base/rrtbase.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 <algorithm>
  19 #include <cmath>
  20 #include <omp.h>
  21 #include <queue>
  22 #include "bcar.h"
  23 #include "rrtbase.h"
  24 // OpenGL
  25 #include <GL/gl.h>
  26 #include <GL/glu.h>
  27 #include <SDL2/SDL.h>
  28 // RRT
  29 #include "sample.h"
  30 #include "cost.h"
  31 #include "steer.h"
  32 #include "nn.h"
  33 #include "nv.h"
  34
  35 extern SDL_Window* gw;
  36 extern SDL_GLContext gc;
  37
  38 Cell::Cell()
  39 {}
  40
  41 bool Cell::changed()
  42 {
  43         pthread_mutex_lock(&this->m_);
  44         bool ret = this->changed_;
  45         pthread_mutex_unlock(&this->m_);
  46         return ret;
  47 }
  48
  49 std::vector<RRTNode *> Cell::nodes()
  50 {
  51         pthread_mutex_lock(&this->m_);
  52         std::vector<RRTNode *> ret(this->nodes_);
  53         pthread_mutex_unlock(&this->m_);
  54         return ret;
  55 }
  56
  57 void Cell::add_node(RRTNode *n)
  58 {
  59         pthread_mutex_lock(&this->m_);
  60         this->nodes_.push_back(n);
  61         this->changed_ = true;
  62         pthread_mutex_unlock(&this->m_);
  63 }
  64
  65 RRTBase::~RRTBase()
  66 {
  67 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  68 // please uncommend the following code:
  69 //
  70         for (auto n: this->nodes_)
  71                 if (n != this->root_)
  72                         delete n;
  73         for (auto n: this->dnodes_)
  74                 if (n != this->root_ && n != this->goal_)
  75                         delete n;
  76         for (auto s: this->samples_)
  77                 if (s != this->goal_)
  78                         delete s;
  79         for (auto edges: this->rlog_)
  80                 for (auto e: edges)
  81                         delete e;
  82         delete this->root_;
  83         delete this->goal_;
  84 }
  85
  86 RRTBase::RRTBase():
  87         root_(new RRTNode()),
  88         goal_(new RRTNode()),
  89         gen_(std::random_device{}())
  90 {
  91         this->nodes_.reserve(NOFNODES);
  92         this->nodes_.push_back(this->root_);
  93         this->add_iy(this->root_);
  94         this->add_ixy(this->root_);
  95 }
  96
  97 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  98         root_(init),
  99         goal_(goal),
 100         gen_(std::random_device{}())
 101 {
 102         this->nodes_.reserve(NOFNODES);
 103         this->nodes_.push_back(init);
 104         this->add_iy(init);
 105         this->add_ixy(init);
 106 }
 107
 108 // getter
 109 RRTNode *RRTBase::root()
 110 {
 111         return this->root_;
 112 }
 113
 114 RRTNode *RRTBase::goal()
 115 {
 116         return this->goal_;
 117 }
 118
 119 std::vector<RRTNode *> &RRTBase::nodes()
 120 {
 121         return this->nodes_;
 122 }
 123
 124 std::vector<RRTNode *> &RRTBase::dnodes()
 125 {
 126         return this->dnodes_;
 127 }
 128
 129 PolygonObstacle &RRTBase::frame()
 130 {
 131         return this->frame_;
 132 }
 133
 134 std::vector<RRTNode *> &RRTBase::samples()
 135 {
 136         return this->samples_;
 137 }
 138
 139 std::vector<CircleObstacle> *RRTBase::co()
 140 {
 141         return this->cobstacles_;
 142 }
 143
 144 std::vector<SegmentObstacle> *RRTBase::so()
 145 {
 146         return this->sobstacles_;
 147 }
 148
 149 std::vector<float> &RRTBase::clog()
 150 {
 151         return this->clog_;
 152 }
 153
 154 std::vector<float> &RRTBase::nlog()
 155 {
 156         return this->nlog_;
 157 }
 158
 159 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 160 {
 161         return this->rlog_;
 162 }
 163
 164 std::vector<float> &RRTBase::slog()
 165 {
 166         return this->slog_;
 167 }
 168
 169 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 170 {
 171         return this->tlog_;
 172 }
 173
 174 std::vector<RRTNode *> &RRTBase::slot_cusp()
 175 {
 176         return this->slot_cusp_;
 177 }
 178
 179 bool RRTBase::goal_found()
 180 {
 181         return this->goal_found_;
 182 }
 183
 184 float RRTBase::elapsed()
 185 {
 186         std::chrono::duration<float> dt;
 187         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 188                         this->tend_ - this->tstart_);
 189         return dt.count();
 190 }
 191
 192 // setter
 193 void RRTBase::root(RRTNode *node)
 194 {
 195         this->root_ = node;
 196 }
 197
 198 void RRTBase::goal(RRTNode *node)
 199 {
 200         this->goal_ = node;
 201 }
 202
 203 bool RRTBase::logr(RRTNode *root)
 204 {
 205         std::vector<RRTEdge *> e; // Edges to log
 206         std::vector<RRTNode *> s; // DFS stack
