RouteGenerator/catmull_rom.cpp at master · trhrobo/RouteGenerator · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
#include<cmath>
#include<vector>
#include<tuple>
#include<array>
#include<utility>
#include</usr/local/include/eigen3/Dense>
#include<iostream>
#include<queue>
#include<fstream>
#include<string>
#include<iomanip>

using namespace Eigen;
using catmull_tuple = std::tuple<float, float, float>;
using route_tuple = std::tuple<float, float, float, float, float>;
using std::cout;
using std::endl;
template<typename T>
class PosData2{
    public:
        T x;
        T y;
        explicit PosData2(T _x, T _y):x(_x), y(_y){}
        PosData2 operator+(PosData2 object){
            x += object.x;
            y += object.y;
            return *this;
        }
        PosData2 operator-(PosData2 object){
            x -= object.x;
            y -= object.y;
            return *this;
        }
        PosData2 operator*(PosData2 object){
            x *= object.x;
            y *= object.y;
            return *this;
        }
        void pow(){
            x *= x;
            y *= y;
        }
};
class CatmullRomSpline{
    public:
        explicit CatmullRomSpline(std::vector<route_tuple> &&input_param, int _frequency):frequency(_frequency){
            //全ての通過点を取得
            for(auto &point : input_param){
                //速度情報を省いてPosData2型にする
                PosData2<float> point2d(std::get<0>(point), std::get<1>(point));
                transit_point.push_back(point2d);
                queue_angle.push(std::get<4>(point));
            }
        }
        void operator()(){
            //始点通過、終点通過、一般経路を分類
            for(int counter = 0; counter < transit_point.size() - 1; ++counter){
                cal_L = 0;
                auto NomalCal = [&](int n, float p0, float p1, float p2, float p3){
                    a[n] = -p0 + 3.0f * p1 - 3.0f * p2 + p3;
                    b[n] = 2.0f * p0 - 5.0f * p1 + 4.0f * p2 - p3;
                    c[n] = -p0 + p2;
                    d[n] = 2.0f * p1;
                };
                auto ExceptionCal = [&](int n, float p0, float p1, float p2){
                    if(counter == 0){
                        //First Curve
                        b[n] = p0 - 2.0f * p1 + p2;
                        c[n] = -3.0f * p0 + 4.0f * p1 - p2;
                        d[n] = 2.0f * p0;
                    }else{
                        //Last Curve
                        b[n] = p0 - 2.0f * p1 + p2;
                        c[n] = -p0 + p2;
                        d[n] = 2.0f * p1;
                    }
                };
                if(counter == 0){
                    ExceptionCal(0, transit_point.at(counter).x, transit_point.at(counter + 1).x, transit_point.at(counter + 2).x);
                    ExceptionCal(1, transit_point.at(counter).y, transit_point.at(counter + 1).y, transit_point.at(counter + 2).y);
                }else if(counter == transit_point.size() - 2){
                    ExceptionCal(0, transit_point.at(counter - 1).x, transit_point.at(counter).x, transit_point.at(counter + 1).x);
                    ExceptionCal(1, transit_point.at(counter - 1).y, transit_point.at(counter).y, transit_point.at(counter + 1).y);
                }else{
                    NomalCal(0, transit_point.at(counter - 1).x, transit_point.at(counter).x, transit_point.at(counter + 1).x, transit_point.at(counter + 2).x);
                    NomalCal(1, transit_point.at(counter - 1).y, transit_point.at(counter).y, transit_point.at(counter + 1).y, transit_point.at(counter + 2).y);
                }
                for(int i = 0; i < frequency; ++i){
                    float t = static_cast<float>(i) / frequency;
                    float temp[2];
                    for(int k = 0; k < 2; ++k){
                        if(counter == 0){
                            temp[k] = 0.5f * ((b[k] * t * t) + (c[k] * t) + d[k]);
                        }else if(counter == transit_point.size() - 2){
                            temp[k] = 0.5f * ((b[k] * t * t) + (c[k] * t) + d[k]);
                        }else{
                            temp[k] = 0.5f * ((a[k] * t * t * t) + (b[k] * t * t) + (c[k] * t) + d[k]);
                        }
                    }
                    //x, yをそれぞれ入れる
