Try to fix pillar route search
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tamasmeszaros
parent
3d6bb38dd4
commit
cdac790163
@ -141,7 +141,9 @@ protected:
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}
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template<size_t N>
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void set_up(NLopt &nl, const Bounds<N>& bounds)
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static void set_up(NLopt &nl,
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const Bounds<N> &bounds,
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const StopCriteria &stopcr)
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{
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std::array<double, N> lb, ub;
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@ -153,15 +155,15 @@ protected:
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nlopt_set_lower_bounds(nl.ptr, lb.data());
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nlopt_set_upper_bounds(nl.ptr, ub.data());
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double abs_diff = m_stopcr.abs_score_diff();
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double rel_diff = m_stopcr.rel_score_diff();
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double stopval = m_stopcr.stop_score();
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double abs_diff = stopcr.abs_score_diff();
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double rel_diff = stopcr.rel_score_diff();
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double stopval = stopcr.stop_score();
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if(!std::isnan(abs_diff)) nlopt_set_ftol_abs(nl.ptr, abs_diff);
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if(!std::isnan(rel_diff)) nlopt_set_ftol_rel(nl.ptr, rel_diff);
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if(!std::isnan(stopval)) nlopt_set_stopval(nl.ptr, stopval);
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if(m_stopcr.max_iterations() > 0)
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nlopt_set_maxeval(nl.ptr, m_stopcr.max_iterations());
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if(stopcr.max_iterations() > 0)
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nlopt_set_maxeval(nl.ptr, stopcr.max_iterations());
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}
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template<class Fn, size_t N, class...EqFns, class...IneqFns>
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@ -211,7 +213,7 @@ public:
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const std::tuple<IneqFns...> &inequalities)
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{
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NLopt nl{alg, N};
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set_up(nl, bounds);
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set_up(nl, bounds, m_stopcr);
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return optimize(nl, std::forward<Func>(func), initvals,
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equalities, inequalities);
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@ -230,6 +232,7 @@ template<nlopt_algorithm glob, nlopt_algorithm loc>
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class NLoptOpt<NLoptAlgComb<glob, loc>>: public NLoptOpt<NLoptAlg<glob>>
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{
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using Base = NLoptOpt<NLoptAlg<glob>>;
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StopCriteria m_loc_stopcr;
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public:
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template<class Fn, size_t N, class...EqFns, class...IneqFns>
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@ -241,15 +244,20 @@ public:
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{
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NLopt nl_glob{glob, N}, nl_loc{loc, N};
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Base::set_up(nl_glob, bounds);
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Base::set_up(nl_loc, bounds);
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Base::set_up(nl_glob, bounds, Base::get_criteria());
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Base::set_up(nl_loc, bounds, m_loc_stopcr);
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nlopt_set_local_optimizer(nl_glob.ptr, nl_loc.ptr);
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return Base::optimize(nl_glob, std::forward<Fn>(f), initvals,
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equalities, inequalities);
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}
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explicit NLoptOpt(StopCriteria stopcr = {}) : Base{stopcr} {}
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explicit NLoptOpt(StopCriteria stopcr = {})
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: Base{stopcr}, m_loc_stopcr{stopcr}
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{}
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void set_loc_criteria(const StopCriteria &cr) { m_loc_stopcr = cr; }
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const StopCriteria &get_loc_criteria() const noexcept { return m_loc_stopcr; }
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};
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} // namespace detail;
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@ -285,6 +293,9 @@ public:
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const StopCriteria &get_criteria() const { return m_opt.get_criteria(); }
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void seed(long s) { m_opt.seed(s); }
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void set_loc_criteria(const StopCriteria &cr) { m_opt.set_loc_criteria(cr); }
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const StopCriteria &get_loc_criteria() const noexcept { return m_opt.get_loc_criteria(); }
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};
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// Predefinded NLopt algorithms
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@ -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 = 2000;
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static const unsigned constexpr optimizer_max_iterations = 30000;
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static const unsigned constexpr pillar_cascade_neighbors = 3;
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};
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@ -492,17 +492,24 @@ GroundConnection deepsearch_ground_connection(
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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 StopScore = 1e6;
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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).stop_score(StopScore);
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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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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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size_t icnt = 0;
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auto optfn = [&](const opt::Input<3> &input) {
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++icnt;
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double ret = NaNd;
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// solver suggests polar, azimuth and bridge length values:
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@ -511,7 +518,7 @@ GroundConnection deepsearch_ground_connection(
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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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double full_len = bridge_len + bridge_end.z() - gndlvl;
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double down_l = bridge_end.z() - gndlvl;
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double bridge_r = wideningfn(Ball{source.pos, source.r}, n, bridge_len);
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double brhit_dist = 0.;
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@ -524,7 +531,7 @@ GroundConnection deepsearch_ground_connection(
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}
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if (brhit_dist < bridge_len) {
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ret = brhit_dist;
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ret = brhit_dist + Penality;
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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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@ -532,28 +539,27 @@ 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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if (std::isinf(gndhit.distance())) {
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// Ground route is free with this bridge
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if (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 max_gap = sm.cfg.pillar_base_safety_distance_mm + base_r;
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if (gap < max_gap)
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ret = full_len - max_gap + gap;
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else // success
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ret = StopScore + EPSILON;
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} else {
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// No zero elevation, return success
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ret = StopScore + 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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// 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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} else {
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// Ground route is not free
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ret = bridge_len + gndhit.distance();
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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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}
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ret = bridge_len + gnd_hit_d + penality;
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}
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return ret;
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@ -564,7 +570,7 @@ GroundConnection deepsearch_ground_connection(
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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_max().optimize(
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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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bounds({ {PI - sm.cfg.bridge_slope, PI}, // bounds for polar angle
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@ -572,10 +578,12 @@ GroundConnection deepsearch_ground_connection(
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{0., sm.cfg.max_bridge_length_mm} }) // bounds bridge length
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);
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std::cout << "iters: " << icnt << std::endl;
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GroundConnection conn;
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if (oresult.score >= StopScore) {
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// search was successful, extract and apply the result
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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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Vec3d n = spheric_to_dir(plr, azm);
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@ -177,7 +177,7 @@ TEST_CASE("Avoid disk below junction", "[suptreeutils]")
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sla::SupportableMesh sm{disk, sla::SupportPoints{}, cfg};
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SECTION("without elevation") {
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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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@ -191,7 +191,7 @@ TEST_CASE("Avoid disk below junction", "[suptreeutils]")
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REQUIRE(pR + FromRadius > CylRadius);
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}
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SECTION("with elevation") {
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SECTION("without elevation") {
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sm.cfg.object_elevation_mm = 0.;
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sla::GroundConnection conn =
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@ -234,7 +234,7 @@ TEST_CASE("Avoid disk below junction with barrier on the side", "[suptreeutils]"
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sla::SupportableMesh sm{disk, sla::SupportPoints{}, cfg};
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SECTION("without elevation") {
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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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