, 29 | 1, 1, 1, 1, 1, 30 | 1, 1, 1, 1, 1, 31 | 1, 1, 1, 1, 1, 32 | 1, 1, 1, 1, 1, 33 | 34 | 0, 1, 1, 1, 1, 35 | 0, 1, 1, 1, 1, 36 | 0, 0, 0, 1, 1, 37 | 0, 1, 1, 0, 1, 38 | 0, 1, 1, 1, 0, # ← goal 39 | ] 40 | -------------------------------------------------------------------------------- /docs/arrowdown.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/arrowdown.png -------------------------------------------------------------------------------- /docs/arrowright.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/arrowright.png -------------------------------------------------------------------------------- /docs/bc_s.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/bc_s.png -------------------------------------------------------------------------------- /docs/bdwn.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/bdwn.png -------------------------------------------------------------------------------- /docs/classDMPlanner.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/classDMPlanner.png -------------------------------------------------------------------------------- /docs/classIterativeDMPlanner.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/classIterativeDMPlanner.png -------------------------------------------------------------------------------- /docs/closed.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/closed.png -------------------------------------------------------------------------------- /docs/corridor.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/corridor.png -------------------------------------------------------------------------------- /docs/dir_13e138d54eb8818da29c3992edef070a.html: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | MRSL JPS3D Library: test Directory Reference 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 |
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    25 | 26 | 27 | -------------------------------------------------------------------------------- /docs/search/variables_c.js: -------------------------------------------------------------------------------- 1 | var searchData= 2 | [ 3 | ['x',['x',['../structDMP_1_1State.html#a14df41784f1af014707d1f90048538e1',1,'DMP::State::x()'],['../structJPS_1_1State.html#a365c33bb80f59adc38adc5c92309a9e4',1,'JPS::State::x()']]] 4 | ]; 5 | -------------------------------------------------------------------------------- /docs/splitbar.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/splitbar.png -------------------------------------------------------------------------------- /docs/sync_off.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/sync_off.png -------------------------------------------------------------------------------- /docs/sync_on.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/sync_on.png -------------------------------------------------------------------------------- /docs/tab_a.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/tab_a.png -------------------------------------------------------------------------------- /docs/tab_b.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/tab_b.png -------------------------------------------------------------------------------- /docs/tab_h.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/tab_h.png -------------------------------------------------------------------------------- /docs/tab_s.