decision_control/rrtplanner.cc

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is free software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #include <iostream>
  19 #include <cstdlib>
  20 #include <ctime>
  21 #include "compile.h"
  22 #include "nn.h"
  23 #include "nv.h"
  24 #include "sample.h"
  25 #include "steer.h"
  26 #include "rrtplanner.h"
  27 #include "cost.h"
  28
  29 #define CATI(a, b) a ## b
  30 #define CAT(a, b) CATI(a, b)
  31 #define KUWATA2008_CCOST CAT(c, CO)
  32 #define KUWATA2008_DCOST CO
  33
  34 LaValle1998::LaValle1998(RRTNode *init, RRTNode *goal):
  35         RRTBase(init, goal)
  36 {
  37         srand(static_cast<unsigned>(time(0)));
  38 }
  39
  40 bool LaValle1998::next()
  41 {
  42         RRTNode *rs;
  43 #if GOALFIRST > 0
  44         if (this->samples().size() == 0)
  45                 rs = this->goal();
  46         else
  47                 rs = this->sample();
  48 #else
  49         rs = this->sample();
  50 #endif
  51         this->samples().push_back(rs);
  52         RRTNode *nn = this->nn(rs);
  53         RRTNode *pn = nn;
  54         bool en_add = true;
  55         for (auto ns: this->steer(nn, rs)) {
  56                 if (!en_add) {
  57                         delete ns;
  58                 } else {
  59                         this->nodes().push_back(ns);
  60                         this->add_iy(ns);
  61                         pn->add_child(ns, this->cost(pn, ns));
  62                         if (this->collide(pn, ns)) {
  63                                 pn->children().pop_back();
  64                                 ns->remove_parent();
  65                                 this->iy_[this->YI(ns)].pop_back();
  66                                 en_add = false;
  67                         } else {
  68                                 this->ocost(ns);
  69                                 pn = ns;
  70                                 if (this->goal_found(pn, CO)) {
  71                                         this->tlog(this->findt());
  72                                         en_add = false;
  73                                 }
  74                         }
  75                 }
  76         }
  77         return this->goal_found();
  78 }
  79
  80 Kuwata2008::Kuwata2008(RRTNode *init, RRTNode *goal):
  81         RRTBase(init, goal)
  82 {
  83         srand(static_cast<unsigned>(time(0)));
  84 }
  85
  86 bool Kuwata2008::next()
  87 {
  88         RRTNode *rs;
  89         if (this->samples().size() == 0) {
  90                 rs = this->goal();
  91         } else {
  92                 rs = this->sample();
  93         }
  94         this->samples().push_back(rs);
  95         float heur = static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
  96         if (this->goal_found()) {
  97                 if (heur < 0.7)
  98                         {}//this->cost = &KUWATA2008_CCOST;
  99                 else
 100                         {}//this->cost = &KUWATA2008_DCOST;
 101         } else {
 102                 if (heur < 0.3)
 103                         {}//this->cost = &KUWATA2008_CCOST;
 104                 else
 105                         {}//this->cost = &KUWATA2008_DCOST;
 106         }
 107         RRTNode *nn = this->nn(rs);
 108         RRTNode *pn = nn;
 109         std::vector<RRTNode *> newly_added;
 110         bool en_add = true;
 111         for (auto ns: this->steer(nn, rs)) {
 112                 if (!en_add) {
 113                         delete ns;
 114                 } else {
 115                         this->nodes().push_back(ns);
 116                         this->add_iy(ns);
 117                         pn->add_child(ns, KUWATA2008_DCOST(pn, ns));
 118                         if (this->collide(pn, ns)) {
 119                                 pn->children().pop_back();
 120                                 ns->remove_parent();
 121                                 this->iy_[this->YI(ns)].pop_back();
 122                                 en_add = false;
 123                         } else {
 124                                 this->ocost(ns);
 125                                 pn = ns;
 126                                 newly_added.push_back(pn);
 127                                 if (this->goal_found(pn, &KUWATA2008_DCOST)) {
 128                                         this->tlog(this->findt());
 129                                         en_add = false;
 130                                 }
 131                         }