 207         std::vector<RRTNode *> r; // reset visited_
 208         RRTNode *tmp;
 209         s.push_back(root);
 210         while (s.size() > 0) {
 211                 tmp = s.back();
 212                 s.pop_back();
 213                 if (!tmp->visit()) {
 214                         r.push_back(tmp);
 215                         for (auto ch: tmp->children()) {
 216                                 s.push_back(ch);
 217                                 e.push_back(new RRTEdge(tmp, ch));
 218                         }
 219                 }
 220         }
 221         for (auto n: r)
 222                 n->visit(false);
 223         this->rlog_.push_back(e);
 224         return true;
 225 }
 226
 227 float RRTBase::ocost(RRTNode *n)
 228 {
 229         float dist = 9999;
 230         for (auto o: *this->cobstacles_)
 231                 if (o.dist_to(n) < dist)
 232                         dist = o.dist_to(n);
 233         for (auto o: *this->sobstacles_)
 234                 if (o.dist_to(n) < dist)
 235                         dist = o.dist_to(n);
 236         return n->ocost(dist);
 237 }
 238
 239 bool RRTBase::tlog(std::vector<RRTNode *> t)
 240 {
 241         if (t.size() > 0) {
 242                 this->slog_.push_back(this->elapsed());
 243                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 244                 this->nlog_.push_back(this->nodes_.size());
 245                 this->tlog_.push_back(t);
 246                 return true;
 247         } else {
 248                 return false;
 249         }
 250 }
 251
 252 void RRTBase::tstart()
 253 {
 254         this->tstart_ = std::chrono::high_resolution_clock::now();
 255 }
 256
 257 void RRTBase::tend()
 258 {
 259         this->tend_ = std::chrono::high_resolution_clock::now();
 260 }
 261
 262 bool RRTBase::link_obstacles(
 263                 std::vector<CircleObstacle> *cobstacles,
 264                 std::vector<SegmentObstacle> *sobstacles)
 265 {
 266         this->cobstacles_ = cobstacles;
 267         this->sobstacles_ = sobstacles;
 268         if (!this->cobstacles_ || !this->sobstacles_) {
 269                 return false;
 270         }
 271         return true;
 272 }
 273
 274 bool RRTBase::add_iy(RRTNode *n)
 275 {
 276         int i = IYI(n->y());
 277         if (i < 0)
 278                 i = 0;
 279         if (i >= IYSIZE)
 280                 i = IYSIZE - 1;
 281         this->iy_[i].push_back(n);
 282         return true;
 283 }
 284
 285 bool RRTBase::add_ixy(RRTNode *n)
 286 {
 287         int ix = IXI(n->x());
 288         if (ix < 0)
 289                 ix = 0;
 290         if (ix >= IXSIZE)
 291                 ix = IXSIZE - 1;
 292         int iy = IYI(n->y());
 293         if (iy < 0)
 294                 iy = 0;
 295         if (iy >= IYSIZE)
 296                 iy = IYSIZE - 1;
 297         this->ixy_[ix][iy].add_node(n);
 298         return true;
 299 }
 300
 301 bool RRTBase::goal_found(bool f)
 302 {
 303         this->goal_found_ = f;
 304         return f;
 305 }
 306
 307 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 308 {
 309         for (unsigned int i = 0; i < sc.size() - 1; i++)
 310                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 311         sc[0]->parent(this->goal());
 312         this->slot_cusp_ = sc;
 313 }
 314
 315 // other
 316 bool RRTBase::glplot()
 317 {
 318         glClear(GL_COLOR_BUFFER_BIT);
 319         glLineWidth(1);
 320         glPointSize(1);
 321         // Plot obstacles
 322         glBegin(GL_LINES);
 323         for (auto o: *this->sobstacles_) {
 324                 glColor3f(0, 0, 0);
 325                 glVertex2f(GLVERTEX(o.init()));
 326                 glVertex2f(GLVERTEX(o.goal()));
 327         }
 328         glEnd();
 329         // Plot root, goal
 330         glPointSize(8);
 331         glBegin(GL_POINTS);
 332         glColor3f(1, 0, 0);
 333         glVertex2f(GLVERTEX(this->root_));
 334         glVertex2f(GLVERTEX(this->goal_));
 335         glEnd();
 336         // Plot last sample
 337         if (this->samples_.size() > 0) {
 338                 glPointSize(8);
 339                 glBegin(GL_POINTS);
 340                 glColor3f(0, 1, 0);
 341                 glVertex2f(GLVERTEX(this->samples_.back()));
 342                 glEnd();
 343         }
 344         // Plot nodes
 345         std::vector<RRTNode *> s; // DFS stack
 346         std::vector<RRTNode *> r; // reset visited_
 347         RRTNode *tmp;
 348         glBegin(GL_LINES);
 349         s.push_back(this->root_);
