matlab rrt star学习

function problem = rrt_star_fn(map, max_iter, max_nodes, is_benchmark, rand_seed, variant)
%RRT_STAR_FN -- RRT*FN is sampling-based algorithm. It is a new variant 
% of RRT* algorithm,  which limits the number of nodes in the tree 
% and hence decreases the memory needed for storing the tree. 
% 
% problem = RRT_STAR_FN(map, max_iter, max_nodes, is_benchmark, rand_seed, variant)
% function returns the object of the respective class with the result
%
% map           -- struct with appropriate fields (developer of 
%               the class provides more information on this topic)
% max_iter      -- number of iteration to solve the problem
% max_node      -- number of nodes in the tree
% is_benchmark  -- if true saves snapshots of the tree in a special directory
%               boolean variable
% rand_seed     -- a random seed 
% variant       -- what class to choose, class used defines the problem space
%
%
% for detailed information consult with the help of the _RRT*FN Toolbox_
%
% Olzhas Adiyatov
% 05/26/2013

%%% Configuration block
if nargin < 6
    clear all;
    close all;
    clc;
    
    % load conf
    RAND_SEED   = 1;
    MAX_ITER    = 30e3;
    MAX_NODES   = 4001;
    
    % here you can specify what class to use, each class represent
    % different model.
    % FNSimple2D provides RRT and RRT* for 2D mobile robot represented as a dot 
    % FNRedundantManipulator represents redundant robotic manipulator, DOF is
    % defined in configuration files.

        variant     = ‘FNSimple2D‘;
        %variant     = ‘FNSimple3D‘;
        MAP = struct(‘name‘, ‘bench_june1.mat‘, ‘start_point‘, [-12.5 -5.5], ‘goal_point‘, [7 -3.65]);
%     variant     = ‘FNRedundantManipulator‘;
%     MAP = struct(‘name‘, ‘bench_redundant_3.mat‘, ‘start_point‘, [0 0], ‘goal_point‘, [35 35]);
%     variant     = ‘GridBased2Dimrotate‘;
%     MAP = struct(‘name‘, ‘grid_map.mat‘, ‘start_point‘, [150 150], ‘goal_point‘, [250 50]);
    %[180 284]

    % do we have to benchmark?
    is_benchmark = false;
else
    MAX_NODES   = max_nodes;
    MAX_ITER    = max_iter;
    RAND_SEED   = rand_seed;
    MAP         = map;  
end

addpath(genpath(pwd));

%%% loading configuration file with object model specific options 
if exist([‘configure_‘ variant ‘.m‘], ‘file‘)
    run([ pwd ‘/configure_‘ variant ‘.m‘]);
    CONF = conf;
else
    disp(‘ERROR: There is no configuration file!‘)
    return
end

ALGORITHM = ‘RRTSFN‘;

problem = eval([variant ‘(RAND_SEED, MAX_NODES, MAP, CONF);‘]);
%problem = FNRedundantManipulator(RAND_SEED, MAX_NODES, MAP, CONF);


max_nodes_reached = false;

if(is_benchmark)
    benchmark_record_step = 250;
    benchmark_states = cell(MAX_ITER / benchmark_record_step, 1);
    
    timestamp = zeros(MAX_ITER / benchmark_record_step, 1);
    iterstamp = zeros(MAX_ITER / benchmark_record_step, 1);
end

%%% Starting a timer
tic;
for ind = 1:MAX_ITER
    
    if is_benchmark && max_nodes_reached == false && problem.nodes_added == MAX_NODES
        max_nodes_reached = true;
        before_removal_state = problem.copyobj();
    end
    
    new_node = problem.sample();
    nearest_node_ind = problem.nearest(new_node);
    new_node = problem.steer(nearest_node_ind, new_node); % if new node is very distant from the nearest node we go from the nearest node in the direction of a new node
    if(~problem.obstacle_collision(new_node, nearest_node_ind))
        neighbors = problem.neighbors(new_node, nearest_node_ind);
        if numel(neighbors) == 0 %this expression will show us that something is completely wrong
            %disp([‘ no neighbors detected at ‘ num2str(ind)]);
        end
        min_node = problem.chooseParent(neighbors, nearest_node_ind, new_node);
        if (problem.nodes_added == MAX_NODES)
            new_node_ind = problem.reuse_node(min_node, new_node);
        else
            new_node_ind = problem.insert_node(min_node, new_node);
        end
        problem.rewire(new_node_ind, neighbors, min_node);
        if (problem.nodes_added == MAX_NODES)
                problem.best_path_evaluate();
            problem.forced_removal();
        end
    end
    
    if is_benchmark && (mod(ind, benchmark_record_step) == 0)
        benchmark_states{ind/benchmark_record_step} = problem.copyobj();
        timestamp(ind/benchmark_record_step) = toc;
        iterstamp(ind/benchmark_record_step) = ind;
    end
    