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/KumarRobotics/jps3d/ef65e36a8930395535e4683b1710e514b81d2f43/docs/tab_s.png -------------------------------------------------------------------------------- /include/jps_basis/data_type.h: -------------------------------------------------------------------------------- 1 | /** 2 | * @file data_type.h 3 | * @brief Defines all data types used in this lib 4 | 5 | * Mostly aliasing from Eigen Library. 6 | */ 7 | 8 | #include 9 | #include 10 | #include 11 | #include 12 | 13 | ///Set red font in printf funtion 14 | #ifndef ANSI_COLOR_RED 15 | #define ANSI_COLOR_RED "\x1b[1;31m" 16 | #endif 17 | ///Set green font in printf funtion 18 | #ifndef ANSI_COLOR_GREEN 19 | #define ANSI_COLOR_GREEN "\x1b[1;32m" 20 | #endif 21 | ///Set yellow font in printf funtion 22 | #ifndef ANSI_COLOR_YELLOW 23 | #define ANSI_COLOR_YELLOW "\x1b[1;33m" 24 | #endif 25 | ///Set blue font in printf funtion 26 | #ifndef ANSI_COLOR_BLUE 27 | #define ANSI_COLOR_BLUE "\x1b[1;34m" 28 | #endif 29 | ///Set magenta font in printf funtion 30 | #ifndef ANSI_COLOR_MAGENTA 31 | #define ANSI_COLOR_MAGENTA "\x1b[1;35m" 32 | #endif 33 | ///Set cyan font in printf funtion 34 | #ifndef ANSI_COLOR_CYAN 35 | #define ANSI_COLOR_CYAN "\x1b[1;36m" 36 | #endif 37 | ///Reset font color in printf funtion 38 | #ifndef ANSI_COLOR_RESET 39 | #define ANSI_COLOR_RESET "\x1b[0m" 40 | #endif 41 | 42 | #ifndef DATA_TYPE_H 43 | #define DATA_TYPE_H 44 | /*! \brief Rename the float type used in lib 45 | 46 | Default is set to be double, but user can change it to float. 47 | */ 48 | typedef double decimal_t; 49 | 50 | ///Pre-allocated std::vector for Eigen using vec_E 51 | template 52 | using vec_E = std::vector>; 53 | ///Eigen 1D float vector of size N 54 | template 55 | using Vecf = Eigen::Matrix; 56 | ///Eigen 1D int vector of size N 57 | template 58 | using Veci = Eigen::Matrix; 59 | ///Eigen 1D float vector of dynamic size 60 | using VecDf = Eigen::Matrix; 61 | ///MxN Eigen matrix 62 | template 63 | using Matf = Eigen::Matrix; 64 | ///MxN Eigen matrix with M unknown 65 | template 66 | using MatDNf = Eigen::Matrix; 67 | ///Vector of Eigen 1D float vector 68 | template 69 | using vec_Vecf = vec_E>; 70 | ///Vector of Eigen 1D int vector 71 | template 72 | using vec_Veci = vec_E>; 73 | 74 | ///Eigen 1D float vector of size 2 75 | typedef Vecf<2> Vec2f; 76 | ///Eigen 1D int vector of size 2 77 | typedef Veci<2> Vec2i; 78 | ///Eigen 1D float vector of size 3 79 | typedef Vecf<3> Vec3f; 80 | ///Eigen 1D int vector of size 3 81 | typedef Veci<3> Vec3i; 82 | ///Eigen 1D float vector of size 4 83 | typedef Vecf<4> Vec4f; 84 | ///Column vector in float of size 6 85 | typedef Vecf<6> Vec6f; 86 | 87 | ///Vector of type Vec2f. 88 | typedef vec_E vec_Vec2f; 89 | ///Vector of type Vec2i. 90 | typedef vec_E vec_Vec2i; 91 | ///Vector of type Vec3f. 92 | typedef vec_E vec_Vec3f; 93 | ///Vector of type Vec3i. 94 | typedef vec_E vec_Vec3i; 95 | 96 | ///2x2 Matrix in float 97 | typedef Matf<2, 2> Mat2f; 98 | ///3x3 Matrix in float 99 | typedef Matf<3, 3> Mat3f; 100 | ///4x4 Matrix in float 101 | typedef Matf<4, 4> Mat4f; 102 | ///6x6 Matrix in float 103 | typedef Matf<6, 6> Mat6f; 104 | 105 | ///Dynamic Nx1 Eigen float vector 106 | typedef Vecf VecDf; 107 | ///Mx3 Eigen float matrix 108 | typedef MatDNf<3> MatD3f; 109 | ///Dynamic MxN Eigen float matrix 110 | typedef Matf MatDf; 111 | 112 | ///Allias of Eigen::Affine2d 113 | typedef Eigen::Transform Aff2f; 114 | ///Allias of Eigen::Affine3d 115 | typedef Eigen::Transform Aff3f; 116 | 117 | #endif 118 | -------------------------------------------------------------------------------- /include/jps_basis/data_utils.h: -------------------------------------------------------------------------------- 1 | /** 2 | * @file data_utils.h 3 | * @brief Provide a few widely used function for basic type 4 | */ 5 | #ifndef JPS_DATA_UTIL_H 6 | #define JPS_DATA_UTIL_H 7 | 8 | #include 9 | 10 | ///Template for transforming a vector 11 | template 12 | vec_E transform_vec(const vec_E &t, const TF &tf) { 13 | vec_E new_t; 14 | for (const auto &it : t) 15 | new_t.push_back(tf * it); 16 | return new_t; 17 | } 18 | 19 | ///Template for calculating distance 20 | template 21 | decimal_t total_distance(const vec_E& vs){ 22 | decimal_t dist = 0; 23 | for(unsigned int i = 1; i < vs.size(); i++) 24 | dist += (vs[i] - vs[i-1]).norm(); 25 | 26 | return dist; 27 | } 28 | 29 | ///Transform all entries in a vector using given TF 30 | #define transform_vec3 transform_vec 31 | ///Sum up total distance for vec_Vec2f 32 | #define total_distance2f total_distance 33 | ///Sum up total distance for vec_Vec3f 34 | #define total_distance3f total_distance 35 | ///Sum up total distance for vec_Vec2i 36 | #define total_distance2i total_distance 37 | ///Sum up total distance for vec_Vec3i 38 | #define total_distance3i total_distance 39 | #endif 40 | -------------------------------------------------------------------------------- /include/jps_planner/jps_planner/jps_planner.h: -------------------------------------------------------------------------------- 1 | /** 2 | * @file jps_planner.h 3 | * @brief JPSPlanner 4 | */ 5 | #ifndef JPS_PLANNER_BASE_H 6 | #define JPS_PLANNER_BASE_H 7 | 8 | #include 9 | #include 10 | #include 11 | 12 | class GraphSearch; 13 | /** 14 | * @brief Abstract base for planning 15 | */ 16 | template 17 | class JPSPlanner 18 | { 19 | public: 20 | /** 21 | * @brief Simple constructor 22 | * @param verbose enable debug mode 23 | */ 24 | JPSPlanner(bool verbose = false); 25 | 26 | ///Set map util for collistion checking 27 | void setMapUtil(const std::shared_ptr>& map_util); 28 | /** 29 | * @brief Status of the planner 30 | * 31 | * 0 --- exit normally; 32 | * -1 --- no path found; 33 | * 1, 2 --- start or goal is not free. 34 | */ 35 | int status(); 36 | ///Get the modified path 37 | vec_Vecf getPath(); 38 | ///Get the raw path 39 | vec_Vecf getRawPath(); 40 | ///remove redundant points on the same line 41 | vec_Vecf removeLinePts(const vec_Vecf &path); 42 | ///Remove some corner waypoints 43 | vec_Vecf removeCornerPts(const vec_Vecf &path); 44 | ///Must be called before run the planning thread 45 | void updateMap(); 46 | ///Planning function 47 | bool plan(const Vecf &start, const Vecf &goal, decimal_t eps = 1, bool use_jps = true); 48 | ///Get the nodes in open set 49 | vec_Vecf getOpenSet() const; 50 | ///Get the nodes in close set 51 | vec_Vecf getCloseSet() const; 52 | ///Get all the nodes 53 | vec_Vecf getAllSet() const; 54 | protected: 55 | ///Assume using 3D voxel map for all 2d and 3d planning 56 | std::shared_ptr> map_util_; 57 | ///The planner 58 | std::shared_ptr graph_search_; 59 | ///Raw path from planner 60 | vec_Vecf raw_path_; 61 | ///Modified path for future usage 62 | vec_Vecf