Trying 2 phase optimization for pillar route search
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tamasmeszaros
parent
056e740027
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0f34dfbeac
@ -105,7 +105,7 @@ struct SupportTreeConfig
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static const double constexpr max_solo_pillar_height_mm = 15.0;
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static const double constexpr max_dual_pillar_height_mm = 35.0;
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static const double constexpr optimizer_rel_score_diff = 1e-10;
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static const unsigned constexpr optimizer_max_iterations = 30000;
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static const unsigned constexpr optimizer_max_iterations = 2000;
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static const unsigned constexpr pillar_cascade_neighbors = 3;
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};
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@ -489,26 +489,30 @@ GroundConnection deepsearch_ground_connection(
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WideningFn &&wideningfn,
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const Vec3d &init_dir = DOWN)
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{
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// Score is the total lenght of the route. Feasible routes will have
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// infinite length (rays not colliding with model), thus the stop score
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// should be a reasonably big number.
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constexpr double Penality = 1e5;
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constexpr double PenOffs = 1e2;
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const auto sd = sm.cfg.safety_distance(source.r);
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const auto gndlvl = ground_level(sm);
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auto criteria = get_criteria(sm.cfg);
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criteria.abs_score_diff(1.);
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criteria.rel_score_diff(0.1);
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criteria.max_iterations(5000);
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auto criteria_heavy = get_criteria(sm.cfg);
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criteria_heavy.max_iterations(30000);
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criteria_heavy.abs_score_diff(NaNd);
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criteria_heavy.rel_score_diff(NaNd);
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Optimizer<opt::AlgNLoptMLSL> solver(criteria);
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solver.set_loc_criteria(criteria.max_iterations(100).abs_score_diff(1.));
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solver.seed(0); // enforce deterministic behavior
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// Cobyla (local method) supports inequality constraints which will be
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// needed here.
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Optimizer<opt::AlgNLoptISRES> solver_heavy(criteria_heavy);
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solver_heavy.seed(0);
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auto criteria_easy = get_criteria(sm.cfg);
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criteria_easy.max_iterations(1000);
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criteria_easy.abs_score_diff(NaNd);
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criteria_easy.rel_score_diff(NaNd);
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Optimizer<opt::AlgNLoptMLSL> solver_easy(criteria_easy);
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solver_easy.set_loc_criteria(StopCriteria{}.max_iterations(100).abs_score_diff(EPSILON).rel_score_diff(0.01));
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solver_easy.seed(0);
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size_t icnt = 0;
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auto optfn = [&](const opt::Input<3> &input) {
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auto l_fn = [&](const opt::Input<3> &input) {
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++icnt;
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double ret = NaNd;
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@ -531,7 +535,7 @@ GroundConnection deepsearch_ground_connection(
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}
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if (brhit_dist < bridge_len) {
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ret = brhit_dist + Penality;
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ret = brhit_dist;
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} else {
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// check if pillar can be placed below
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auto gp = Vec3d{bridge_end.x(), bridge_end.y(), gndlvl};
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@ -539,70 +543,90 @@ GroundConnection deepsearch_ground_connection(
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Beam gndbeam {{bridge_end, bridge_r}, {gp, end_radius}};
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auto gndhit = beam_mesh_hit(policy, sm.emesh, gndbeam, sd);
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double gnd_hit_d = std::min(gndhit.distance(), down_l);
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double penality = 0.;
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double gnd_hit_d = std::min(gndhit.distance(), down_l + EPSILON);
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if (!std::isinf(gndhit.distance()))
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penality = Penality;
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else if (sm.cfg.object_elevation_mm < EPSILON) {
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if (std::isinf(gndhit.distance()) && sm.cfg.object_elevation_mm < EPSILON) {
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// Dealing with zero elevation mode, to not route pillars
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// into the gap between the optional pad and the model
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double gap = std::sqrt(sm.emesh.squared_distance(gp));
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double base_r = std::max(sm.cfg.base_radius_mm, end_radius);
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double min_gap = sm.cfg.pillar_base_safety_distance_mm + base_r;
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if (gap < min_gap) {
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penality = Penality + PenOffs * (min_gap - gap);
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}
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// gnd_hit_d += std::max(0., min_gap - gap); //penality = Penality + 100000. * (min_gap - gap);
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// if (gap < min_gap) {
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// penality = Penality;
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// }
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gnd_hit_d = gnd_hit_d - min_gap + gap;
