Add parameters gui

mlsdpk · mlsdpk · commit d6ba714b8b1d · 2021-11-26T15:57:09.000+06:30
diff --git a/.clang-format b/.clang-format
diff --git a/README.md b/README.md
@@ -25,7 +25,7 @@ The project depends on [SFML](https://github.com/SFML/SFML), [Dear ImGui](https:
 
 ## TODO
 
-### Search-based planners
+### Graph-based planners
 - [x] BFS
 - [x] DFS
 - [x] DIJKSTRA
diff --git a/figures/img0.png b/figures/img0.png
diff --git a/include/States/Algorithms/GraphBased/BFS/BFS.h b/include/States/Algorithms/GraphBased/BFS/BFS.h
@@ -24,6 +24,7 @@ class BFS : public GraphBased {
 
   // override render functions
   virtual void renderNodes() override;
+  virtual void renderParametersGui() override;
 
   // BFS algorithm function
   virtual void solveConcurrently(
diff --git a/include/States/Algorithms/GraphBased/GraphBased.h b/include/States/Algorithms/GraphBased/GraphBased.h
@@ -33,7 +33,10 @@ class GraphBased : public State {
   void render() override;
 
   // virtual functions
+  virtual void clearObstacles();
   virtual void renderGui();
+  // render planner specific parameters
+  virtual void renderParametersGui() = 0;
   virtual void renderNodes() = 0;
   virtual void updateNodes() = 0;
   virtual void initAlgorithm() = 0;
diff --git a/include/States/Algorithms/SamplingBased/RRT/RRT.h b/include/States/Algorithms/SamplingBased/RRT/RRT.h
@@ -19,9 +19,11 @@ class RRT : public SamplingBased {
   // override initialization functions
   virtual void initialize() override;
   virtual void initPlanner() override;
+  virtual void initParameters() override;
 
   // override render functions
   virtual void renderPlannerData() override;
+  virtual void renderParametersGui() override;
 
   // override algorithm function
   virtual void solveConcurrently(
@@ -88,7 +90,7 @@ class RRT : public SamplingBased {
   /**
    * @brief Maximum distance allowed between two vertices
    */
-  double max_distance_;
+  double range_;
 
   /**
    * @brief Distance between vertex and goal
diff --git a/include/States/Algorithms/SamplingBased/RRT_STAR/RRT_STAR.h b/include/States/Algorithms/SamplingBased/RRT_STAR/RRT_STAR.h
@@ -16,9 +16,12 @@ class RRT_STAR : public RRT {
   // Destructor
   virtual ~RRT_STAR();
 
+  virtual void renderParametersGui() override;
+
   // override initialization functions
   virtual void initialize() override;
   virtual void initPlanner() override;
+  virtual void initParameters() override;
 
   // override algorithm function
   virtual void solveConcurrently(
diff --git a/include/States/Algorithms/SamplingBased/SamplingBased.h b/include/States/Algorithms/SamplingBased/SamplingBased.h
@@ -46,6 +46,7 @@ class SamplingBased : public State {
 
   void updateUserInput();
   void renderObstacles();
+  void clearObstacles();
   void initVariables();
   void updateKeyTime(const float &dt);
   const bool getKeyTime();
@@ -58,6 +59,9 @@ class SamplingBased : public State {
   // rendering function for algorithm specific
   virtual void renderPlannerData() = 0;
 
+  // render planner specific parameters
+  virtual void renderParametersGui() = 0;
+
   // initialization function
   // this function runs at start of the program & when user presses RESET
   // buttons
@@ -67,6 +71,8 @@ class SamplingBased : public State {
   // this function runs when user presses RUN buttons
   virtual void initPlanner() = 0;
 
+  virtual void initParameters() = 0;
+
   // main algorithm function (runs in separate thread)
   virtual void solveConcurrently(
       std::shared_ptr<Vertex> start_point, std::shared_ptr<Vertex> goal_point,
@@ -99,7 +105,7 @@ class SamplingBased : public State {
   /**
    * @brief Maximum number of iterations to run the algorithm
    */
-  unsigned int max_iterations_;
+  int max_iterations_;
 