path_; 63 | ///Flag indicating the success of planning 64 | int status_ = 0; 65 | ///Enabled for printing info 66 | bool planner_verbose_; 67 | ///1-D map array 68 | std::vector cmap_; 69 | }; 70 | 71 | ///Planner for 2D OccMap 72 | typedef JPSPlanner<2> JPSPlanner2D; 73 | 74 | ///Planner for 3D VoxelMap 75 | typedef JPSPlanner<3> JPSPlanner3D; 76 | 77 | #endif 78 | -------------------------------------------------------------------------------- /jps3dConfig.cmake: -------------------------------------------------------------------------------- 1 | # - Config file for the jps3d package 2 | # It defines the following variables 3 | # JPS3D_INCLUDE_DIRS - include directories for JPS3D 4 | # JPS3D_LIBRARIES - libraries to link against 5 | 6 | # Compute paths 7 | get_filename_component(JPS3D_CMAKE_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH) 8 | set(JPS3D_INCLUDE_DIRS "${JPS3D_CMAKE_DIR}/../../../include") 9 | 10 | set(JPS3D_LIBRARIES 11 | "${JPS3D_CMAKE_DIR}/../../../lib/libjps_lib.so" 12 | "${JPS3D_CMAKE_DIR}/../../../lib/libdmp_lib.so") 13 | -------------------------------------------------------------------------------- /jps3dConfigVersion.cmake: -------------------------------------------------------------------------------- 1 | set(PACKAGE_VERSION "0.2.0") 2 | 3 | # Check whether the requested PACKAGE_FIND_VERSION is compatible 4 | if("${PACKAGE_VERSION}" VERSION_LESS "${PACKAGE_FIND_VERSION}") 5 | set(PACKAGE_VERSION_COMPATIBLE FALSE) 6 | else() 7 | set(PACKAGE_VERSION_COMPATIBLE TRUE) 8 | if ("${PACKAGE_VERSION}" VERSION_EQUAL "${PACKAGE_FIND_VERSION}") 9 | set(PACKAGE_VERSION_EXACT TRUE) 10 | endif() 11 | endif() 12 | -------------------------------------------------------------------------------- /package.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | jps3d 4 | 1.0.0 5 | The jps3d package 6 | sikang 7 | 8 | BSD-3-Clause 9 | 10 | 11 | cmake 12 | 13 | 14 | 15 | -------------------------------------------------------------------------------- /test/create_map.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | int main() { 6 | // Set start & goal 7 | std::vector start{0.5, 9.5, 0}; 8 | std::vector goal{19.5, 0.5, 0}; 9 | // Create a map 10 | std::vector origin{0, 0, 0}; // set origin at (0, 0, 0) 11 | std::vector dim{199, 99, 1}; // set the number of cells in each dimension as 20, 10, 1 12 | double res = 0.1; // set resolution as 1m 13 | std::vector data; // occupancy data, the subscript follows: id = x + dim.x * y + dim.x * dim.y * z; 14 | data.resize(dim[0] * dim[1] * dim[2], 0); // initialize as free map, free cell has 0 occupancy 15 | 16 | // Add the first block 17 | for(int x = dim[0]/2 + 1; x < dim[0]; x ++) { 18 | for(int y = dim[1]/2 + 1; y < dim[1]; y ++) { 19 | int id = x + dim[0] *y; 20 | data[id] = 100; 21 | } 22 | } 23 | 24 | // Add the second block 25 | for(int x = 2/res; x < 3/res; x ++) { 26 | for(int y = 3/res; y < 5/res; y ++) { 27 | int id = x + dim[0] *y; 28 | data[id] = 100; 29 | } 30 | } 31 | 32 | 33 | 34 | YAML::Emitter out; 35 | out << YAML::BeginSeq; 36 | // Encode start coordinate 37 | out << YAML::BeginMap; 38 | out << YAML::Key << "start" << YAML::Value << YAML::Flow << start; 39 | out << YAML::EndMap; 40 | // Encode goal coordinate 41 | out << YAML::BeginMap; 42 | out << YAML::Key << "goal" << YAML::Value << YAML::Flow << goal; 43 | out << YAML::EndMap; 44 | // Encode origin