 350         while (s.size() > 0) {
 351                 tmp = s.back();
 352                 s.pop_back();
 353                 if (!tmp->visit()) {
 354                         r.push_back(tmp);
 355                         for (auto ch: tmp->children()) {
 356                                 s.push_back(ch);
 357                                 glColor3f(0.5, 0.5, 0.5);
 358                                 glVertex2f(GLVERTEX(tmp));
 359                                 glVertex2f(GLVERTEX(ch));
 360                         }
 361                 }
 362         }
 363         glEnd();
 364         // Plot nodes (from goal)
 365         glBegin(GL_LINES);
 366         s.push_back(this->goal_);
 367         while (s.size() > 0) {
 368                 tmp = s.back();
 369                 s.pop_back();
 370                 if (!tmp->visit()) {
 371                         r.push_back(tmp);
 372                         for (auto ch: tmp->children()) {
 373                                 s.push_back(ch);
 374                                 glColor3f(0.5, 0.5, 0.5);
 375                                 glVertex2f(GLVERTEX(tmp));
 376                                 glVertex2f(GLVERTEX(ch));
 377                         }
 378                 }
 379         }
 380         glEnd();
 381         std::vector<RRTNode *> cusps;
 382         // Plot last trajectory
 383         if (this->tlog().size() > 0) {
 384                 glLineWidth(2);
 385                 glBegin(GL_LINES);
 386                 for (auto n: this->tlog().back()) {
 387                         if (n->parent()) {
 388                                 glColor3f(0, 0, 1);
 389                                 glVertex2f(GLVERTEX(n));
 390                                 glVertex2f(GLVERTEX(n->parent()));
 391                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 392                                         cusps.push_back(n);
 393                         }
 394                 }
 395                 glEnd();
 396         }
 397         // Plot cusps
 398         glPointSize(8);
 399         glBegin(GL_POINTS);
 400         for (auto n: cusps) {
 401                 glColor3f(0, 0, 1);
 402                 glVertex2f(GLVERTEX(n));
 403         }
 404         glEnd();
 405         SDL_GL_SwapWindow(gw);
 406         for (auto n: r)
 407                 n->visit(false);
 408         return true;
 409 }
 410
 411 bool RRTBase::goal_found(
 412                 RRTNode *node,
 413                 float (*cost)(RRTNode *, RRTNode* ))
 414 {
 415         if (IS_NEAR(node, this->goal_)) {
 416                 if (this->goal_found_) {
 417                         if (node->ccost() + this->cost(node, this->goal_) <
 418                                         this->goal_->ccost()) {
 419                                 RRTNode *op; // old parent
 420                                 float oc; // old cumulative cost
 421                                 float od; // old direct cost
 422                                 op = this->goal_->parent();
 423                                 oc = this->goal_->ccost();
 424                                 od = this->goal_->dcost();
 425                                 node->add_child(this->goal_,
 426                                                 this->cost(node, this->goal_));
 427                                 if (this->collide(node, this->goal_)) {
 428                                         node->children().pop_back();
 429                                         this->goal_->parent(op);
 430                                         this->goal_->ccost(oc);
 431                                         this->goal_->dcost(od);
 432                                 } else {
 433                                         op->rem_child(this->goal_);
 434                                         return true;
 435                                 }
 436                         } else {
 437                                 return false;
 438                         }
 439                 } else {
 440                         node->add_child(
 441                                         this->goal_,
 442                                         this->cost(node, this->goal_));
 443                         if (this->collide(node, this->goal_)) {
 444                                 node->children().pop_back();
 445                                 this->goal_->remove_parent();
 446                                 return false;
 447                         }
 448                         this->goal_found_ = true;
 449                         return true;