   // MessageQueue Object
   std::shared_ptr<MessageQueue<bool>> message_queue_;
diff --git a/src/Game.cpp b/src/Game.cpp
@@ -86,7 +86,7 @@ void Game::render() {
     ImGui::End();
   }
 
-  ImGui::SFML::Render(*window_);
+  ImGui::SFML::Render(* window_);
   window_->display();
 }
 
@@ -95,16 +95,17 @@ void Game::initGuiTheme() {
 
   style->FramePadding = ImVec2(8.f, 8.f);
 
-  style->Colors[ImGuiCol_Text] = ImColor(78, 95, 131, 255);
-  style->Colors[ImGuiCol_WindowBg] = ImColor(246, 229, 245, 255);
-
-  style->Colors[ImGuiCol_FrameBg] = ImColor(251, 244, 249, 255);
-  style->Colors[ImGuiCol_PopupBg] = ImColor(251, 244, 249, 255);
-  style->Colors[ImGuiCol_Button] = ImColor(251, 244, 249, 255);
-  style->Colors[ImGuiCol_ButtonHovered] =
-      style->Colors[ImGuiCol_FrameBgHovered];
-  style->Colors[ImGuiCol_ButtonActive] = style->Colors[ImGuiCol_FrameBgActive];
-  style->Colors[ImGuiCol_SliderGrab] = ImColor(78, 95, 131, 255);
+  // style->Colors[ImGuiCol_Text] = ImColor(78, 95, 131, 255);
+  // style->Colors[ImGuiCol_WindowBg] = ImColor(246, 229, 245, 255);
+
+  // style->Colors[ImGuiCol_FrameBg] = ImColor(251, 244, 249, 255);
+  // style->Colors[ImGuiCol_PopupBg] = ImColor(251, 244, 249, 255);
+  // style->Colors[ImGuiCol_Button] = ImColor(251, 244, 249, 255);
+  // style->Colors[ImGuiCol_ButtonHovered] =
+  //     style->Colors[ImGuiCol_FrameBgHovered];
+  // style->Colors[ImGuiCol_ButtonActive] =
+  // style->Colors[ImGuiCol_FrameBgActive]; style->Colors[ImGuiCol_SliderGrab] =
+  // ImColor(78, 95, 131, 255);
 }
 
 void Game::setPlanner(const int id) {
diff --git a/src/States/Algorithms/GraphBased/BFS/BFS.cpp b/src/States/Algorithms/GraphBased/BFS/BFS.cpp
@@ -106,6 +106,8 @@ void BFS::renderNodes() {
   }
 }
 
+void BFS::renderParametersGui() {}
+
 void BFS::solveConcurrently(std::shared_ptr<Node> nodeStart,
                             std::shared_ptr<Node> nodeEnd,
                             std::shared_ptr<MessageQueue<bool>> message_queue) {
diff --git a/src/States/Algorithms/GraphBased/GraphBased.cpp b/src/States/Algorithms/GraphBased/GraphBased.cpp
@@ -179,6 +179,15 @@ void GraphBased::update(const float& dt) {
   }
 }
 
+void GraphBased::clearObstacles() {
+  for (int x = 0; x < mapHeight_ / gridSize_; x++) {
+    for (int y = 0; y < mapWidth_ / gridSize_; y++) {
+      int nodeIndex = (mapWidth_ / gridSize_) * x + y;
+      nodes_[nodeIndex]->setObstacle(false);
+    }
+  }
+}
+
 void GraphBased::renderGui() {
   // buttons
   {
@@ -196,13 +205,29 @@ void GraphBased::renderGui() {
     }
   }
 
+  ImGui::Spacing();
+  ImGui::Separator();
   ImGui::Spacing();
 