coordinate 45 | out << YAML::BeginMap; 46 | out << YAML::Key << "origin" << YAML::Value << YAML::Flow << origin; 47 | out << YAML::EndMap; 48 | // Encode dimension as number of cells 49 | out << YAML::BeginMap; 50 | out << YAML::Key << "dim" << YAML::Value << YAML::Flow << dim; 51 | out << YAML::EndMap; 52 | // Encode resolution 53 | out << YAML::BeginMap; 54 | out << YAML::Key << "resolution" << YAML::Value << res; 55 | out << YAML::EndMap; 56 | // Encode occupancy 57 | out << YAML::BeginMap; 58 | out << YAML::Key << "data" << YAML::Value << YAML::Flow << data; 59 | out << YAML::EndMap; 60 | 61 | out << YAML::EndSeq; 62 | std::cout << "Here is the example map:\n" << out.c_str() << std::endl; 63 | 64 | std::ofstream file; 65 | file.open("simple.yaml"); 66 | file << out.c_str(); 67 | file.close(); 68 | 69 | return 0; 70 | } 71 | -------------------------------------------------------------------------------- /test/read_map.hpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | 5 | template 6 | class MapReader { 7 | public: 8 | MapReader(const std::string& file, bool verbose = false) { 9 | try { 10 | YAML::Node config = YAML::LoadFile(file); 11 | 12 | if( !config[0]["start"] || !config[1]["goal"] || !config[2]["origin"] || !config[3]["dim"] || !config[4]["resolution"] || !config[5]["data"]) { 13 | printf("Check input format!\n" ); 14 | return; 15 | } 16 | 17 | const std::vector& start = config[0]["start"].as>(); 18 | for(unsigned int i = 0; i < start.size(); i++) 19 | start_(i) = start[i]; 20 | if(verbose) 21 | std::cout << "start: " << start_.transpose() << std::endl; 22 | 23 | const std::vector& goal = config[1]["goal"].as>(); 24 | for(unsigned int i = 0; i < goal.size(); i++) 25 | goal_(i) = goal[i]; 26 | if(verbose) 27 | std::cout << "goal: " << goal_.transpose() << std::endl; 28 | 29 | const std::vector& origin_vec = config[2]["origin"].as>(); 30 | for(unsigned int i = 0; i < origin_vec.size(); i++) 31 | origin_(i) = origin_vec[i]; 32 | if(verbose) 33 | std::cout << "origin: " << origin_.transpose() << std::endl; 34 | 35 | const std::vector& dim_vec = config[3]["dim"].as>(); 36 | for(unsigned int i = 0; i < dim_vec.size(); i++) 37 | dim_(i) = dim_vec[i]; 38 | if(verbose) 39 | std::cout << "dim: " << dim_.transpose() << std::endl; 40 | 41 | resolution_ = config[4]["resolution"].as(); 42 | if(verbose) 43 | std::cout << "resolution: " << resolution_ << std::endl; 44 | 45 | const std::vector& data = config[5]["data"].as>(); 46 | data_.resize(data.size()); 47 | for(unsigned int i = 0; i < data.size(); i++) 48 | data_[i] = data[i] > 0 ? 1 : 0; 49 | 50 | exist_ = true; 51 | } catch (YAML::ParserException& e) { 52 | //std::cout << e.what() << "\n"; 53 | exist_ = false; 54 | } 55 | } 56 | 57 | bool exist() { return exist_; } 58 | Tf origin() { return origin_; } 59 | Ti dim() { return dim_; } 60 | double start(int i) { return start_(i); } 61 | double goal(int i) { return goal_(i); } 62 | double resolution() { return resolution_; } 63 | std::vector data() { return data_; } 64 | private: 65 | Tf start_; 66 | Tf goal_; 67 | Tf origin_; 68 | Ti dim_; 69 | double resolution_; 70 | std::vector data_; 71 | 72 | bool exist_ = false; 73 | }; 74 | -------------------------------------------------------------------------------- /test/test_planner_3d.cpp: -------------------------------------------------------------------------------- 1 | #include "timer.hpp" 2 | #include "read_map.hpp" 3 | #include 4 | #include 5 | 6 | using namespace JPS; 7 | 8 | int main(int argc, char ** argv){ 9 | if(argc != 2) { 10 | printf(ANSI_COLOR_RED "Input yaml required!