 450                 }
 451         }
 452         return false;
 453 }
 454
 455 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 456 {
 457         std::vector<RRTEdge *> edges;
 458         RRTNode *tmp = goal;
 459         volatile bool col = false;
 460         unsigned int i;
 461         while (tmp != init) {
 462                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 463                 std::vector<RRTEdge *> bcframe = bc.frame();
 464                 #pragma omp parallel for reduction(|: col)
 465                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 466                         if ((*this->cobstacles_)[i].collide(tmp)) {
 467                                 col = true;
 468                         }
 469                         for (auto &e: bcframe) {
 470                                 if ((*this->cobstacles_)[i].collide(e)) {
 471                                         col = true;
 472                                 }
 473                         }
 474                 }
 475                 if (col) {
 476                         for (auto e: bcframe) {
 477                                 delete e->init();
 478                                 delete e->goal();
 479                                 delete e;
 480                         }
 481                         for (auto e: edges) {
 482                                 delete e;
 483                         }
 484                         return true;
 485                 }
 486                 #pragma omp parallel for reduction(|: col)
 487                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 488                         for (auto &e: bcframe) {
 489                                 if ((*this->sobstacles_)[i].collide(e)) {
 490                                         col = true;
 491                                 }
 492                         }
 493                 }
 494                 if (col) {
 495                         for (auto e: bcframe) {
 496                                 delete e->init();
 497                                 delete e->goal();
 498                                 delete e;
 499                         }
 500                         for (auto e: edges) {
 501                                 delete e;
 502                         }
 503                         return true;
 504                 }
 505                 if (!tmp->parent()) {
 506                         break;
 507                 }
 508                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 509                 tmp = tmp->parent();
 510                 for (auto e: bcframe) {
 511                         delete e->init();
 512                         delete e->goal();
 513                         delete e;
 514                 }
 515         }
 516         for (auto &e: edges) {
 517                 #pragma omp parallel for reduction(|: col)
 518                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 519                         if ((*this->cobstacles_)[i].collide(e)) {
 520                                 col = true;
 521                         }
 522                 }
 523                 if (col) {
 524                         for (auto e: edges) {
 525                                 delete e;
 526                         }
 527                         return true;
 528                 }
 529                 #pragma omp parallel for reduction(|: col)
 530                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 531                         if ((*this->sobstacles_)[i].collide(e)) {
 532                                 col = true;
 533                         }
 534                 }
 535                 if (col) {
 536                         for (auto e: edges) {
 537                                 delete e;
 538                         }
 539                         return true;
 540                 }
 541         }
 542         for (auto e: edges) {
 543                 delete e;
 544         }
 545         return false;
 546 }
 547
 548 class RRTNodeDijkstra {
 549         public:
 550                 RRTNodeDijkstra(int i):
 551                         ni(i),
 552                         pi(0),
 553                         c(9999),
 554                         v(false)
 555                 {};
 556                 RRTNodeDijkstra(int i, float c):
 557                         ni(i),
 558                         pi(0),
 559                         c(c),
 560                         v(false)
 561                 {};
 562                 RRTNodeDijkstra(int i, int p, float c):