   // grid size slider
+  if (ImGui::SliderInt("Grid Size", &slider_grid_size_, 10, 100)) {
+    Algorithm_reset_ = true;
+    gridSize_ = slider_grid_size_;
+  }
+
+  // ImGui::Spacing();
+  // virtual function renderParametersGui()
+  // need to be implemented by derived class
+  renderParametersGui();
+  ImGui::Spacing();
+  ImGui::Separator();
+  ImGui::Spacing();
   {
-    if (ImGui::SliderInt("Grid Size", &slider_grid_size_, 10, 100)) {
-      Algorithm_reset_ = true;
-      gridSize_ = slider_grid_size_;
+    if (ImGui::Button("CLEAR OBSTACLES", ImVec2(154.f, 40.f))) {
+      clearObstacles();
+    }
+    ImGui::SameLine();
+    if (ImGui::Button("RESET PARAMETERS", ImVec2(154.f, 40.f))) {
     }
   }
 }
diff --git a/src/States/Algorithms/SamplingBased/RRT/RRT.cpp b/src/States/Algorithms/SamplingBased/RRT/RRT.cpp
@@ -6,19 +6,22 @@ namespace sampling_based {
 // Constructor
 RRT::RRT(sf::RenderWindow *window, std::stack<std::unique_ptr<State>> &states)
     : SamplingBased(window, states) {
+  initParameters();
   initialize();
 }
 
 // Destructor
 RRT::~RRT() {}
 
-void RRT::initialize() {
+void RRT::initParameters() {
   // initialize default planner related params
-  max_iterations_ = 1000u;
+  max_iterations_ = 1000;
   interpolation_dist_ = 0.005;
-  max_distance_ = 0.05;
+  range_ = 0.05;
   goal_radius_ = 0.1;
+}
 
+void RRT::initialize() {
   start_vertex_->x = 0.5;
   start_vertex_->y = 0.1;
   start_vertex_->parent = nullptr;
@@ -92,6 +95,16 @@ void RRT::renderPlannerData() {
   window_->draw(start_goal_circle);
 }
 
+void RRT::renderParametersGui() {
+  if (ImGui::InputDouble("range", &range_, 0.01, 1.0, "%.3f")) {
+    if (range_ < 0) range_ = 0.01;
+  }
+  ImGui::Spacing();
+  if (ImGui::InputDouble("goal_radius", &goal_radius_, 0.01, 1.0, "%.3f")) {
+    if (goal_radius_ < 0.01) goal_radius_ = 0.01;
+  }
+}
+
 void RRT::solveConcurrently(std::shared_ptr<Vertex> start_point,
                             std::shared_ptr<Vertex> goal_point,
                             std::shared_ptr<MessageQueue<bool>> message_queue) {
@@ -133,8 +146,8 @@ void RRT::solveConcurrently(std::shared_ptr<Vertex> start_point,
 
         // if this distance d > max_distance_, we need to find nearest state in
         // the direction of x_rand
-        if (d > max_distance_) {
-          interpolate(x_nearest, x_rand, max_distance_ / d, x_new);
+        if (d > range_) {
+          interpolate(x_nearest, x_rand, range_ / d, x_new);
         } else {
           x_new->x = x_rand->x;
           x_new->y = x_rand->y;
diff --git a/src/States/Algorithms/SamplingBased/RRT_STAR/RRT_STAR.cpp b/src/States/Algorithms/SamplingBased/RRT_STAR/RRT_STAR.cpp
@@ -7,21 +7,24 @@ namespace sampling_based {
 RRT_STAR::RRT_STAR(sf::RenderWindow *window,
                    std::stack<std::unique_ptr<State>> &states)
     : RRT(window, states) {
+  initParameters();
   initialize();
 }
 
 // Destructor
 RRT_STAR::~RRT_STAR() {}
 
-void RRT_STAR::initialize() {
+void RRT_STAR::initParameters() {
   // initialize default planner related params
-  max_iterations_ = 2500u;
+  max_iterations_ = 2500;
   interpolation_dist_ = 0.005;
-  max_distance_ = 0.05;
+  range_ = 0.05;
   goal_radius_ = 0.1;
   rewire_factor_ = 1.1;
   update_goal_every_ = 100u;
+}
 