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}
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ret = bridge_len + gnd_hit_d + penality;
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ret = bridge_len + gnd_hit_d;
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}
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return ret;
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};
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auto h_fn = [&source, gndlvl](const opt::Input<3> &input) {
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// solver suggests polar, azimuth and bridge length values:
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auto &[plr, azm, bridge_l] = input;
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Vec3d n = spheric_to_dir(plr, azm);
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Vec3d bridge_end = source.pos + bridge_l * n;
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double down_l = bridge_end.z() - gndlvl;
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double full_l = bridge_l + down_l;
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return full_l;
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};
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auto ineq_fn = [&](const opt::Input<3> &input) {
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double h = h_fn(input);
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double l = l_fn(input);
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double r = h - l;
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return r;
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};
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auto [plr_init, azm_init] = dir_to_spheric(init_dir);
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// Saturate the polar angle to max tilt defined in config
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plr_init = std::max(plr_init, PI - sm.cfg.bridge_slope);
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auto oresult = solver.to_min().optimize(
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optfn,
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initvals({plr_init, azm_init, 0.}), // start with a zero bridge
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auto bound_constraints =
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bounds({ {PI - sm.cfg.bridge_slope, PI}, // bounds for polar angle
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{-PI, PI}, // bounds for azimuth
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{0., sm.cfg.max_bridge_length_mm} }) // bounds bridge length
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{0., sm.cfg.max_bridge_length_mm} }); // bounds bridge length
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auto oresult_init = solver_easy.to_max().optimize(
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l_fn,
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initvals({plr_init, azm_init, 0.}), // start with a zero bridge
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bound_constraints
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);
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std::cout << "iters: " << icnt << std::endl;
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auto oresult = solver_heavy.to_min().optimize(
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h_fn,
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oresult_init.optimum,
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bound_constraints,
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{},
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std::make_tuple(ineq_fn)
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);
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std::cout << "Iterations: " << icnt << std::endl;
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GroundConnection conn;
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if (oresult.score < Penality) {
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// Extract and apply the result
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auto &[plr, azm, bridge_len] = oresult.optimum;
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auto &[plr, azm, bridge_l] = oresult.optimum;
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Vec3d n = spheric_to_dir(plr, azm);
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Vec3d bridge_end = source.pos + bridge_len * n;
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Vec3d bridge_end = source.pos + bridge_l * n;
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Vec3d gp{bridge_end.x(), bridge_end.y(), gndlvl};
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double bridge_r = wideningfn(Ball{source.pos, source.r}, n, bridge_len);
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double bridge_r = wideningfn(Ball{source.pos, source.r}, n, bridge_l);
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double down_l = bridge_end.z() - gndlvl;
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double end_radius = wideningfn(Ball{bridge_end, bridge_r}, DOWN, down_l);
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double base_r = std::max(sm.cfg.base_radius_mm, end_radius);
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conn.path.emplace_back(source);
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if (bridge_len > EPSILON)
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if (bridge_l > EPSILON)
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conn.path.emplace_back(Junction{bridge_end, bridge_r});
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if (bridge_end.z() >= gndlvl)
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if (ineq_fn(oresult.optimum) <= 0 && bridge_end.z() >= gndlvl)
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conn.pillar_base =
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Pedestal{gp, sm.cfg.base_height_mm, base_r, end_radius};
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}
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return conn;
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}
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@ -180,7 +180,7 @@ TEST_CASE("Avoid disk below junction", "[suptreeutils]")
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SECTION("with elevation") {
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sla::GroundConnection conn =
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sla::deepsearch_ground_connection(ex_seq, sm, j, EndRadius, sla::DOWN);
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sla::deepsearch_ground_connection(ex_tbb, sm, j, EndRadius, sla::DOWN);
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eval_ground_conn(conn, sm, j, EndRadius, "disk.stl");
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@ -195,7 +195,7 @@ TEST_CASE("Avoid disk below junction", "[suptreeutils]")
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sm.cfg.object_elevation_mm = 0.;
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sla::GroundConnection conn =
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sla::deepsearch_ground_connection(ex_seq, sm, j, EndRadius, sla::DOWN);
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sla::deepsearch_ground_connection(ex_tbb, sm, j, EndRadius, sla::DOWN);
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eval_ground_conn(conn, sm, j, EndRadius, "disk_ze.stl");
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