 132                 }
 133         }
 134         if (this->samples().size() <= 1)
 135                 return this->goal_found();
 136         for (auto na: newly_added) {
 137                 pn = na;
 138                 en_add = true;
 139                 for (auto ns: this->steer(na, this->goal())) {
 140                         if (!en_add) {
 141                                 delete ns;
 142                         } else {
 143                                 this->nodes().push_back(ns);
 144                                 this->add_iy(ns);
 145                                 pn->add_child(ns, KUWATA2008_DCOST(pn, ns));
 146                                 if (this->collide(pn, ns)) {
 147                                         pn->children().pop_back();
 148                                         ns->remove_parent();
 149                                         this->iy_[this->YI(ns)].pop_back();
 150                                         en_add = false;
 151                                 } else {
 152                                         this->ocost(ns);
 153                                         pn = ns;
 154                                         if (this->goal_found(pn,
 155                                                         &KUWATA2008_DCOST)) {
 156                                                 this->tlog(this->findt());
 157                                                 en_add = false;
 158                                         }
 159                                 }
 160                         }
 161                 }
 162         }
 163         return this->goal_found();
 164 }
 165
 166 Karaman2011::Karaman2011()
 167 {
 168         srand(static_cast<unsigned>(time(0)));
 169 }
 170
 171 Karaman2011::Karaman2011(RRTNode *init, RRTNode *goal)
 172         : RRTBase(init, goal)
 173 {
 174         srand(static_cast<unsigned>(time(0)));
 175 }
 176
 177 bool Karaman2011::next()
 178 {
 179         RRTNode *rs;
 180 #if GOALFIRST > 0
 181         if (this->samples().size() == 0)
 182                 rs = this->goal();
 183         else
 184                 rs = this->sample();
 185 #else
 186         rs = this->sample();
 187 #endif
 188         this->samples().push_back(rs);
 189         RRTNode *nn = this->nn(rs);
 190         RRTNode *pn = nn;
 191         std::vector<RRTNode *> nvs;
 192         bool en_add = true;
 193         bool skip = false;
 194         for (auto ns: this->steer(nn, rs)) {
 195                 if (!en_add) {
 196                         delete ns;
 197                 } else if (IS_NEAR(nn, ns)) {
 198                         delete ns;
 199                 } else {
 200                         if (IS_NEAR(ns, rs))
 201                                 en_add = false;
 202                         nvs = this->nv(ns,
 203                                         MIN(GAMMA_RRTSTAR(
 204                                                         this->nodes().size()),
 205                                                         0.2));
 206                         skip = false;
 207                         for (auto nv: nvs) {
 208                                 if (IS_NEAR(nv, ns))
 209                                         skip = true;
 210                         }
 211                         if (skip)
 212                                 continue;
 213                         this->nodes().push_back(ns);
 214                         this->add_iy(ns);
 215                         // connect
 216                         if (!this->connect(pn, ns, nvs)) {
 217                                 this->iy_[this->YI(ns)].pop_back();
 218                                 en_add = false;
 219                         } else {
 220                                 // rewire
 221                                 this->rewire(nvs, ns);
 222                                 pn = ns;
 223                                 if (this->goal_found(pn, CO)) {
 224                                         this->tlog(this->findt());
 225                                         en_add = false;
 226                                 }
 227                         }
 228                 }
 229         }
 230         return this->goal_found();
 231 }
 232
 233 bool Karaman2011::connect(
 234                 RRTNode *pn,
 235                 RRTNode *ns,
 236                 std::vector<RRTNode *> nvs)
 237 {
 238         RRTNode *op; // old parent
 239         float od; // old direct cost
 240         float oc; // old cumulative cost