    % display progress each 100 iterations
    if(mod(ind, 100) == 0)
        disp([num2str(ind) ‘ iterations ‘ num2str(problem.nodes_added-1) ‘ nodes in ‘ num2str(toc) ‘ rewired ‘ num2str(problem.num_rewired)]);
    end
end

if (is_benchmark)
    if strcmp(computer,‘GLNXA64‘) == true
        result_dir = ‘/home/olzhas/june_results/‘;
    else
        result_dir = ‘F:\Github\repository_2020\rrt_toolbox\june_results\‘;
    end
    dir_name = [result_dir datestr(now, ‘yyyy-mm-dd‘)];
    mkdir(dir_name);
    save([dir_name ‘/‘ ALGORITHM ‘_‘ MAP.name ‘_‘ num2str(MAX_NODES) ‘_of_‘ num2str(MAX_ITER) ‘_‘ datestr(now, ‘HH-MM-SS‘) ‘.mat‘]);
    set(gcf,‘Visible‘,‘off‘);
    
    % free memory, sometimes there is a memory leak, or matlab decides to
    % free up memory later.
    
    clear all;
    clear(‘rrt_star_fn.m‘);
%     problem.plot();
%     saveas(gcf, [dir_name ‘\‘ ALGORITHM ‘_‘ MAP.name ‘_‘ num2str(MAX_NODES) ‘_of_‘ num2str(MAX_ITER) ‘_‘ datestr(now, ‘HH-MM-SS‘) ‘.fig‘]);
else
    problem.plot();
end