 563                         ni(i),
 564                         pi(p),
 565                         c(c),
 566                         v(false)
 567                 {};
 568                 unsigned int ni;
 569                 unsigned int pi;
 570                 float c;
 571                 bool v;
 572                 bool vi()
 573                 {
 574                         if (this->v)
 575                                 return true;
 576                         this->v = true;
 577                         return false;
 578                 };
 579 };
 580
 581 class RRTNodeDijkstraComparator {
 582         public:
 583                 int operator() (
 584                                 const RRTNodeDijkstra& n1,
 585                                 const RRTNodeDijkstra& n2)
 586                 {
 587                         return n1.c > n2.c;
 588                 }
 589 };
 590
 591 bool RRTBase::optp_dijkstra(
 592                 std::vector<RRTNode *> &cusps,
 593                 std::vector<int> &npi)
 594 {
 595         std::vector<RRTNodeDijkstra> dnodes;
 596         for (unsigned int i = 0; i < cusps.size(); i++)
 597                 if (i > 0)
 598                         dnodes.push_back(RRTNodeDijkstra(
 599                                                 i,
 600                                                 i - 1,
 601                                                 cusps[i]->ccost()));
 602                 else
 603                         dnodes.push_back(RRTNodeDijkstra(
 604                                                 i,
 605                                                 cusps[i]->ccost()));
 606         dnodes[0].vi();
 607         std::priority_queue<
 608                 RRTNodeDijkstra,
 609                 std::vector<RRTNodeDijkstra>,
 610                 RRTNodeDijkstraComparator> pq;
 611         RRTNodeDijkstra tmp = dnodes[0];
 612         pq.push(tmp);
 613         float ch_cost = 9999;
 614         std::vector<RRTNode *> steered;
 615         while (!pq.empty()) {
 616                 tmp = pq.top();
 617                 pq.pop();
 618                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 619                         ch_cost = dnodes[tmp.ni].c +
 620                                 this->cost(cusps[tmp.ni], cusps[i]);
 621                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 622                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 623                                 steered[j]->add_child(steered[j + 1], 1);
 624                         if (this->collide(
 625                                         steered[0],
 626                                         steered[steered.size() - 1])) {
 627                                 for (auto n: steered)
 628                                         delete n;
 629                                 continue;
 630                         }
 631                         if (ch_cost < dnodes[i].c) {
 632                                 dnodes[i].c = ch_cost;
 633                                 dnodes[i].pi = tmp.ni;
 634                                 if (!dnodes[i].vi())
 635                                         pq.push(dnodes[i]);
 636                         }
 637                         for (auto n: steered)
 638                                 delete n;
 639                 }
 640         }
 641         unsigned int tmpi = 0;
 642         for (auto n: dnodes) {
 643                 if (n.v && n.ni > tmpi)
 644                         tmpi = n.ni;
 645         }
 646         while (tmpi > 0) {
 647                 npi.push_back(tmpi);
 648                 tmpi = dnodes[tmpi].pi;
 649         }
 650         npi.push_back(tmpi);
 651         std::reverse(npi.begin(), npi.end());
 652         return true;
 653 }
 654
 655 bool RRTBase::optp_rrp(
 656                 std::vector<RRTNode *> &cusps,
 657                 std::vector<int> &npi)
 658 {
 659         std::vector<RRTNode *> steered;
 660         std::vector<int> candidates;
 661         RRTNode *x_j = nullptr;
 662         RRTNode *x_i = nullptr;
 663         int j = cusps.size() - 1;
 664         int i_min = 0;
 665         float c_min = 0;
 666         float cost = 0;
 667         float dx = 0;
 668         float dy = 0;
 669         float ed = 0;
 670         float th_i = 0;
 671         float th_j = 0;
 672         while (j > 0) {
 673                 npi.push_back(j);
 674                 steered.clear();
 675                 candidates.clear();
 676                 x_j = cusps[j];
 677                 for (int i = 0; i < j; i++) {
