mapf 0.3.0

Base traits and utilities for multi-agent planning
Documentation 
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

/*
 * Copyright (C) 2022 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

use super::{Cell, Point};
use arrayvec::ArrayVec;

pub(crate) struct SearchF64 {
    pub(crate) value: Option<f64>,
}

impl SearchF64 {
    pub(crate) fn new() -> Self {
        return Self { value: None };
    }

    pub(crate) fn check_min(&mut self, other: f64) {
        match self.value {
            None => {
                self.value = Some(other);
            }
            Some(v) => {
                self.value = Some(v.min(other));
            }
        }
    }

    pub(crate) fn check_max(&mut self, other: f64) {
        match self.value {
            None => {
                self.value = Some(other);
            }
            Some(v) => {
                self.value = Some(v.max(other));
            }
        }
    }
}

pub(crate) struct LineSegment {
    p0: Point,
    p1: Point,
}

impl LineSegment {
    pub(crate) fn new(p0: Point, p1: Point) -> Self {
        Self { p0, p1 }
    }

    pub(crate) fn vertical_intersect(&self, x: f64) -> ArrayVec<f64, 2> {
        let mut intersects = ArrayVec::new();
        if self.p0.x > x && self.p1.x > x {
            return intersects;
        }

        if self.p0.x < x && self.p1.x < x {
            return intersects;
        }

        if (self.p1.x - self.p0.x).abs() < 1e-8 {
            intersects.push(self.p0.y);
            intersects.push(self.p1.y);
            return intersects;
        }

        let m = (self.p1.y - self.p0.y) / (self.p1.x - self.p0.x);
        intersects.push(m * (x - self.p0.x) + self.p0.y);
        return intersects;
    }

    pub(crate) fn horizontal_intersect(&self, y: f64) -> ArrayVec<f64, 2> {
        let mut intersects = ArrayVec::new();
        if self.p0.y > y && self.p1.y > y {
            return intersects;
        }

        if self.p0.y < y && self.p1.y < y {
            return intersects;
        }

        if (self.p1.y - self.p0.y).abs() < 1e-8 {
            intersects.push(self.p0.x);
            intersects.push(self.p1.x);
            return intersects;
        }

        let m = (self.p1.x - self.p0.x) / (self.p1.y - self.p0.y);
        intersects.push(m * (y - self.p0.y) + self.p0.x);
        return intersects;
    }

    pub(crate) fn distance_from_point(&self, p: Point) -> f64 {
        let v1 = self.p1 - self.p0;
        let length = v1.norm();
        if length < 1e-8 {
            return (p - self.p0).norm();
        }

        let v1_u = v1 / length;
        let v = p - self.p0;
        let shadow = v.dot(&v1_u);
        if shadow < 0.0 {
            return (p - self.p0).norm();
        } else if shadow > length {
            return (p - self.p1).norm();
        }

        return (v - shadow * v1_u).norm();
    }

    pub(crate) fn passes_near_cell(&self, cell: &Cell, cell_size: f64, proximity: f64) -> bool {
        // 1.4143 is chosen as a value slightly higher than sqrt(2) to give us
        // an upper bound on how far any point in the cell can be from the line
        // segment without completely ruling out the possibility that it passes
        // nearby.
        let bound_distance = proximity + 1.4143 * cell_size;
        for m in [0, 1] {
            for n in [0, 1] {
                let p = cell.shifted(m, n).bottom_left_point(cell_size);
                let dist = self.distance_from_point(p);
                if dist < proximity {
                    return true;
                }

                if bound_distance <= dist {
                    return false;
                }
            }
        }

        let p_min = cell.bottom_left_point(cell_size);
        let p_max = cell.shifted(1, 1).bottom_left_point(cell_size);

        // We need to check if either line segment endpoint is inside the cell
        for p in [&self.p0, &self.p1] {
            if p_min.x < p.x && p.x < p_max.x && p_min.y < p.y && p.y < p_max.y {
                return true;
            }
        }

        // We need to check if the line segment intersects the cell
        for x in [p_min.x, p_max.x] {
            for y in self.vertical_intersect(x) {
                if p_min.y < y && y < p_max.y {
                    return true;
                }
            }
        }

        for y in [p_min.y, p_max.y] {
            for x in self.horizontal_intersect(y) {
                if p_min.x < x && x < p_max.x {
                    return true;
                }
            }
        }

        return false;
    }
}