From ec9a9dd255e0036c94b7243df75a274d451429b1 Mon Sep 17 00:00:00 2001 From: Ely Repiso Polo <erepiso@iri.upc.edu> Date: Mon, 21 Jun 2021 17:38:17 +0000 Subject: [PATCH] add coments in all functions --- ...bo_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt | Bin 29643 -> 30132 bytes ...VO_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt | Bin 31410 -> 36128 bytes .../src/nav/plan_local_nav.cpp | 13 +++--- .../src/prediction_bhmip.cpp | 1 + .../src/scene_abstract.cpp | 42 +++++++++--------- .../src/scene_elements/person_bhmip.cpp | 5 ++- .../src/scene_elements/robot.cpp | 1 + local_lib_people_prediction/src/scene_sim.cpp | 7 ++- 8 files changed, 40 insertions(+), 29 deletions(-) diff --git a/iri_robot_aspsi_how_to/instructions_dabo/Install_instructions_Dabo_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt b/iri_robot_aspsi_how_to/instructions_dabo/Install_instructions_Dabo_ONLY_one_person_ACCOMPANIMENT_ASPSI.odt index 33c87890552305e9af3497c1cea32c7e064ddf95..d6abd12faac2ea229d7702602ff2cf29df3b336c 100644 GIT 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acompaña (Las colisiones con el acompañante son diferentes ***/ +/** Scene_prediction prediccion para todas las personas pero sin la persona que acompaña (Las colisiones con el acompañante son diferentes ***/ this->Cprediction_behavior::scene_prediction(); // scene prediction, needed, pero sin la person cmpanion y hará falta el robot en colisiones. /*** get the angle of compnaion with the prediction of the person before scene_prediction (angulos de acompañamiento segun colisiones con otras personas)***/ @@ -1140,7 +1140,7 @@ bool Cplan_local_nav::robot_plan_companion2(Spose& pose_command, Cperson_abstrac //std::cout << "ANTES init_robot_plan2!!!! "<< std::endl; //clock_t init_robot_plan2_start, init_robot_plan2_end; //init_robot_plan2_start=clock(); -/*** Inicialización del plan: calcula goal dynamico en mi¡ovimiento y cuando persona parada (hay dos casos: Akp=en movimiento y Stop=cuando persona parada (luego dentro digo nombres exactos de los casos que hay)***/ +/*** Inicialización del plan: calcula goal dynamico en mi movimiento y cuando persona parada (hay dos casos: Akp=en movimiento y Stop=cuando persona parada (luego dentro digo nombres exactos de los casos que hay)***/ init_robot_plan2(robot_person_distance); //init_robot_plan2_end=clock(); //std::cout << " DESPUES init_robot_plan2"<< std::endl; @@ -3290,7 +3290,7 @@ unsigned int Cplan_local_nav::find_nearest_vertex( const Spoint& random_goal ) } -/*** funcion calcula propagacion plan. hay dos casos: +/*** funcion calcula las fuerzas para la propagacion de la posicion del robot, plan en cada step. hay dos casos: * 1-robot navega solo hasta el lateral de la persona. Antiguo akp * 2- robot navega acompañando a la persona (usa tambien fuerza companion para propagar el trocito de la rama del path) ***/ Sedge_tree Cplan_local_nav::calculate_edge( unsigned int parent_vertex, const Sdestination& random_goal, Cperson_abstract::companion_reactive reactive ) @@ -3495,7 +3495,7 @@ Sedge_tree Cplan_local_nav::calculate_edge( unsigned int parent_vertex, const Sd } -/*** propagar el vertex con las fuerzas claculadas para el caso en que el robot navega solo (sin companion)***/ +/*** propagar el vertex con las fuerzas claculadas para el caso en que el robot navega solo (sin companion). Las fuerzas se calculaban en calculate_edge***/ bool Cplan_local_nav::propagate_vertex( unsigned int parent_index , const Sedge_tree& u, Cperson_abstract::companion_reactive reactive) { //robot_->get_current_pose().theta @@ -3885,8 +3885,9 @@ double Cplan_local_nav::cost_to_go( const Spoint& random_goal, unsigned int i , } /*** HEREDADA directa de Gonzalo, pero incluyendo el coste companion - * ES la que USA de verdad el codigo para calcular el minimo coste de acompañamiento. - * Hay X-modos de calcularlo, pero en realidad siempre solo se usa uno, el k vio Gonzalo que iba mejor.***/ + * ES la que USA de verdad el codigo para calcular el minimo coste de acompañamiento (seleccionar ese path con minimo coste). + * Hay X-modos de calcularlo, pero en realidad siempre solo se usa uno, el k vio Gonzalo que iba mejor. Esta remarcado DENTRO***/ +/*** obtiene el indice final del path con menos coste (para asà saber que path es el de menos coste, que será seleccionado como best path.)