                    Vector2f Pos(temp[0], temp[1]);
                    goal_point.push_back(Pos);
                    //区間距離を計算
                    cal_L += std::sqrt(Pos(0) * Pos(0) + Pos(1) * Pos(1));
                }
                queue_L_total.push(cal_L);
            }
            std::ofstream outputFile("Route.txt");
            for(auto &point : goal_point){outputFile << std::fixed << std::setprecision(5) << point(0) << " " << point(1) << "\n";}
            outputFile.close();
        }
        Vector2f getSubPoint(){
            //区間距離、角度の取得関数
            Vector2f info(queue_L_total.front(), queue_angle.front());
            queue_L_total.pop();
            queue_angle.pop();
            return info;
        }
    private:
        std::vector<float> transit_theta;
        std::vector<Vector2f> goal_point;
        std::vector<PosData2<float>> transit_point;
        std::queue<float> queue_L_total;
        std::queue<float> queue_angle;
        int frequency;
        float a[2], b[2], c[2], d[2];
        float cal_L;
};
enum class Coat{
  red1,
  red2,
  blue1,
  blue2
};
template<Coat color>
std::vector<route_tuple> routeInit(){
  std::vector<route_tuple> point;
  switch(color){
    case Coat::red1:
      point.push_back(route_tuple( 0.0f,  0.0f,  1.0f,   0.0f, 0.0f));
      point.push_back(route_tuple( 10.0f, 20.0f,  1.0f,  30.0f, 0.0f));
      point.push_back(route_tuple( 15.0f, 25.0f,  1.0f,  40.0f, 0.0f));
      point.push_back(route_tuple( 20.0f, 60.0f,  1.0f,  50.0f, 0.0f));
      point.push_back(route_tuple( 25.5f, 40.0f, -1.0f,  60.0f, 0.0f));
      point.push_back(route_tuple( 30.0f, 25.0f, -1.0f,  70.0f, 0.0f));
      point.push_back(route_tuple( 20.0f, 50.0f,  1.0f,  80.0f, 0.0f));
      point.push_back(route_tuple( 10.0f, 55.0f,  1.0f,  90.0f, 0.0f));
      point.push_back(route_tuple( 5.0f, 20.0f,  1.0f, 100.0f, 0.0f));
      point.push_back(route_tuple( 0.0f,  40.0f,  1.0f, 110.0f, 0.0f));
      break;
    case Coat::red2:
      point.push_back(route_tuple( 0.0f,  0.0f,  1.0f,   0.0f, 0.0f));
      point.push_back(route_tuple( 0.0f, 10.0f,  1.0f,  30.0f, 0.0f));
      point.push_back(route_tuple( 0.0f, 20.0f,  1.0f,  40.0f, 0.0f));
      point.push_back(route_tuple( 0.0f, 30.0f,  1.0f,  50.0f, 0.0f));
      point.push_back(route_tuple( 1.5f, 35.0f, -1.0f,  60.0f, 0.0f));
      point.push_back(route_tuple( 5.0f, 39.0f, -1.0f,  70.0f, 0.0f));
      point.push_back(route_tuple(10.0f, 40.0f,  1.0f,  80.0f, 0.0f));
      point.push_back(route_tuple(20.0f, 40.0f,  1.0f,  90.0f, 0.0f));
      point.push_back(route_tuple(30.0f, 40.0f,  1.0f, 100.0f, 0.0f));
      point.push_back(route_tuple(40.0f, 40.0f,  1.0f, 110.0f, 0.0f));
      break;
    case Coat::blue1:
      point.push_back(route_tuple( 0.0f,  0.0f,  1.0f,   0.0f, 0.0f));
      point.push_back(route_tuple( 0.0f, 10.0f,  1.0f,  30.0f, 0.0f));
      point.push_back(route_tuple( 0.0f, 20.0f,  1.0f,  40.0f, 0.0f));
      point.push_back(route_tuple( 0.0f, 30.0f,  1.0f,  50.0f, 0.0f));
      point.push_back(route_tuple( 1.5f, 35.0f, -1.0f,  60.0f, 0.0f));
      point.push_back(route_tuple( 5.0f, 39.0f, -1.0f,  70.0f, 0.0f));
      point.push_back(route_tuple(10.0f, 40.0f,  1.0f,  80.0f, 0.0f));
      point.push_back(route_tuple(20.0f, 40.0f,  1.0f,  90.0f, 0.0f));
      point.push_back(route_tuple(30.0f, 40.0f,  1.0f, 100.0f, 0.0f));
      point.push_back(route_tuple(40.0f, 40.0f,  1.0f, 110.0f, 0.0f));
      break;
    case Coat::blue2:
      point.push_back(route_tuple( 0.0f,  0.0f,  1.0f,   0.0f, 0.0f));
      point.push_back(route_tuple( 0.0f, 10.0f,  1.0f,  30.0f, 0.0f));
      point.push_back(route_tuple( 0.0f, 20.0f,  1.0f,  40.0f, 0.0f));
      point.push_back(route_tuple( 0.0f, 30.0f,  1.0f,  50.0f, 0.0f));
      point.push_back(route_tuple( 1.5f, 35.0f, -1.0f,  60.0f, 0.0f));
      point.push_back(route_tuple( 5.0f, 39.0f, -1.0f,  70.0f, 0.0f));
      point.push_back(route_tuple(10.0f, 40.0f,  1.0f,  80.0f, 0.0f));
      point.push_back(route_tuple(20.0f, 40.0f,  1.0f,  90.0f, 0.0f));
      point.push_back(route_tuple(30.0f, 40.0f,  1.0f, 100.0f, 0.0f));
      point.push_back(route_tuple(40.0f, 40.0f,  1.0f, 110.0f, 0.0f));
      break;
  }
  return point;
}

int main(){
    CatmullRomSpline splineObject(routeInit<Coat::red1>(), 100);
    splineObject();
}