modularization/src1/planning/op_planner/TrajectoryCosts.cpp

/// \file TrajectoryCosts.cpp
/// \brief Calculate collision costs for roll out trajectory for free trajectory evaluation for dp_planner
/// \author Hatem Darweesh
/// \date Dec 14, 2016

#include "op_planner/TrajectoryCosts.h"
#include "op_planner/MatrixOperations.h"
#include "float.h"

namespace PlannerHNS
{

TrajectoryCosts::TrajectoryCosts()
{
  m_PrevCostIndex = -1;
  m_WeightPriority = 0.125;
  m_WeightTransition = 0.13;
  m_WeightLong = 1.0;
  m_WeightLat = 1.0;
  m_WeightLaneChange = 1.0;
  m_LateralSkipDistance = 10;
}

TrajectoryCosts::~TrajectoryCosts()
{
}

TrajectoryCost TrajectoryCosts::DoOneStep(const vector<vector<vector<WayPoint> > >& rollOuts,
    const vector<vector<WayPoint> >& totalPaths, const WayPoint& currState, const int& currIndex,
    const int& currLaneIndex,
    const PlanningParams& params, const CAR_BASIC_INFO& carInfo, const VehicleState& vehicleState,
    const std::vector<PlannerHNS::DetectedObject>& obj_list)
{
  TrajectoryCost bestTrajectory;
  bestTrajectory.bBlocked = true;
  bestTrajectory.closest_obj_distance = params.horizonDistance;
  bestTrajectory.closest_obj_velocity = 0;
  bestTrajectory.index = -1;

  if(!ValidateRollOutsInput(rollOuts) || rollOuts.size() != totalPaths.size()) return bestTrajectory;

  if(m_PrevCostIndex == -1)
    m_PrevCostIndex = params.rollOutNumber/2;

  m_TrajectoryCosts.clear();

  for(unsigned int il = 0; il < rollOuts.size(); il++)
  {
    if(rollOuts.at(il).size()>0 && rollOuts.at(il).at(0).size()>0)
    {
      vector<TrajectoryCost> costs = CalculatePriorityAndLaneChangeCosts(rollOuts.at(il), il, params);
      m_TrajectoryCosts.insert(m_TrajectoryCosts.end(), costs.begin(), costs.end());
    }
  }

  CalculateTransitionCosts(m_TrajectoryCosts, currIndex, params);


  WayPoint p;
  m_AllContourPoints.clear();
  for(unsigned int io=0; io<obj_list.size(); io++)
  {
    for(unsigned int icon=0; icon < obj_list.at(io).contour.size(); icon++)
    {
      p.pos = obj_list.at(io).contour.at(icon);
      p.v = obj_list.at(io).center.v;
      p.id = io;
      p.cost = sqrt(obj_list.at(io).w*obj_list.at(io).w + obj_list.at(io).l*obj_list.at(io).l);
      m_AllContourPoints.push_back(p);
    }
  }

  CalculateLateralAndLongitudinalCosts(m_TrajectoryCosts, rollOuts, totalPaths, currState, m_AllContourPoints, params, carInfo, vehicleState);

  NormalizeCosts(m_TrajectoryCosts);

  int smallestIndex = -1;
  double smallestCost = DBL_MAX;
  double smallestDistance = DBL_MAX;
  double velo_of_next = 0;

  //cout << "Trajectory Costs Log : CurrIndex: " << currIndex << " --------------------- " << endl;
  for(unsigned int ic = 0; ic < m_TrajectoryCosts.size(); ic++)
  {
    //cout << m_TrajectoryCosts.at(ic).ToString();
    if(!m_TrajectoryCosts.at(ic).bBlocked && m_TrajectoryCosts.at(ic).cost < smallestCost)
    {
      smallestCost = m_TrajectoryCosts.at(ic).cost;
      smallestIndex = ic;
    }

    if(m_TrajectoryCosts.at(ic).closest_obj_distance < smallestDistance)
    {
      smallestDistance = m_TrajectoryCosts.at(ic).closest_obj_distance;
      velo_of_next = m_TrajectoryCosts.at(ic).closest_obj_velocity;
    }
  }

  //cout << "Smallest Distance: " <<  smallestDistance << "------------------------------------------------------------- " << endl;