***/ unsigned int Cplan_local_nav::global_min_cost_index( Crobot* robot_act , Cperson_abstract::companion_reactive reactive ) { //std::cout<<" INI function: global_min_cost_index()" << std::endl; diff --git a/local_lib_people_prediction/src/prediction_bhmip.cpp b/local_lib_people_prediction/src/prediction_bhmip.cpp index d47db65..f984edc 100644 --- a/local_lib_people_prediction/src/prediction_bhmip.cpp +++ b/local_lib_people_prediction/src/prediction_bhmip.cpp @@ -53,6 +53,7 @@ void Cprediction_bhmip::see_tracks_on_scene() } /*** esta explicada en el nodo. basicamente es la funcion principal que incluye las nuevas posiciones a las personas y dentro hay otras de otros códigos que hacen cosas más concretas.***/ +/*** update/prediccion de las personas usando el bhmip metodo. ***/ void Cprediction_bhmip::update_scene(const std::vector<SdetectionObservation>& observation,bool& we_have_person_companion, bool person_or_robot) { // the filter bool sets if we want to filter velocities or use the provided in the update. diff --git a/local_lib_people_prediction/src/scene_abstract.cpp b/local_lib_people_prediction/src/scene_abstract.cpp index b3b6912..94bc8d4 100644 --- a/local_lib_people_prediction/src/scene_abstract.cpp +++ b/local_lib_people_prediction/src/scene_abstract.cpp @@ -64,7 +64,7 @@ Cscene_abstract::~Cscene_abstract() { } - +/*** incluir destinaciones estaticas del entorno para la escena.***/ void Cscene_abstract::set_destinations( std::vector<Sdestination>& dest ) { destinations_ = dest; @@ -74,7 +74,7 @@ void Cscene_abstract::set_destinations( std::vector<Sdestination>& dest ) } // robot destinations are not required, are set if planned } - +/*** añadir una nueva persona a la lista de personas. person_list***/ Cperson_abstract* Cscene_abstract::add_person( unsigned int id ) { std::list<Cperson_abstract*>::iterator iit = person_list_.begin(); @@ -92,7 +92,7 @@ Cperson_abstract* Cscene_abstract::add_person( unsigned int id ) return add_person_container(id,iit);//virtual function adding the specific person container } - +/*** update the la prediccion de todas las personas menos la accompañante.***/ void Cscene_abstract::update_other_person_companion( unsigned int id, SpointV_cov in_other_person_companion_point ) { /*std::list<Cperson_abstract*>::iterator iit = person_list_.begin(); @@ -122,7 +122,7 @@ void Cscene_abstract::update_other_person_companion( unsigned int id, SpointV_co //return add_person_container(id,iit);//virtual function adding the specific person container } - +/*** eliminar una persona de la lista de personas. person_list***/ void Cscene_abstract::remove_person( unsigned int id ) { std::list<Cperson_abstract*>::iterator iit; @@ -135,7 +135,7 @@ void Cscene_abstract::remove_person( unsigned int id ) } } -/*** update de la posicion del robot para esta iteracion. Explicada en el nodo.***/ +/*** update de la posicion del robot para esta iteracion (detectada por la odometria). Explicada en el nodo.***/ void Cscene_abstract::update_robot(Spose observation, bool case_zanlungo) { @@ -288,7 +288,7 @@ bool Cscene_abstract::find_person(unsigned int id , Cperson_abstract** person, return false; } - +/*** printar la lista de personas.***/ void Cscene_abstract::print() { std::cout << "Cscene_abstract::print() person_list_.empty="<<person_list_.empty()<< std::endl; @@ -496,7 +496,7 @@ void Cscene_abstract::read_laser_scan_person_companion_akp_planner( const std::v } - +/*** leer los scans del dobot para obtener los obstaculos estaticos de la escena (markers=cilindros negros obstaculos).***/ void Cscene_abstract::read_laser_scan_companion( const std::vector<Spoint>& laser_scan , bool person_simulation) { @@ -565,7 +565,7 @@ void Cscene_abstract::read_laser_scan_companion( const std::vector<Spoint>& las read_laser_obstacle_success_ = true;//flag to indicate that indeed we can make use of laser information regarding obstacles. } - +/*** to do not use these points to compute the obstacles in the laser scan. ***/ bool Cscene_abstract::point_corresponds_person( Spoint laser_point ) { for( Cperson_abstract* iit : person_list_ ) @@ -589,7 +589,7 @@ bool Cscene_abstract::point_corresponds_person( Spoint laser_point ) return false; } - +/*** to do not use these points