 241         bool connected = false;
 242         pn->add_child(ns, this->cost(pn, ns));
 243         if (this->collide(pn, ns)) {
 244                 pn->children().pop_back();
 245                 ns->remove_parent();
 246         } else {
 247                 this->ocost(ns);
 248                 connected = true;
 249         }
 250         for (auto nv: nvs) {
 251                 if (!connected || (nv->ccost() + this->cost(nv, ns) <
 252                                 ns->ccost())) {
 253                         op = ns->parent();
 254                         od = ns->dcost();
 255                         oc = ns->ccost();
 256                         nv->add_child(ns, this->cost(nv, ns));
 257                         if (this->collide(nv, ns)) {
 258                                 nv->children().pop_back();
 259                                 if (op)
 260                                         ns->parent(op);
 261                                 else
 262                                         ns->remove_parent();
 263                                 ns->dcost(od);
 264                                 ns->ccost(oc);
 265                         } else if (connected) {
 266                                 op->children().pop_back();
 267                         } else {
 268                                 this->ocost(ns);
 269                                 connected = true;
 270                         }
 271                 }
 272         }
 273         return connected;
 274 }
 275
 276 bool Karaman2011::rewire(std::vector<RRTNode *> nvs, RRTNode *ns)
 277 {
 278         RRTNode *op; // old parent
 279         float od; // old direct cost
 280         float oc; // old cumulative cost
 281         for (auto nv: nvs) {
 282                 if (ns->ccost() + this->cost(ns, nv) < nv->ccost()) {
 283                         op = nv->parent();
 284                         od = nv->dcost();
 285                         oc = nv->ccost();
 286                         ns->add_child(nv, this->cost(ns, nv));
 287                         if (this->collide(ns, nv)) {
 288                                 ns->children().pop_back();
 289                                 nv->parent(op);
 290                                 nv->dcost(od);
 291                                 nv->ccost(oc);
 292                         } else {
 293                                 op->rem_child(nv);
 294                         }
 295                 }
 296         }
 297         return true;
 298 }
 299
 300 T1::T1(RRTNode *init, RRTNode *goal):
 301         RRTBase(init, goal)
 302 {
 303         srand(static_cast<unsigned>(time(0)));
 304 }
 305
 306 bool T1::next()
 307 {
 308         RRTNode *rs;
 309         if (this->samples().size() == 0)
 310                 rs = this->goal();
 311         else
 312                 rs = this->sample();
 313         this->samples().push_back(rs);
 314         RRTNode *nn = this->nn(rs);
 315         RRTNode *pn = nn;
 316         std::vector<RRTNode *> nvs;
 317         bool connected;
 318         RRTNode *op; // old parent
 319         float od; // old direct cost
 320         float oc; // old cumulative cost
 321         std::vector<RRTNode *> steered = this->steer(nn, rs);
 322         // RRT* for first node
 323         RRTNode *ns = steered[0];
 324         {
 325                 nvs = this->nv(ns, MIN(
 326                                 GAMMA_RRTSTAR(this->nodes().size()),
 327                                 0.2)); // TODO const
 328                 this->nodes().push_back(ns);
 329                 this->add_iy(ns);
 330                 connected = false;
 331                 pn->add_child(ns, this->cost(pn, ns));
 332                 if (this->collide(pn, ns)) {
 333                         pn->children().pop_back();
 334                 } else {
 335                         connected = true;
 336                 }
 337                 // connect
 338                 for (auto nv: nvs) {
 339                         if (!connected || (nv->ccost() + this->cost(nv, ns) <
 340                                         ns->ccost())) {
 341                                 op = ns->parent();
 342                                 od = ns->dcost();
 343                                 oc = ns->ccost();
 344                                 nv->add_child(ns, this->cost(nv, ns));
 345                                 if (this->collide(nv, ns)) {
 346                                         nv->children().pop_back();
