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planner_3d: fix cost calculation bug on in-place turning #725

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merged 4 commits into from
Oct 31, 2023
Merged

planner_3d: fix cost calculation bug on in-place turning #725

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7544f1c
planner_3d: fix a bug in the cost calculation
nhatao Oct 27, 2023
450e4ae
Add test
nhatao Oct 30, 2023
2604942
Add more test
nhatao Oct 30, 2023
9b1f07c
Fix variable names
nhatao Oct 30, 2023
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14 changes: 9 additions & 5 deletions planner_cspace/src/grid_astar_model_3dof.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,6 +155,10 @@ float GridAstarModel3D::euclidCostRough(const Vec& v) const
float GridAstarModel3D::cost(
const Vec& cur, const Vec& next, const std::vector<VecWithCost>& start, const Vec& goal) const
{
if ((cm_[cur] > 99) || (cm_[next] > 99))
{
return -1;
}
Vec d_raw = next - cur;
d_raw.cycle(map_info_.angle);
const Vec d = d_raw;
Expand All @@ -168,18 +172,18 @@ float GridAstarModel3D::cost(
Vec pos = cur;
for (int i = 0; i < std::abs(d[2]); i++)
{
pos[2] += dir;
if (pos[2] < 0)
pos[2] += map_info_.angle;
else if (pos[2] >= static_cast<int>(map_info_.angle))
pos[2] -= map_info_.angle;
const auto c = cm_[pos];
if (c > 99)
return -1;
if (c >= cc_.turn_penalty_cost_threshold_)
{
sum += c;
}
pos[2] += dir;
if (pos[2] < 0)
pos[2] += map_info_.angle;
else if (pos[2] >= static_cast<int>(map_info_.angle))
pos[2] -= map_info_.angle;
}
const float turn_cost_ratio = cc_.weight_costmap_turn_ / 100.0;
const float turn_heuristic_cost_ratio =
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20 changes: 20 additions & 0 deletions planner_cspace/test/src/test_planner_3d_cost.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,7 @@ TEST(GridAstarModel3D, Cost)
cc.max_vel_ = 1.0;
cc.max_ang_vel_ = 1.0;
cc.angle_resolution_aspect_ = 1.0;
cc.turn_penalty_cost_threshold_ = 0;

GridAstarModel3D model(
map_info,
Expand All @@ -91,6 +92,25 @@ TEST(GridAstarModel3D, Cost)
EXPECT_LT(c_straight, c_curve);
EXPECT_LT(c_straight, c_drift);
EXPECT_LT(c_straight, c_drift_curve);

// These tests are added to confirm that some bugs are fixed by https://github.com/at-wat/neonavigation/pull/725
const GridAstarModel3D::Vec start2(5, 5, 0);
const GridAstarModel3D::Vec occupied_waypoint(10, 5, 0);
const GridAstarModel3D::Vec goal2(10, 5, 3);
cm[occupied_waypoint] = 100;
// The cost toward the occupied cell should be negative.
EXPECT_LT(model.cost(start2, occupied_waypoint, {GridAstarModel3D::VecWithCost(start2)}, occupied_waypoint), 0);
// The cost from the occupied cell should be negative.
EXPECT_LT(model.cost(occupied_waypoint, goal2, {GridAstarModel3D::VecWithCost(occupied_waypoint)}, goal2), 0);

const GridAstarModel3D::Vec start3(10, 20, 0);
cm[start3] = 99;
const GridAstarModel3D::Vec waypoint3(10, 20, 3);
const GridAstarModel3D::Vec goal3(10, 20, 6);
// The cost between start3 and waypoint3 is larger than the cost between waypoint3 and goal3 because start3
// has a penalty.
EXPECT_GT(model.cost(start3, waypoint3, {GridAstarModel3D::VecWithCost(start3)}, waypoint3),
model.cost(waypoint3, goal3, {GridAstarModel3D::VecWithCost(waypoint3)}, goal3));
}
} // namespace planner_3d
} // namespace planner_cspace
Expand Down