  //All is blocked !
  if(smallestIndex == -1 && m_PrevCostIndex < (int)m_TrajectoryCosts.size())
  {
    bestTrajectory.bBlocked = true;
    bestTrajectory.lane_index = currLaneIndex;
    bestTrajectory.index = currIndex;
    bestTrajectory.closest_obj_distance = smallestDistance;
    bestTrajectory.closest_obj_velocity = velo_of_next;
    //bestTrajectory.index = smallestIndex;
  }
  else if(smallestIndex >= 0)
  {
    bestTrajectory = m_TrajectoryCosts.at(smallestIndex);
    //bestTrajectory.index = smallestIndex;
  }

//  cout << "smallestI: " <<  smallestIndex << ", C_Size: " << m_TrajectoryCosts.size()
//      << ", LaneI: " << bestTrajectory.lane_index << "TrajI: " << bestTrajectory.index
//      << ", prevSmalI: " << m_PrevCostIndex << ", distance: " << bestTrajectory.closest_obj_distance
//      << ", Blocked: " << bestTrajectory.bBlocked
//      << endl;

  m_PrevCostIndex = smallestIndex;

  return bestTrajectory;
}

void TrajectoryCosts::CalculateLateralAndLongitudinalCosts(vector<TrajectoryCost>& trajectoryCosts,
    const vector<vector<vector<WayPoint> > >& rollOuts, const vector<vector<WayPoint> >& totalPaths,
    const WayPoint& currState, const vector<WayPoint>& contourPoints, const PlanningParams& params,
    const CAR_BASIC_INFO& carInfo, const VehicleState& vehicleState)
{
  double critical_lateral_distance =  carInfo.width/2.0 + params.horizontalSafetyDistancel;
  double critical_long_front_distance =  carInfo.wheel_base/2.0 + carInfo.length/2.0 + params.verticalSafetyDistance;
  double critical_long_back_distance =  carInfo.length/2.0 + params.verticalSafetyDistance - carInfo.wheel_base/2.0;
  int iCostIndex = 0;

  PlannerHNS::Mat3 invRotationMat(currState.pos.a-M_PI_2);
  PlannerHNS::Mat3 invTranslationMat(currState.pos.x, currState.pos.y);

  double corner_slide_distance = critical_lateral_distance/2.0;
  double ratio_to_angle = corner_slide_distance/carInfo.max_steer_angle;
  double slide_distance = vehicleState.steer * ratio_to_angle;

  GPSPoint bottom_left(-critical_lateral_distance ,-critical_long_back_distance,  currState.pos.z, 0);
  GPSPoint bottom_right(critical_lateral_distance, -critical_long_back_distance,  currState.pos.z, 0);

  GPSPoint top_right_car(critical_lateral_distance, carInfo.wheel_base/3.0 + carInfo.length/3.0,  currState.pos.z, 0);
  GPSPoint top_left_car(-critical_lateral_distance, carInfo.wheel_base/3.0 + carInfo.length/3.0, currState.pos.z, 0);

  GPSPoint top_right(critical_lateral_distance - slide_distance, critical_long_front_distance,  currState.pos.z, 0);
  GPSPoint top_left(-critical_lateral_distance - slide_distance , critical_long_front_distance, currState.pos.z, 0);

  bottom_left = invRotationMat*bottom_left;
  bottom_left = invTranslationMat*bottom_left;

  top_right = invRotationMat*top_right;
  top_right = invTranslationMat*top_right;

  bottom_right = invRotationMat*bottom_right;
  bottom_right = invTranslationMat*bottom_right;

  top_left = invRotationMat*top_left;
  top_left = invTranslationMat*top_left;

  top_right_car = invRotationMat*top_right_car;
  top_right_car = invTranslationMat*top_right_car;

  top_left_car = invRotationMat*top_left_car;
  top_left_car = invTranslationMat*top_left_car;

  m_SafetyBorder.points.clear();
  m_SafetyBorder.points.push_back(bottom_left) ;
  m_SafetyBorder.points.push_back(bottom_right) ;
  m_SafetyBorder.points.push_back(top_right_car) ;
  m_SafetyBorder.points.push_back(top_right) ;
  m_SafetyBorder.points.push_back(top_left) ;
  m_SafetyBorder.points.push_back(top_left_car) ;

  for(unsigned int il=0; il < rollOuts.size(); il++)
  {
    if(rollOuts.at(il).size() > 0 && rollOuts.at(il).at(0).size()>0)
    {
      RelativeInfo car_info;
      PlanningHelpers::GetRelativeInfo(totalPaths.at(il), currState, car_info);


      for(unsigned int it=0; it< rollOuts.at(il).size(); it++)
      {
        int skip_id = -1;
        for(unsigned int icon = 0; icon < contourPoints.size(); icon++)
        {
          if(skip_id == contourPoints.at(icon).id)
            continue;