 347                                         ns->parent(op);
 348                                         ns->dcost(od);
 349                                         ns->ccost(oc);
 350                                 } else if (connected) {
 351                                         op->children().pop_back();
 352                                 } else {
 353                                         connected = true;
 354                                 }
 355                         }
 356                 }
 357                 if (!connected)
 358                         return false;
 359                 // rewire
 360                 for (auto nv: nvs) {
 361                         if (ns->ccost() + this->cost(ns, nv) < nv->ccost()) {
 362                                 op = nv->parent();
 363                                 od = nv->dcost();
 364                                 oc = nv->ccost();
 365                                 ns->add_child(nv, this->cost(ns, nv));
 366                                 if (this->collide(ns, nv)) {
 367                                         ns->children().pop_back();
 368                                         nv->parent(op);
 369                                         nv->dcost(od);
 370                                         nv->ccost(oc);
 371                                 } else {
 372                                         op->rem_child(nv);
 373                                 }
 374                         }
 375                 }
 376                 pn = ns;
 377                 if (this->goal_found(pn, CO)) {
 378                         this->tlog(this->findt());
 379                 }
 380         }
 381         unsigned int i = 0;
 382         for (i = 1; i < steered.size(); i++) {
 383                 ns = steered[i];
 384                 this->nodes().push_back(ns);
 385                 this->add_iy(ns);
 386                 pn->add_child(ns, this->cost(pn, ns));
 387                 if (this->collide(pn, ns)) {
 388                         pn->children().pop_back();
 389                         break;
 390                 }
 391                 pn = ns;
 392                 if (this->goal_found(pn, CO)) {
 393                         this->tlog(this->findt());
 394                         break;
 395                 }
 396         }
 397         return this->goal_found();
 398 }
 399
 400 bool T2::next()
 401 {
 402         RRTNode *rs;
 403         if (this->firsts().size() > 0) {
 404                 rs = this->firsts().front();
 405                 this->firsts().pop();
 406         } else {
 407                 rs = this->sample();
 408         }
 409         this->samples().push_back(rs);
 410         RRTNode *nn = this->nn(rs);
 411         if (!nn)
 412                 return false;
 413         RRTNode *pn = nn;
 414         std::vector<RRTNode *> nvs;
 415         std::vector<RRTNode *> newly_added;
 416         bool en_add = true;
 417         int cusps = 0;
 418         for (auto ns: this->steer(nn, rs)) {
 419                 ns->rs(rs);
 420                 if (!en_add) {
 421                         delete ns;
 422                 } else if (IS_NEAR(pn, ns)) {
 423                         delete ns;
 424                 } else {
 425                         if (sgn(ns->s()) == 0 || sgn(pn->s()) != sgn(ns->s()))
 426                                 cusps++;
 427                         if (cusps > 4)
 428                                 en_add = false;
 429                         nvs = this->nv(
 430                                         ns,
 431                                         MIN(
 432                                                 GAMMA_RRTSTAR(
 433                                                         this->nodes().size()),
 434                                                 0.2)); // TODO const
 435                         this->nodes().push_back(ns);
 436                         this->add_iy(ns);
 437                         // connect
 438                         if (!this->connect(pn, ns, nvs)) {
 439                                 this->iy_[this->YI(ns)].pop_back();
 440                                 this->nodes().pop_back();
 441                                 delete ns;
 442                                 en_add = false;
 443                         } else {
 444                                 this->add_ixy(ns);
 445                                 // rewire
 446                                 this->rewire(nvs, ns);
 447                                 pn = ns;