to compute the obstacles in the laser scan. (these points are from the thrack of the person companion) ***/ bool Cscene_abstract::point_corresponds_person_companion( Spoint laser_point ) { @@ -615,7 +615,7 @@ bool Cscene_abstract::point_corresponds_person_companion( Spoint laser_point ) } - +/*** to use these points to compute the obstacles in the laser scan. ***/ bool Cscene_abstract::point_belongs_to_laser_obstacle( Spoint p, bool person_simulation) { @@ -692,7 +692,7 @@ bool Cscene_abstract::point_belongs_to_laser_obstacle( Spoint p, bool person_sim } return false; } - +/*** calcular fuerzas de los obstaculos del entorno***/ Sforce Cscene_abstract::force_objects_laser_int( Cperson_abstract* person) { Sforce force_res; @@ -707,7 +707,7 @@ Sforce Cscene_abstract::force_objects_laser_int( Cperson_abstract* person) return force_res; } - +/*** calcular fuerzas de las personas del entorno***/ Sforce Cscene_abstract::force_persons_int( Cperson_abstract* center , bool if_robot_is_person_companion ) { //std::cout << " (1) !!! force_persons_int" << std::endl; @@ -751,7 +751,7 @@ Sforce Cscene_abstract::force_persons_int( Cperson_abstract* center , bool if_ro return force_res; } - +/*** calcular fuerzas de la accompanied person del entorno***/ Sforce Cscene_abstract::force_persons_int_companion( Cperson_abstract* center , unsigned int id_person_companion, bool person_reactive, Cperson_abstract::companion_reactive type_rec_akp) { Sforce force_res; @@ -770,7 +770,7 @@ Sforce Cscene_abstract::force_persons_int_companion( Cperson_abstract* center , return force_res; } - +/*** calcular fuerzas para el grupo o otros tipos de interaccion. Tanto esta force_persons_int2 como esta force_persons_int3 **/ Sforce Cscene_abstract::force_persons_int2( Cperson_abstract* center, std::vector<int> ids_of_persons_in_group ) // made by ely (companion, no take into accound the person companion of the group force.) { // para tener grupos de personas en las personas simuladas. @@ -829,7 +829,7 @@ Sforce Cscene_abstract::force_persons_int3( Cperson_abstract* center ) // made b return force_res; } - +/*** to obtain the actual sfm_params for robot (sin companion)***/ const std::vector<double>* Cscene_abstract::get_sfm_params( const Cperson_abstract * center_person) { assert( center_person != NULL ); @@ -849,7 +849,7 @@ const std::vector<double>* Cscene_abstract::get_sfm_params( const Cperson_abstra - +/*** to obtain the actual sfm_params for robot (con companion)***/ std::vector<double> Cscene_abstract::new_get_sfm_params( const Cperson_abstract * center_person) { assert( center_person != NULL ); @@ -866,7 +866,7 @@ std::vector<double> Cscene_abstract::new_get_sfm_params( const Cperson_abstract return social_forces_param_to_obs_; } } - +/*** to obtain the actual sfm_params for people ***/ const std::vector<double>* Cscene_abstract::get_sfm_int_params( const Cperson_abstract * center_person, const Cperson_abstract * interacting_person) { //std::cout << " IIINNNNNNNNN Cscene_abstract::get_sfm_int_params " << std::endl; @@ -931,7 +931,9 @@ const std::vector<double>* Cscene_abstract::get_sfm_int_params( const Cperson_ab return NULL; } - +/*** lee el mapa para sacar las fuerzas de este, pero no se usa... + * Creo que deprecated desde Gonzalo. Idem para todas las que intenten sacar obstaculos del mapa y + * NO desde el laser. Las que se usan son las que sacan obstaculos del laser***/ bool Cscene_abstract::read_force_map( const char * path ) { FILE * fid; @@ -1022,7 +1024,7 @@ Spoint Cscene_abstract::m_to_xy( unsigned int m) double y = min_y_ + m/map_number_x_*map_resolution_; return Spoint( x,y ); } - +/*** leer el mapa de destinaciones estaticas: el .txt que se usan para cambiar las destinaciones.***/ bool Cscene_abstract::read_destination_map( const char * path ) { /* * how to use this function: you need a destination's file @@ -1073,7 +1075,7 @@ bool Cscene_abstract::read_destination_map( const char * path ) this->set_destinations( destinations_ ); return read_destination_map_success_; } - +/*** leer el mapa de destinaciones estaticas: el .txt que se usan para cambiar las destinaciones.