          RelativeInfo obj_info;
          PlanningHelpers::GetRelativeInfo(totalPaths.at(il), contourPoints.at(icon), obj_info);
          double longitudinalDist = PlanningHelpers::GetExactDistanceOnTrajectory(totalPaths.at(il), car_info, obj_info);
          if(obj_info.iFront == 0 && longitudinalDist > 0)
            longitudinalDist = -longitudinalDist;

          double direct_distance = hypot(obj_info.perp_point.pos.y-contourPoints.at(icon).pos.y, obj_info.perp_point.pos.x-contourPoints.at(icon).pos.x);
          if(contourPoints.at(icon).v < params.minSpeed && direct_distance > (m_LateralSkipDistance+contourPoints.at(icon).cost))
          {
            skip_id = contourPoints.at(icon).id;
            continue;
          }

          double close_in_percentage = 1;
//          close_in_percentage = ((longitudinalDist- critical_long_front_distance)/params.rollInMargin)*4.0;
//
//          if(close_in_percentage <= 0 || close_in_percentage > 1) close_in_percentage = 1;

          double distance_from_center = trajectoryCosts.at(iCostIndex).distance_from_center;

          if(close_in_percentage < 1)
            distance_from_center = distance_from_center - distance_from_center * (1.0-close_in_percentage);

          double lateralDist = fabs(obj_info.perp_distance - distance_from_center);

          if(longitudinalDist < -carInfo.length || longitudinalDist > params.minFollowingDistance || lateralDist > m_LateralSkipDistance)
          {
            continue;
          }

          longitudinalDist = longitudinalDist - critical_long_front_distance;

          if(m_SafetyBorder.PointInsidePolygon(m_SafetyBorder, contourPoints.at(icon).pos) == true)
            trajectoryCosts.at(iCostIndex).bBlocked = true;

          if(lateralDist <= critical_lateral_distance
              && longitudinalDist >= -carInfo.length/1.5
              && longitudinalDist < params.minFollowingDistance)
            trajectoryCosts.at(iCostIndex).bBlocked = true;


          if(lateralDist != 0)
            trajectoryCosts.at(iCostIndex).lateral_cost += 1.0/lateralDist;

          if(longitudinalDist != 0)
            trajectoryCosts.at(iCostIndex).longitudinal_cost += 1.0/fabs(longitudinalDist);


          if(longitudinalDist >= -critical_long_front_distance && longitudinalDist < trajectoryCosts.at(iCostIndex).closest_obj_distance)
          {
            trajectoryCosts.at(iCostIndex).closest_obj_distance = longitudinalDist;
            trajectoryCosts.at(iCostIndex).closest_obj_velocity = contourPoints.at(icon).v;
          }
        }

        iCostIndex++;
      }
    }
  }
}

void TrajectoryCosts::NormalizeCosts(vector<TrajectoryCost>& trajectoryCosts)
{
  //Normalize costs
  double totalPriorities = 0;
  double totalChange = 0;
  double totalLateralCosts = 0;
  double totalLongitudinalCosts = 0;
  double transitionCosts = 0;

  for(unsigned int ic = 0; ic< trajectoryCosts.size(); ic++)
  {
    totalPriorities += trajectoryCosts.at(ic).priority_cost;
    transitionCosts += trajectoryCosts.at(ic).transition_cost;
  }

  for(unsigned int ic = 0; ic< trajectoryCosts.size(); ic++)
  {
    totalChange += trajectoryCosts.at(ic).lane_change_cost;
    totalLateralCosts += trajectoryCosts.at(ic).lateral_cost;
    totalLongitudinalCosts += trajectoryCosts.at(ic).longitudinal_cost;
  }

//  cout << "------ Normalizing Step " << endl;
  for(unsigned int ic = 0; ic< trajectoryCosts.size(); ic++)
  {
    if(totalPriorities != 0)
      trajectoryCosts.at(ic).priority_cost = trajectoryCosts.at(ic).priority_cost / totalPriorities;
    else
      trajectoryCosts.at(ic).priority_cost = 0;

    if(transitionCosts != 0)
      trajectoryCosts.at(ic).transition_cost = trajectoryCosts.at(ic).transition_cost / transitionCosts;
    else
      trajectoryCosts.at(ic).transition_cost = 0;

    if(totalChange != 0)
      trajectoryCosts.at(ic).lane_change_cost = trajectoryCosts.at(ic).lane_change_cost / totalChange;
    else
      trajectoryCosts.at(ic).lane_change_cost = 0;