 448                                 newly_added.push_back(pn);
 449                                 if (this->goal_found(pn, CO)) {
 450                                         this->goal_cost();
 451                                         this->tlog(this->findt());
 452                                         en_add = false;
 453                                 }
 454                         }
 455                 }
 456         }
 457         if (this->samples().size() <= 1)
 458                 return this->goal_found();
 459         // steer to goal
 460         for (auto na: newly_added) {
 461                 pn = na;
 462                 en_add = true;
 463                 cusps = 0;
 464                 for (auto ns: this->steer(na, this->goal())) {
 465                         ns->rs(rs);
 466                         if (!en_add) {
 467                                 delete ns;
 468                         } else if (IS_NEAR(pn, ns)) {
 469                                 delete ns;
 470                         } else {
 471                                 if (sgn(pn->s()) != sgn(ns->s()))
 472                                         cusps++;
 473                                 if (cusps > 4)
 474                                         en_add = false;
 475                                 this->nodes().push_back(ns);
 476                                 this->add_iy(ns);
 477                                 pn->add_child(ns, this->cost(pn, ns));
 478                                 if (this->collide(pn, ns)) {
 479                                         pn->children().pop_back();
 480                                         ns->remove_parent();
 481                                         this->iy_[this->YI(ns)].pop_back();
 482                                         this->nodes().pop_back();
 483                                         delete ns;
 484                                         en_add = false;
 485                                 } else {
 486                                         this->add_ixy(ns);
 487                                         this->ocost(ns);
 488                                         pn = ns;
 489                                         if (this->goal_found(pn, CO)) {
 490                                                 this->goal_cost();
 491                                                 this->tlog(this->findt());
 492                                                 en_add = false;
 493                                         }
 494                                 }
 495                         }
 496                 }
 497         }
 498         // steer to goals
 499         for (auto na: newly_added) {
 500         for (auto go: this->goals()) {
 501                 pn = na;
 502                 en_add = true;
 503                 cusps = 0;
 504                 for (auto ns: this->steer(na, go)) {
 505                         ns->rs(rs);
 506                         if (!en_add) {
 507                                 delete ns;
 508                         } else if (IS_NEAR(pn, ns)) {
 509                                 delete ns;
 510                         } else {
 511                                 if (sgn(pn->s()) != sgn(ns->s()))
 512                                         cusps++;
 513                                 if (cusps > 4)
 514                                         en_add = false;
 515                                 this->nodes().push_back(ns);
 516                                 this->add_iy(ns);
 517                                 pn->add_child(ns, this->cost(pn, ns));
 518                                 if (this->collide(pn, ns)) {
 519                                         pn->children().pop_back();
 520                                         ns->remove_parent();
 521                                         this->iy_[this->YI(ns)].pop_back();
 522                                         this->nodes().pop_back();
 523                                         delete ns;
 524                                         en_add = false;
 525                                 } else {
 526                                         this->add_ixy(ns);
 527                                         this->ocost(ns);
 528                                         pn = ns;
 529                                         if (this->goal_found(pn, go)) {
 530                                                 this->tlog(this->findt());
 531                                                 en_add = false;