***/ bool Cscene_abstract::read_destination_map2( const char * path ) // made by (ely), to make people groups in the simulation. { /* * how to use this function: you need a destination's file diff --git a/local_lib_people_prediction/src/scene_elements/person_bhmip.cpp b/local_lib_people_prediction/src/scene_elements/person_bhmip.cpp index 8510bb4..60f9800 100644 --- a/local_lib_people_prediction/src/scene_elements/person_bhmip.cpp +++ b/local_lib_people_prediction/src/scene_elements/person_bhmip.cpp @@ -33,6 +33,7 @@ Cperson_bhmip::~Cperson_bhmip() /*** añadir nueva posicion a la ventana de posiciones de las personas para luego poder predecirlas con una velocidad mejor, hay varios filtros que se pueden usar, * se usa el que se ponga en: Cperson_abstract::filtering_method filter. El que uso, suele ser el que mejor funciona para el companion.***/ +/*** used to add a person point to the window used to estimate the real velocity of this person and after that do the bhmip propagation.***/ void Cperson_bhmip::add_pointV( SpointV_cov point, Cperson_abstract::filtering_method filter, bool robot_or_person, double in_new_value_windowing) { time_window_=in_new_value_windowing; @@ -592,7 +593,7 @@ SpointV_cov Cperson_bhmip::low_pass_filter_current_state_linear_regression( ) return filtered_pose; } - +/*** calcular la best destination (calcular la intencion de la persona, hacia donde va del entorno)***/ void Cperson_bhmip::intention_precalculation() { if(debug_intention_precalculation_){ @@ -690,7 +691,7 @@ void Cperson_bhmip::refresh_person( double now ) } now_ = now; } - +/*** does the prediction using the bhmip method, which includes the estimation of the best static-destination for this person in the actual instant of time.***/ void Cperson_bhmip::prediction( double min_v_to_predict ) { //std::cout << " 333333377777777 IN Cperson_bhmip::prediction( double min_v_to_predict ) current_pointV_.v()="<<current_pointV_.v()<< std::endl; diff --git a/local_lib_people_prediction/src/scene_elements/robot.cpp b/local_lib_people_prediction/src/scene_elements/robot.cpp index 61c4989..624458d 100644 --- a/local_lib_people_prediction/src/scene_elements/robot.cpp +++ b/local_lib_people_prediction/src/scene_elements/robot.cpp @@ -140,6 +140,7 @@ void Crobot::robot_propagation(double dt , unsigned int index, double v, double /***Para calcular propagacion del path del grupo. heredada. OJO, esto ( aw -= normal_vel_dampening_parameter_*ini_pose.w;) NO se toca * Lo necesita y lo comprobe en experimental, ya ni me acuerdo exactamente para que me dijo Gonzalo que lo necesita la propagación, * pero era algo teorico, aunque el valor lo ajusto experimentalmente (creo).***/ +/*** obtener la propagación del robot, usando las fuerzas de interaccion calculadas y los limites de velocidades y aceleraciones para el movimiento del robot.***/ void Crobot::robot_propagation(double dt , unsigned int index, const Sforce &f , bool debug_force_vel) // con fuera entro en esta!!! { //kinodynamic unicycle diff --git a/local_lib_people_prediction/src/scene_sim.cpp b/local_lib_people_prediction/src/scene_sim.cpp index 589d651..d329ed5 100644 --- a/local_lib_people_prediction/src/scene_sim.cpp +++ b/local_lib_people_prediction/src/scene_sim.cpp @@ -148,6 +148,11 @@ Cperson_abstract* Cscene_sim::add_person_container( unsigned int id, return (Cperson_abstract*) person; }*/ + + +/*** funcion principal, que hace que otras personas de la escena se muevan ramdom hacia los goals estaticos incluidos en la escena + * además de incluir una persona a la que acompaña el robot, de la cual se puede cambiar sus destinaciones + * y usa el akp-planner para obtener un comportamiento más realistico a la hora de evitar obstaculos. ***/ void Cscene_sim::update_scene(const std::vector<SdetectionObservation>& observation, bool& we_have_person_companion , bool person_or_robot) { //the filter variable is not used in the simulated scene. All observations have been filtered. @@ -669,7 +674,7 @@ void Cscene_sim::insert_more_random_people(const std::vector<SdetectionObservati // std::cout << " out insert more people " << std::endl; } - +/*** igual que la anterior, pero la necesita la persona acompañante del robot, no el robot. Por eso esta "doble"***/ bool Cscene_sim::update_scene_companion_simulation_akp_person_companion(const std::vector<SdetectionObservation>& observation , bool ini_case, double ini_theta_person_companion, Spose& pose_command) { d_min_=1e10; -- GitLab