100 iterations 87 nodes in 0.76167 rewired 0
200 iterations 181 nodes in 0.7986 rewired 5
300 iterations 274 nodes in 0.82317 rewired 9
400 iterations 371 nodes in 0.84594 rewired 20
500 iterations 468 nodes in 0.87128 rewired 28
600 iterations 566 nodes in 0.89928 rewired 45
700 iterations 662 nodes in 0.91967 rewired 48
800 iterations 761 nodes in 0.94793 rewired 64
900 iterations 858 nodes in 0.97181 rewired 86
1000 iterations 957 nodes in 1.0046 rewired 129
1100 iterations 1052 nodes in 1.0387 rewired 167
1200 iterations 1149 nodes in 1.0647 rewired 210
1300 iterations 1243 nodes in 1.0929 rewired 249
1400 iterations 1339 nodes in 1.1236 rewired 288
1500 iterations 1433 nodes in 1.1526 rewired 354
1600 iterations 1529 nodes in 1.1781 rewired 408
1700 iterations 1624 nodes in 1.2044 rewired 468
1800 iterations 1718 nodes in 1.2363 rewired 520
1900 iterations 1813 nodes in 1.26 rewired 559
2000 iterations 1911 nodes in 1.2951 rewired 657
2100 iterations 2005 nodes in 1.3205 rewired 744
2200 iterations 2101 nodes in 1.3581 rewired 835
2300 iterations 2193 nodes in 1.3874 rewired 936
2400 iterations 2290 nodes in 1.4128 rewired 1008
2500 iterations 2384 nodes in 1.4412 rewired 1111
2600 iterations 2478 nodes in 1.4851 rewired 1256
2700 iterations 2574 nodes in 1.5285 rewired 1427
2800 iterations 2666 nodes in 1.5677 rewired 1566
2900 iterations 2763 nodes in 1.6061 rewired 1721
3000 iterations 2859 nodes in 1.6444 rewired 1898
3100 iterations 2957 nodes in 1.691 rewired 2026
3200 iterations 3051 nodes in 1.736 rewired 2192
3300 iterations 3147 nodes in 1.7925 rewired 2378
3400 iterations 3244 nodes in 1.8435 rewired 2581
3500 iterations 3335 nodes in 1.8824 rewired 2737
3600 iterations 3430 nodes in 1.937 rewired 2920
3700 iterations 3527 nodes in 1.982 rewired 3125
3800 iterations 3623 nodes in 2.0332 rewired 3344
3900 iterations 3721 nodes in 2.0778 rewired 3568
4000 iterations 3816 nodes in 2.124 rewired 3738
4100 iterations 3912 nodes in 2.1577 rewired 3929
4200 iterations 4000 nodes in 2.3428 rewired 4145
4300 iterations 4000 nodes in 2.4534 rewired 4327
4400 iterations 4000 nodes in 2.567 rewired 4542
4500 iterations 4000 nodes in 2.6731 rewired 4715
4600 iterations 4000 nodes in 2.773 rewired 4895
4700 iterations 4000 nodes in 2.8769 rewired 5049
attempt to delete last node in the feasible path
4800 iterations 4000 nodes in 2.9947 rewired 5277
4900 iterations 4000 nodes in 3.11 rewired 5461
5000 iterations 4000 nodes in 3.216 rewired 5652
5100 iterations 4000 nodes in 3.33 rewired 5798
5200 iterations 4000 nodes in 3.4367 rewired 5952
5300 iterations 4000 nodes in 3.5433 rewired 6143
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6000 iterations 4000 nodes in 4.3146 rewired 7174
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6200 iterations 4000 nodes in 4.554 rewired 7440
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7700 iterations 4000 nodes in 6.0085 rewired 8992
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8000 iterations 4000 nodes in 6.2943 rewired 9282
attempt to delete last node in the feasible path
8100 iterations 4000 nodes in 6.3927 rewired 9386
8200 iterations 4000 nodes in 6.4835 rewired 9473
8300 iterations 4000 nodes in 6.5713 rewired 9560
8400 iterations 4000 nodes in 6.6595 rewired 9650
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8900 iterations 4000 nodes in 7.1404 rewired 10030
9000 iterations 4000 nodes in 7.2288 rewired 10095
attempt to delete last node in the feasible path
9100 iterations 4000 nodes in 7.3163 rewired 10177
9200 iterations 4000 nodes in 7.4032 rewired 10239
9300 iterations 4000 nodes in 7.4937 rewired 10303
9400 iterations 4000 nodes in 7.5792 rewired 10367
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10000 iterations 4000 nodes in 8.1365 rewired 10756
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10200 iterations 4000 nodes in 8.3238 rewired 10874
10300 iterations 4000 nodes in 8.4172 rewired 10921
10400 iterations 4000 nodes in 8.5051 rewired 10978
10500 iterations 4000 nodes in 8.5991 rewired 11052
10600 iterations 4000 nodes in 8.6918 rewired 11110
10700 iterations 4000 nodes in 8.7882 rewired 11164
10800 iterations 4000 nodes in 8.8794 rewired 11229
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11000 iterations 4000 nodes in 9.0774 rewired 11347
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11200 iterations 4000 nodes in 9.2641 rewired 11443
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11400 iterations 4000 nodes in 9.4426 rewired 11564
11500 iterations 4000 nodes in 9.5363 rewired 11622
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attempt to delete last node in the feasible path
13900 iterations 4000 nodes in 11.8459 rewired 12750
14000 iterations 4000 nodes in 11.9432 rewired 12794
14100 iterations 4000 nodes in 12.0357 rewired 12845
14200 iterations 4000 nodes in 12.129 rewired 12879
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15500 iterations 4000 nodes in 13.3489 rewired 13431
15600 iterations 4000 nodes in 13.4407 rewired 13464
15700 iterations 4000 nodes in 13.5367 rewired 13521