 532                                         }
 533                                 }
 534                         }
 535                 }
 536         }}
 537         return this->goal_found();
 538 }
 539
 540 float T2::goal_cost()
 541 {
 542         std::vector<RRTNode *> nvs;
 543         nvs = this->nv(this->goal(), 0.2);
 544         for (auto nv: nvs) {
 545                 if (std::abs(this->goal()->h() - nv->h()) >=
 546                                 this->GOAL_FOUND_ANGLE)
 547                         continue;
 548                 if (nv->ccost() + this->cost(nv, this->goal()) >=
 549                                 this->goal()->ccost())
 550                         continue;
 551                 RRTNode *op; // old parent
 552                 float oc; // old cumulative cost
 553                 float od; // old direct cost
 554                 op = this->goal()->parent();
 555                 oc = this->goal()->ccost();
 556                 od = this->goal()->dcost();
 557                 nv->add_child(this->goal(),
 558                                 this->cost(nv, this->goal()));
 559                 if (this->collide(nv, this->goal())) {
 560                         nv->children().pop_back();
 561                         this->goal()->parent(op);
 562                         this->goal()->ccost(oc);
 563                         this->goal()->dcost(od);
 564                 } else {
 565                         op->rem_child(this->goal());
 566                 }
 567         }
 568         return this->goal()->ccost();
 569 }
 570
 571 T3::~T3()
 572 {
 573         for (auto n: this->p_root_.nodes())
 574                 if (n != this->p_root_.root() && n != this->p_root_.goal())
 575                         delete n;
 576         for (auto n: this->p_root_.dnodes())
 577                 if (n != this->p_root_.root() && n != this->p_root_.goal())
 578                         delete n;
 579         for (auto s: this->p_root_.samples())
 580                 if (s != this->p_root_.goal())
 581                         delete s;
 582         for (auto edges: this->p_root_.rlog())
 583                 for (auto e: edges)
 584                         delete e;
 585
 586         for (auto n: this->p_goal_.nodes())
 587                 if (n != this->p_goal_.root() && n != this->p_goal_.goal())
 588                         delete n;
 589         for (auto n: this->p_goal_.dnodes())
 590                 if (n != this->p_goal_.root() && n != this->p_goal_.goal())
 591                         delete n;
 592         for (auto s: this->p_goal_.samples())
 593                 if (s != this->p_goal_.goal())
 594                         delete s;
 595         for (auto edges: this->p_goal_.rlog())
 596                 for (auto e: edges)
 597                         delete e;
 598
 599         for (auto n: this->nodes())
 600                 if (n != this->root())
 601                         delete n;
 602         for (auto n: this->dnodes())
 603                 if (n != this->root() && n != this->goal())
 604                         delete n;
 605         for (auto s: this->samples())
 606                 if (s != this->goal())
 607                         delete s;
 608         for (auto edges: this->rlog())
 609                 for (auto e: edges)
 610                         delete e;
 611
 612         delete this->root();
 613         delete this->goal();
 614 }
 615
 616 T3::T3()
 617 {
 618         srand(static_cast<unsigned>(time(0)));
 619 }
 620
 621 T3::T3(RRTNode *init, RRTNode *goal):
 622         RRTBase(init, goal),
 623         p_root_(init, goal),
 624         p_goal_(goal, init)
 625 {
 626         srand(static_cast<unsigned>(time(0)));
 627 }
 628
 629 bool T3::next()
 630 {
 631         RRTNode *ron = nullptr;
 632         RRTNode *gon = nullptr;
 633         bool ret = false;
 634         ret = this->p_root_.next();
 635         ret |= this->p_goal_.next();
 636         if (this->overlaptrees(&ron, &gon)) {
 637                 if (this->connecttrees(ron, gon))
 638                         this->goal_found(true);
 639                 this->tlog(this->findt());
 640                 ret |= true;
 641         }
 642         return ret;
 643 }
 644
 645 bool T3::link_obstacles(
 646         std::vector<CircleObstacle> *cobstacles,
 647         std::vector<SegmentObstacle> *sobstacles)
 648 {
 649         bool ret = false;
 650         ret = RRTBase::link_obstacles(cobstacles, sobstacles);
 651         ret &= this->p_root_.link_obstacles(cobstacles, sobstacles);