 678                         steered = this->steer(cusps[i], x_j);
 679                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 680                                 steered[k]->add_child(steered[k + 1], 1);
 681                         if (!this->collide(
 682                                         steered[0],
 683                                         steered[steered.size() - 1]))
 684                                 candidates.push_back(i);
 685                 }
 686                 if (candidates.size() <= 0)
 687                         return false;
 688                 i_min = candidates[0];
 689                 x_i = cusps[i_min];
 690                 c_min = 9999;
 691                 for (auto c: candidates) {
 692                         x_i = cusps[c];
 693                         dx = x_j->x() - x_i->x();
 694                         dy = x_j->y() - x_i->y();
 695                         ed = EDIST(x_i, x_j);
 696                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 697                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 698                         cost = th_i + th_j;
 699                         if (cost < c_min) {
 700                                 i_min = c;
 701                                 c_min = cost;
 702                         }
 703                 }
 704                 j = i_min;
 705
 706         }
 707         npi.push_back(j);
 708         std::reverse(npi.begin(), npi.end());
 709         return true;
 710 }
 711
 712 bool RRTBase::optp_smart(
 713                 std::vector<RRTNode *> &cusps,
 714                 std::vector<int> &npi)
 715 {
 716         std::vector<RRTNode *> steered;
 717         int li = cusps.size() - 1;
 718         int ai = li - 1;
 719         npi.push_back(li);
 720         while (ai > 1) {
 721                 steered = this->steer(cusps[ai - 1], cusps[li]);
 722                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 723                         steered[j]->add_child(steered[j + 1], 1);
 724                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 725                         npi.push_back(ai);
 726                         li = ai;
 727                 }
 728                 ai--;
 729                 for (auto n: steered)
 730                         delete n;
 731         }
 732         npi.push_back(0);
 733         std::reverse(npi.begin(), npi.end());
 734         return true;
 735 }
 736
 737 bool RRTBase::opt_path()
 738 {
 739         if (this->tlog().size() == 0)
 740                 return false;
 741         float oc = this->tlog().back().front()->ccost();
 742         std::vector<RRTNode *> tmp_cusps;
 743         for (auto n: this->tlog().back()) {
 744                 if (sgn(n->s()) == 0) {
 745                         tmp_cusps.push_back(n);
 746                 } else if (n->parent() &&
 747                                 sgn(n->s()) != sgn(n->parent()->s())) {
 748                         tmp_cusps.push_back(n);
 749                         tmp_cusps.push_back(n->parent());
 750                 }
 751                 //tmp_cusps.push_back(n);
 752         }
 753         if (tmp_cusps.size() < 2)
 754                 return false;
 755         std::vector<RRTNode *> cusps;
 756         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 757                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 758                         cusps.push_back(tmp_cusps[i]);
 759         }
 760         std::reverse(cusps.begin(), cusps.end());
 761         std::vector<int> npi; // new path indexes
 762         if (!this->optp_dijkstra(cusps, npi))
 763                 return false;
 764         RRTNode *pn = cusps[npi[0]];
 765         RRTNode *tmp = nullptr;
 766         bool en_add = true;
 767         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 768                 pn = cusps[npi[i]];
 769                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 770                         if (!en_add) {
 771                                 delete ns;
 772                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 773                                 tmp = ns;
 774                                 while (tmp && tmp != cusps[npi[i]]) {
 775                                         pn = tmp->parent();
 776                                         delete tmp;
 777                                         tmp = pn;
 778                                 }
 779                                 pn = cusps[npi[i]];
 780                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 781                                 delete ns;
