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Added check for obstacle pointer validity in StageInequalitySE2

master
Christoph Rösmann 2020-05-27 10:24:34 +02:00
parent 81f60e5439
commit 4133cbbc26
1 changed files with 41 additions and 38 deletions
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79
mpc_local_planner/src/optimal_control/stage_inequality_se2.cpp
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@ -35,12 +35,14 @@ int StageInequalitySE2::getNonIntegralControlDeviationTermDimension(int k) const
int StageInequalitySE2::getNonIntegralStateTermDimension(int k) const int StageInequalitySE2::getNonIntegralStateTermDimension(int k) const
{ {
if (!_obstacles) return 0;
assert(k < _relevant_obstacles.size()); assert(k < _relevant_obstacles.size());
return (int)_relevant_obstacles[k].size(); return (int)_relevant_obstacles[k].size();
} }
int StageInequalitySE2::getNonIntegralStateDtTermDimension(int k) const int StageInequalitySE2::getNonIntegralStateDtTermDimension(int k) const
{ {
if (!_obstacles) return 0;
assert(k < _relevant_dyn_obstacles.size()); assert(k < _relevant_dyn_obstacles.size());
return (int)_relevant_dyn_obstacles[k].size(); return (int)_relevant_dyn_obstacles[k].size();
} }
@ -50,8 +52,8 @@ bool StageInequalitySE2::update(int n, double /*t*/, corbo::ReferenceTrajectoryI
corbo::StagePreprocessor::Ptr /*stage_preprocessor*/, const std::vector<double>& /*dts*/, corbo::StagePreprocessor::Ptr /*stage_preprocessor*/, const std::vector<double>& /*dts*/,
const corbo::DiscretizationGridInterface* grid) const corbo::DiscretizationGridInterface* grid)
{ {
assert(_obstacles); PRINT_WARNING_COND_ONCE(!_obstacles, "StageInequalitySE2 requires a valid obstacle ptr which is not null (ignoring obstacle avoidance).");
assert(_robot_model); PRINT_WARNING_COND_ONCE(!_robot_model, "StageInequalitySE2 requires a valid robot model ptr which is not null (ignoring obstacle avoidance).");
// Setup obstacle avoidance // Setup obstacle avoidance
@ -89,45 +91,48 @@ bool StageInequalitySE2::update(int n, double /*t*/, corbo::ReferenceTrajectoryI
_relevant_dyn_obstacles[k].clear(); _relevant_dyn_obstacles[k].clear();
// iterate obstacles // iterate obstacles
for (const ObstaclePtr& obst : *_obstacles) if (_obstacles && _robot_model)
{ {
// check for dynamic obstacle for (const ObstaclePtr& obst : *_obstacles)
if (_enable_dynamic_obstacles && obst->isDynamic())
{ {
// we consider all dynamic obstacles by now // check for dynamic obstacle
// TODO(roesmann): we might remove obstacles that "go away" from the trajectory if (_enable_dynamic_obstacles && obst->isDynamic())
// or more generally that any intersection in the future is unlikely
_relevant_dyn_obstacles[k].push_back(obst);
continue;
}
// calculate distance to robot model
double dist = _robot_model->calculateDistance(pose, obst.get());
// force considering obstacle if really close to the current pose
if (dist < _min_obstacle_dist * _obstacle_filter_force_inclusion_factor)
{
_relevant_obstacles[k].push_back(obst);
continue;
}
// cut-off distance
if (dist > _min_obstacle_dist * _obstacle_filter_cutoff_factor) continue;
// determine side (left or right) and assign obstacle if closer than the previous one
if (cross2d(pose_orient, obst->getCentroid()) > 0) // left
{
if (dist < left_min_dist)
{ {
left_min_dist = dist; // we consider all dynamic obstacles by now
left_obstacle = obst; // TODO(roesmann): we might remove obstacles that "go away" from the trajectory
// or more generally that any intersection in the future is unlikely
_relevant_dyn_obstacles[k].push_back(obst);
continue;
} }
}
else // calculate distance to robot model
{ double dist = _robot_model->calculateDistance(pose, obst.get());
if (dist < right_min_dist)
// force considering obstacle if really close to the current pose
if (dist < _min_obstacle_dist * _obstacle_filter_force_inclusion_factor)
{ {
right_min_dist = dist; _relevant_obstacles[k].push_back(obst);
right_obstacle = obst; continue;
}
// cut-off distance
if (dist > _min_obstacle_dist * _obstacle_filter_cutoff_factor) continue;
// determine side (left or right) and assign obstacle if closer than the previous one
if (cross2d(pose_orient, obst->getCentroid()) > 0) // left
{
if (dist < left_min_dist)
{
left_min_dist = dist;
left_obstacle = obst;
}
}
else
{
if (dist < right_min_dist)
{
right_min_dist = dist;
right_obstacle = obst;
}
} }
} }
} }
@ -158,7 +163,6 @@ bool StageInequalitySE2::update(int n, double /*t*/, corbo::ReferenceTrajectoryI
void StageInequalitySE2::computeNonIntegralStateTerm(int k, const Eigen::Ref<const Eigen::VectorXd>& x_k, Eigen::Ref<Eigen::VectorXd> cost) const void StageInequalitySE2::computeNonIntegralStateTerm(int k, const Eigen::Ref<const Eigen::VectorXd>& x_k, Eigen::Ref<Eigen::VectorXd> cost) const
{ {
assert(_obstacles);
assert(k < _relevant_obstacles.size()); assert(k < _relevant_obstacles.size());
assert(cost.size() == _relevant_obstacles[k].size()); assert(cost.size() == _relevant_obstacles[k].size());
@ -173,7 +177,6 @@ void StageInequalitySE2::computeNonIntegralStateTerm(int k, const Eigen::Ref<con
void StageInequalitySE2::computeNonIntegralStateDtTerm(int k, const Eigen::Ref<const Eigen::VectorXd>& x_k, double dt_k, void StageInequalitySE2::computeNonIntegralStateDtTerm(int k, const Eigen::Ref<const Eigen::VectorXd>& x_k, double dt_k,
Eigen::Ref<Eigen::VectorXd> cost) const Eigen::Ref<Eigen::VectorXd> cost) const
{ {
assert(_obstacles);
assert(k < _relevant_dyn_obstacles.size()); assert(k < _relevant_dyn_obstacles.size());
assert(cost.size() == _relevant_dyn_obstacles[k].size()); assert(cost.size() == _relevant_dyn_obstacles[k].size());