 652         ret &= this->p_goal_.link_obstacles(cobstacles, sobstacles);
 653         return ret;
 654 }
 655
 656 bool T3::connecttrees(RRTNode *rn, RRTNode *gn)
 657 {
 658         while (gn != this->goal()) {
 659                 this->p_root_.nodes().push_back(new RRTNode(
 660                                 gn->x(),
 661                                 gn->y(),
 662                                 gn->h()));
 663                 rn->add_child(
 664                                 this->p_root_.nodes().back(),
 665                                 this->p_root_.cost(
 666                                                 rn,
 667                                                 this->p_root_.nodes().back()));
 668                 rn = this->p_root_.nodes().back();
 669                 gn = gn->parent();
 670         }
 671         rn->add_child(this->goal(), this->p_root_.cost(rn, this->goal()));
 672         return true;
 673 }
 674
 675 bool T3::overlaptrees(RRTNode **ron, RRTNode **gon)
 676 {
 677         for (auto rn: this->p_root_.nodes()) {
 678                 if (rn->parent() == nullptr)
 679                         continue;
 680                 for (auto gn: this->p_goal_.nodes()) {
 681                         if (gn->parent() == nullptr)
 682                                 continue;
 683                         if (IS_NEAR(rn, gn)) {
 684                                 *ron = rn;
 685                                 *gon = gn;
 686                                 return true;
 687                         }
 688                 }
 689         }
 690         return false;
 691 }
 692
 693 Klemm2015::Klemm2015(RRTNode *init, RRTNode *goal):
 694         Karaman2011(init, goal),
 695         orig_root_(init),
 696         orig_goal_(goal)
 697 {
 698         srand(static_cast<unsigned>(time(0)));
 699         this->root()->tree('R');
 700         this->goal()->tree('G');
 701         this->add_iy(this->goal());
 702 }
 703
 704 bool Klemm2015::next()
 705 {
 706         RRTNode *xn = nullptr;
 707         RRTNode *rs;
 708         int ret = 0;
 709 #if GOALFIRST > 0
 710         if (this->samples().size() == 0)
 711                 rs = this->goal();
 712         else
 713                 rs = this->sample();
 714 #else
 715         rs = this->sample();
 716 #endif
 717         this->samples().push_back(rs);
 718         //std::cerr << "next" << std::endl;
 719         if (this->extendstar1(rs, &xn) != 2) {
 720         //        if (xn) {
 721         //                std::cerr << "- xn: " << xn->x() << ", " << xn->y();
 722         //                std::cerr << std::endl;
 723         //        } else {
 724         //                std::cerr << "- xn: nullptr" << std::endl;
 725         //        }
 726                 this->swap();
 727                 ret = this->connectstar(xn);
 728         } else {
 729                 this->swap();
 730         }
 731         if (ret == 1) {
 732                 this->tlog(this->findt());
 733                 return true;
 734         }
 735         return this->goal_found();
 736 }
 737
 738 int Klemm2015::extendstar1(RRTNode *rs, RRTNode **xn)
 739 {
 740         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 741         char tree = this->root()->tree();
 742         //std::cerr << "extend*1" << std::endl;
 743         //std::cerr << "- tree is " << tree << std::endl;
 744         //std::cerr << "  - rs: " << rs->x() << ", " << rs->y() << std::endl;
 745         //if (xn && *xn) {
 746         //        std::cerr << "  - xn: " << (*xn)->x() << ", " << (*xn)->y();
 747         //        std::cerr << std::endl;
 748         //}
 749         //for (int i = 0; i < IYSIZE; i++) {
 750         //        if (this->iy_[i].size() > 0) {
 751         //                RRTNode *tmpn = this->iy_[i].back();
 752         //                float tmpd = EDIST(tmpn, this->goal());
 753
 754         //                std::cerr << i << ": " << tmpn->x();
 755         //                std::cerr << ", " << tmpn->y();
 756         //                std::cerr << ", " << tmpn->tree();
 757         //                std::cerr << " (" << tmpd << ")";
 758
 759         //                if (tmpn == this->root())
 760         //                        std::cerr << " root";
 761         //                if (tmpn == this->goal())
 762         //                        std::cerr << " goal";
 763         //                std::cerr << std::endl;
 764         //        }
 765         //}
 766         RRTNode *nn = this->nn(rs);