15800 iterations 4000 nodes in 13.6307 rewired 13568
15900 iterations 4000 nodes in 13.7245 rewired 13610
attempt to delete last node in the feasible path
16000 iterations 4000 nodes in 13.8206 rewired 13643
16100 iterations 4000 nodes in 13.9153 rewired 13679
16200 iterations 4000 nodes in 14.0123 rewired 13723
16300 iterations 4000 nodes in 14.1031 rewired 13751
16400 iterations 4000 nodes in 14.2005 rewired 13787
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16600 iterations 4000 nodes in 14.3878 rewired 13865
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17200 iterations 4000 nodes in 14.9773 rewired 14076
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17400 iterations 4000 nodes in 15.2174 rewired 14148
17500 iterations 4000 nodes in 15.3122 rewired 14188
17600 iterations 4000 nodes in 15.4131 rewired 14225
17700 iterations 4000 nodes in 15.5113 rewired 14257
17800 iterations 4000 nodes in 15.5992 rewired 14290
17900 iterations 4000 nodes in 15.6913 rewired 14332
18000 iterations 4000 nodes in 15.7936 rewired 14373
18100 iterations 4000 nodes in 15.892 rewired 14419
18200 iterations 4000 nodes in 15.9888 rewired 14443
18300 iterations 4000 nodes in 16.0856 rewired 14477
18400 iterations 4000 nodes in 16.1932 rewired 14509
18500 iterations 4000 nodes in 16.2952 rewired 14544
18600 iterations 4000 nodes in 16.4046 rewired 14578
18700 iterations 4000 nodes in 16.5012 rewired 14614
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19700 iterations 4000 nodes in 17.4611 rewired 14958
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20000 iterations 4000 nodes in 17.7531 rewired 15056
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20700 iterations 4000 nodes in 18.4429 rewired 15299
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23300 iterations 4000 nodes in 21.0296 rewired 16110
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24400 iterations 4000 nodes in 22.1443 rewired 16462
24500 iterations 4000 nodes in 22.244 rewired 16496
24600 iterations 4000 nodes in 22.3457 rewired 16525
24700 iterations 4000 nodes in 22.4467 rewired 16564
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25000 iterations 4000 nodes in 22.7411 rewired 16672
25100 iterations 4000 nodes in 22.8429 rewired 16696
25200 iterations 4000 nodes in 22.9441 rewired 16737
25300 iterations 4000 nodes in 23.0509 rewired 16765
25400 iterations 4000 nodes in 23.1524 rewired 16800
25500 iterations 4000 nodes in 23.2563 rewired 16833
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26500 iterations 4000 nodes in 24.2538 rewired 17117
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27400 iterations 4000 nodes in 25.18 rewired 17432
27500 iterations 4000 nodes in 25.2816 rewired 17465
27600 iterations 4000 nodes in 25.3833 rewired 17487
27700 iterations 4000 nodes in 25.4795 rewired 17507
27800 iterations 4000 nodes in 25.5823 rewired 17528
27900 iterations 4000 nodes in 25.7077 rewired 17557
28000 iterations 4000 nodes in 25.8414 rewired 17586
28100 iterations 4000 nodes in 25.9604 rewired 17615
28200 iterations 4000 nodes in 26.0599 rewired 17643
28300 iterations 4000 nodes in 26.1661 rewired 17676
28400 iterations 4000 nodes in 26.2694 rewired 17710
28500 iterations 4000 nodes in 26.3685 rewired 17739
28600 iterations 4000 nodes in 26.4719 rewired 17768
28700 iterations 4000 nodes in 26.571 rewired 17797
28800 iterations 4000 nodes in 26.6762 rewired 17823
28900 iterations 4000 nodes in 26.7923 rewired 17851
29000 iterations 4000 nodes in 26.9044 rewired 17882
29100 iterations 4000 nodes in 27.0092 rewired 17912
29200 iterations 4000 nodes in 27.1154 rewired 17930
29300 iterations 4000 nodes in 27.2201 rewired 17955
29400 iterations 4000 nodes in 27.3264 rewired 17978
29500 iterations 4000 nodes in 27.4281 rewired 18007
29600 iterations 4000 nodes in 27.5336 rewired 18030
29700 iterations 4000 nodes in 27.634 rewired 18064
29800 iterations 4000 nodes in 27.7426 rewired 18091
29900 iterations 4000 nodes in 27.8443 rewired 18116
30000 iterations 4000 nodes in 27.9506 rewired 18152
23.9012

ans = 

  FNSimple2D (具有属性):

                tree: [2×4001 double]
              parent: [1×4001 double]
            children: [1×4001 double]
          free_nodes: [1×4001 double]
      free_nodes_ind: 2
                cost: [1×4001 double]
             cumcost: [1×4001 double]
         XY_BOUNDARY: [-20 20 -20 20]
          goal_point: [7 -3.6500]
    delta_goal_point: 1
          delta_near: 1.5000
         nodes_added: 4001
            max_step: 0.5000
            obstacle: [1×1 struct]
    dynamic_obstacle: []
      best_path_node: 1123
        goal_reached: 1
           max_nodes: 4001
            bin_size: 7
                 bin: [1×36 struct]
               bin_x: 6
               bin_y: 6
          bin_offset: 22
               nbins: 36
             bin_ind: [10×4001 double]
       compare_table: [1×4001 double]
               index: [1×4001 double]
                list: [1×4001 int32]
         num_rewired: 18152

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