\n" ANSI_COLOR_RESET); 11 | return -1; 12 | } 13 | 14 | // Read the map from yaml 15 | MapReader reader(argv[1], true); // Map read from a given file 16 | if(!reader.exist()) { 17 | printf(ANSI_COLOR_RED "Cannot read input file [%s]!\n" ANSI_COLOR_RESET, argv[1]); 18 | return -1; 19 | } 20 | 21 | // store map in map_util 22 | std::shared_ptr map_util = std::make_shared(); 23 | map_util->setMap(reader.origin(), reader.dim(), reader.data(), reader.resolution()); 24 | 25 | const Vec3f start(reader.start(0), reader.start(1), reader.start(2)); 26 | const Vec3f goal(reader.goal(0), reader.goal(1), reader.goal(2)); 27 | 28 | std::unique_ptr planner_ptr(new JPSPlanner3D(true)); // Declare a planner 29 | planner_ptr->setMapUtil(map_util); // Set collision checking function 30 | planner_ptr->updateMap(); 31 | 32 | Timer time_jps(true); 33 | bool valid_jps = planner_ptr->plan(start, goal, 1, true); // Plan from start to goal using JPS 34 | double dt_jps = time_jps.Elapsed().count(); 35 | printf("JPS Planner takes: %f ms\n", dt_jps); 36 | printf("JPS Path Distance: %f\n", total_distance3f(planner_ptr->getRawPath())); 37 | printf("JPS Path: \n"); 38 | auto path_jps = planner_ptr->getRawPath(); 39 | for(const auto& it: path_jps) 40 | std::cout << it.transpose() << std::endl; 41 | 42 | Timer time_astar(true); 43 | bool valid_astar = planner_ptr->plan(start, goal, 1, false); // Plan from start to goal using A* 44 | double dt_astar = time_astar.Elapsed().count(); 45 | printf("AStar Planner takes: %f ms\n", dt_astar); 46 | printf("AStar Path Distance: %f\n", total_distance3f(planner_ptr->getRawPath())); 47 | printf("AStar Path: \n"); 48 | auto path_astar = planner_ptr->getRawPath(); 49 | for(const auto& it: path_astar) 50 | std::cout << it.transpose() << std::endl; 51 | 52 | return 0; 53 | } 54 | -------------------------------------------------------------------------------- /test/timer.hpp: -------------------------------------------------------------------------------- 1 | #include 2 | 3 | namespace JPS { 4 | class Timer { 5 | typedef std::chrono::high_resolution_clock high_resolution_clock; 6 | typedef std::chrono::milliseconds milliseconds; 7 | public: 8 | explicit Timer(bool run = false) 9 | { 10 | if (run) 11 | Reset(); 12 | } 13 | void Reset() 14 | { 15 | _start = high_resolution_clock::now(); 16 | } 17 | milliseconds Elapsed() const 18 | { 19 | return std::chrono::duration_cast(high_resolution_clock::now() - _start); 20 | } 21 | private: 22 | high_resolution_clock::time_point _start; 23 | }; 24 | } 25 | -------------------------------------------------------------------------------- /wercker.yml: -------------------------------------------------------------------------------- 1 | box: ubuntu 2 | 3 | build: 4 | steps: 5 | - script: 6 | name: install dependencies 7 | code: | 8 | sudo apt-get update 9 | sudo apt install -y libeigen3-dev libyaml-cpp-dev libboost-dev cmake 10 | - script: 11 | name: build 12 | code: | 13 | mkdir build 14 | cd build 15 | cmake .. 16 | make -j4 17 | - script: 18 | name: test 19 | code: | 20 | cd build 21 | make test 22 | 23 | 24 | --------------------------------------------------------------------------------