 767         //std::cerr << "  - nn: " << nn->x() << ", " << nn->y() << std::endl;
 768         std::vector<RRTNode *> nvs;
 769         std::vector<RRTNode *> steered = this->steer(nn, rs);
 770         RRTNode *ns = steered[1];
 771         ns->tree(tree);
 772         nvs = this->nv(
 773                         ns,
 774                         MIN(
 775                                 GAMMA_RRTSTAR(
 776                                         this->nodes().size()),
 777                                 0.2)); // TODO const
 778         this->nodes().push_back(ns);
 779         this->add_iy(ns);
 780         // connect
 781         if (!this->connect(nn, ns, nvs)) {
 782                 this->iy_[this->YI(ns)].pop_back();
 783                 ret = 2;
 784         } else {
 785                 // rewire
 786                 this->rewire(nvs, ns);
 787         }
 788         for (auto n: steered) {
 789                 if (n != steered[1])
 790                         delete n;
 791         }
 792         *xn = ns;
 793         //std::cerr << "  - xn: " << (*xn)->x() << ", " << (*xn)->y();
 794         //std::cerr << std::endl;
 795         return ret;
 796 }
 797
 798 int Klemm2015::extendstarC(RRTNode *rs)
 799 {
 800         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 801         char tree = this->root()->tree();
 802         //std::cerr << "extend*C" << std::endl;
 803         //std::cerr << "- tree is " << tree << std::endl;
 804         //std::cerr << "  - rs: " << rs->x() << ", " << rs->y() << std::endl;
 805         RRTNode *nn = this->nn(rs);
 806         RRTNode *pn = nn;
 807         std::vector<RRTNode *> nvs;
 808         bool en_add = true;
 809         for (auto ns: this->steer(nn, rs)) {
 810                 if (!en_add) {
 811                         delete ns;
 812                 } else {
 813                         nvs = this->nv(
 814                                         ns,
 815                                         MIN(
 816                                                 GAMMA_RRTSTAR(
 817                                                         this->nodes().size()),
 818                                                 0.2)); // TODO const
 819                         this->nodes().push_back(ns);
 820                         this->add_iy(ns);
 821                         // connect
 822                         if (!this->connect(pn, ns, nvs)) {
 823                                 this->iy_[this->YI(ns)].pop_back();
 824                                 en_add = false;
 825                                 ret = 2;
 826                         } else {
 827                                 // rewire
 828                                 this->rewire(nvs, ns);
 829                                 pn = ns;
 830 if (IS_NEAR(pn, rs)) { // GOAL FOUND !
 831         RRTNode *tmp;
 832         if (this->orig_root_ == this->root()) { // rs is in G tree
 833                 // add all rs parents to pn
 834                 tmp = rs->parent();
 835         } else { // rs is in R tree
 836                 tmp = pn->parent();
 837                 pn = rs;
 838                 this->swap();
 839         }
 840         while (tmp != this->goal()) {
 841                 this->nodes().push_back(new RRTNode(
 842                                 tmp->x(),
 843                                 tmp->y(),
 844                                 tmp->h()));
 845                 this->nodes().back()->s(tmp->s());
 846                 this->nodes().back()->tree('R');
 847                 pn->add_child(
 848                                 this->nodes().back(),
 849                                 this->cost(pn, this->nodes().back()));
 850                 pn = this->nodes().back();
 851                 tmp = tmp->parent();
 852         }
 853         pn->add_child(tmp, this->cost(pn, tmp)); // add goal()
 854         en_add = false;
 855         ret = 1;
 856 }
 857                         }
 858                 }
 859         }
 860         return ret;
 861 }
 862
 863 int Klemm2015::connectstar(RRTNode *x)
 864 {
 865         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 866         //std::cerr << "connect* (start)" << std::endl;
 867         ret = this->extendstarC(x);
 868         //std::cerr << "connect* (end)" << std::endl;
 869         return ret;
 870 }
 871
 872 void Klemm2015::swap()
 873 {
 874         RRTNode *tmp;
 875         tmp = this->root();
 876         this->root(this->goal());
 877         this->goal(tmp);
 878 }