+void RRT_STAR::initialize() {
   start_vertex_->x = 0.5;
   start_vertex_->y = 0.1;
   start_vertex_->parent = nullptr;
@@ -52,6 +55,23 @@ void RRT_STAR::initPlanner() {
   vertices_.emplace_back(start_vertex_);
 }
 
+void RRT_STAR::renderParametersGui() {
+  if (ImGui::InputDouble("range", &range_, 0.01, 1.0, "%.3f")) {
+    if (range_ < 0.01) range_ = 0.01;
+  }
+  ImGui::Spacing();
+  if (ImGui::InputDouble("rewire_factor", &rewire_factor_, 0.01, 0.1, "%.2f")) {
+    if (rewire_factor_ < 1.0)
+      rewire_factor_ = 1.0;
+    else if (rewire_factor_ > 2.0)
+      rewire_factor_ = 2.0;
+  }
+  ImGui::Spacing();
+  if (ImGui::InputDouble("goal_radius", &goal_radius_, 0.01, 1.0, "%.3f")) {
+    if (goal_radius_ < 0.01) goal_radius_ = 0.01;
+  }
+}
+
 void RRT_STAR::solveConcurrently(
     std::shared_ptr<Vertex> start_point, std::shared_ptr<Vertex> goal_point,
     std::shared_ptr<MessageQueue<bool>> message_queue) {
@@ -92,8 +112,8 @@ void RRT_STAR::solveConcurrently(
 
         // if this distance d > delta_q, we need to find nearest state in the
         // direction of x_rand
-        if (d > max_distance_) {
-          interpolate(x_nearest, x_rand, max_distance_ / d, x_new);
+        if (d > range_) {
+          interpolate(x_nearest, x_rand, range_ / d, x_new);
         } else {
           x_new->x = x_rand->x;
           x_new->y = x_rand->y;
@@ -197,7 +217,7 @@ void RRT_STAR::near(const std::shared_ptr<const Vertex> &x_new,
       r_rrt_ * std::pow(std::log(static_cast<double>(vertices_.size())) /
                             (static_cast<double>(vertices_.size())),
                         1.0 / 2.0),
-      max_distance_);
+      range_);
 
   for (const auto &v : vertices_) {
     if (distance(v, x_new) < r) {
diff --git a/src/States/Algorithms/SamplingBased/SamplingBased.cpp b/src/States/Algorithms/SamplingBased/SamplingBased.cpp
@@ -198,6 +198,8 @@ void SamplingBased::renderObstacles() {
   }
 }
 
+void SamplingBased::clearObstacles() { obstacles_.clear(); }
+
 void SamplingBased::renderGui() {
   // buttons
   {
@@ -212,6 +214,28 @@ void SamplingBased::renderGui() {
       is_running_ = true;
     }
   }
+  ImGui::Spacing();
+  ImGui::Separator();
+  ImGui::Spacing();
+  if (ImGui::InputInt("max_iterations", &max_iterations_, 1, 1000)) {
+    if (max_iterations_ < 1) max_iterations_ = 1;
+  }
+  ImGui::Spacing();
+  // virtual function renderParametersGui()
+  // need to be implemented by derived class
+  renderParametersGui();
+  ImGui::Spacing();
+  ImGui::Separator();
+  ImGui::Spacing();
+  {
+    if (ImGui::Button("CLEAR OBSTACLES", ImVec2(154.f, 40.f))) {
+      clearObstacles();
+    }
+    ImGui::SameLine();
+    if (ImGui::Button("RESET PARAMETERS", ImVec2(154.f, 40.f))) {
+      initParameters();
+    }
+  }
 }
 
 void SamplingBased::render() {

Original file line number	Diff line number	Diff line change
`@@ -106,6 +106,8 @@ void BFS::renderNodes() {`
`106`	`106`	`}`
`107`	`107`	`}`
`108`	`108`
	`109`	`+void BFS::renderParametersGui() {}`
	`110`	`+`
`109`	`111`	`void BFS::solveConcurrently(std::shared_ptr<Node> nodeStart,`
`110`	`112`	`std::shared_ptr<Node> nodeEnd,`
`111`	`113`	`std::shared_ptr<MessageQueue<bool>> message_queue) {`