    if(totalLateralCosts != 0)
      trajectoryCosts.at(ic).lateral_cost = trajectoryCosts.at(ic).lateral_cost / totalLateralCosts;
    else
      trajectoryCosts.at(ic).lateral_cost = 0;

    if(totalLongitudinalCosts != 0)
      trajectoryCosts.at(ic).longitudinal_cost = trajectoryCosts.at(ic).longitudinal_cost / totalLongitudinalCosts;
    else
      trajectoryCosts.at(ic).longitudinal_cost = 0;

    trajectoryCosts.at(ic).priority_cost = m_WeightPriority*trajectoryCosts.at(ic).priority_cost;
    trajectoryCosts.at(ic).transition_cost = m_WeightTransition*trajectoryCosts.at(ic).transition_cost;
    trajectoryCosts.at(ic).lane_change_cost = m_WeightLaneChange*trajectoryCosts.at(ic).lane_change_cost;
    trajectoryCosts.at(ic).lateral_cost = m_WeightLat*trajectoryCosts.at(ic).lateral_cost;
    trajectoryCosts.at(ic).longitudinal_cost = m_WeightLong*trajectoryCosts.at(ic).longitudinal_cost;


    trajectoryCosts.at(ic).cost = m_WeightPriority*trajectoryCosts.at(ic).priority_cost/5.0 +
        m_WeightLaneChange*trajectoryCosts.at(ic).lane_change_cost/5.0 +
        m_WeightLat*trajectoryCosts.at(ic).lateral_cost/5.0 +
        m_WeightLong*trajectoryCosts.at(ic).longitudinal_cost/5.0 +
        m_WeightTransition*trajectoryCosts.at(ic).transition_cost/5.0;

//    cout << "Index: " << ic
//            << ", Priority: " << trajectoryCosts.at(ic).priority_cost
//            << ", Transition: " << trajectoryCosts.at(ic).transition_cost
//            << ", Lat: " << trajectoryCosts.at(ic).lateral_cost
//            << ", Long: " << trajectoryCosts.at(ic).longitudinal_cost
//            << ", Change: " << trajectoryCosts.at(ic).lane_change_cost
//            << ", Avg: " << trajectoryCosts.at(ic).cost
//            << endl;
  }

//  cout << "------------------------ " << endl;
}

vector<TrajectoryCost> TrajectoryCosts::CalculatePriorityAndLaneChangeCosts(const vector<vector<WayPoint> >& laneRollOuts,
    const int& lane_index, const PlanningParams& params)
{
  vector<TrajectoryCost> costs;
  TrajectoryCost tc;
  int centralIndex = params.rollOutNumber/2;

  tc.lane_index = lane_index;
  for(unsigned int it=0; it< laneRollOuts.size(); it++)
  {
    tc.index = it;
    tc.relative_index = it - centralIndex;
    tc.distance_from_center = params.rollOutDensity*tc.relative_index;
    tc.priority_cost = fabs(tc.distance_from_center);
    tc.closest_obj_distance = params.horizonDistance;
    tc.lane_change_cost = laneRollOuts.at(it).at(0).laneChangeCost;

//    if(laneRollOuts.at(it).at(0).bDir == FORWARD_LEFT_DIR || laneRollOuts.at(it).at(0).bDir == FORWARD_RIGHT_DIR)
//      tc.lane_change_cost = 1;
//    else if(laneRollOuts.at(it).at(0).bDir == BACKWARD_DIR || laneRollOuts.at(it).at(0).bDir == BACKWARD_RIGHT_DIR || laneRollOuts.at(it).at(0).bDir == BACKWARD_LEFT_DIR)
//      tc.lane_change_cost = 2;
//    else
//      tc.lane_change_cost = 0;

    costs.push_back(tc);
  }

  return costs;
}

void TrajectoryCosts::CalculateTransitionCosts(vector<TrajectoryCost>& trajectoryCosts, const int& currTrajectoryIndex, const PlanningParams& params)
{
  for(int ic = 0; ic< trajectoryCosts.size(); ic++)
  {
    trajectoryCosts.at(ic).transition_cost = fabs(params.rollOutDensity * (ic - currTrajectoryIndex));
  }
}

/**
 * @brief Validate input, each trajectory must have at least 1 way point
 * @param rollOuts
 * @return true if data isvalid for cost calculation
 */
bool TrajectoryCosts::ValidateRollOutsInput(const vector<vector<vector<WayPoint> > >& rollOuts)
{
  if(rollOuts.size()==0)
    return false;

  for(unsigned int il = 0; il < rollOuts.size(); il++)
  {
    if(rollOuts.at(il).size() == 0)
      return false;
  }

  return true;
}

}