 782                                 cusps[npi[i + 1]]->parent()->rem_child(
 783                                                 cusps[npi[i + 1]]);
 784                                 pn->add_child(
 785                                         cusps[npi[i + 1]],
 786                                         this->cost(pn, cusps[npi[i + 1]]));
 787                                 en_add = false;
 788                         } else if (IS_NEAR(pn, ns)) {
 789                                 delete ns;
 790                         } else {
 791                                 this->nodes().push_back(ns);
 792                                 this->add_iy(ns);
 793                                 this->add_ixy(ns);
 794                                 pn->add_child(ns, this->cost(pn, ns));
 795                                 pn = ns;
 796                         }
 797                 }
 798         }
 799         this->root()->update_ccost();
 800         if (this->tlog().back().front()->ccost() < oc)
 801                 return true;
 802         return false;
 803 }
 804
 805 bool RRTBase::rebase(RRTNode *nr)
 806 {
 807         if (!nr || this->goal_ == nr || this->root_ == nr)
 808                 return false;
 809         std::vector<RRTNode *> s; // DFS stack
 810         RRTNode *tmp;
 811         unsigned int i = 0;
 812         unsigned int to_del = 0;
 813         int iy = 0;
 814         s.push_back(this->root_);
 815         while (s.size() > 0) {
 816                 tmp = s.back();
 817                 s.pop_back();
 818                 for (auto ch: tmp->children()) {
 819                         if (ch != nr)
 820                                 s.push_back(ch);
 821                 }
 822                 to_del = this->nodes_.size();
 823                 #pragma omp parallel for reduction(min: to_del)
 824                 for (i = 0; i < this->nodes_.size(); i++) {
 825                         if (this->nodes_[i] == tmp)
 826                                 to_del = i;
 827                 }
 828                 if (to_del < this->nodes_.size())
 829                         this->nodes_.erase(this->nodes_.begin() + to_del);
 830                 iy = IYI(tmp->y());
 831                 to_del = this->iy_[iy].size();
 832                 #pragma omp parallel  for reduction(min: to_del)
 833                 for (i = 0; i < this->iy_[iy].size(); i++) {
 834                         if (this->iy_[iy][i] == tmp)
 835                                 to_del = i;
 836                 }
 837                 if (to_del < this->iy_[iy].size())
 838                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 839                 this->dnodes().push_back(tmp);
 840         }
 841         this->root_ = nr;
 842         this->root_->remove_parent();
 843         return true;
 844 }
 845
 846 std::vector<RRTNode *> RRTBase::findt()
 847 {
 848         return this->findt(this->goal_);
 849 }
 850
 851 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 852 {
 853         std::vector<RRTNode *> nodes;
 854         if (!n || !n->parent())
 855                 return nodes;
 856         while (n) {
 857                 nodes.push_back(n);
 858                 n = n->parent();
 859         }
 860         return nodes;
 861 }
 862
 863 // RRT Framework
 864 RRTNode *RRTBase::sample()
 865 {
 866         return sa1();
 867 }
 868
 869 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 870 {
 871         return co2(init, goal);
 872 }
 873
 874 RRTNode *RRTBase::nn(RRTNode *rs)
 875 {
 876         return nn4(this->iy_, rs, nullptr);
 877         //return nn3(this->iy_, rs, nullptr);
 878 }
 879
 880 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 881 {
 882         std::vector<RRTNode *> nvs;
 883         unsigned int iy = IYI(node->y());
 884         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 885         unsigned int i = 0; // vector index
 886         unsigned int j = 0; // array index
 887         unsigned int jmin = 0; // minimal j index
 888         unsigned int jmax = 0; // maximal j index
 889         jmin = iy - iy_dist;
 890         jmin = (jmin > 0) ? jmin : 0;
 891         jmax = iy + iy_dist + 1;
 892         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 893         #pragma omp parallel for reduction(merge: nvs)
 894         for (j = jmin; j < jmax; j++) {
 895                 #pragma omp parallel for reduction(merge: nvs)
 896                 for (i = 0; i < this->iy_[j].size(); i++) {
 897                         if (this->cost(this->iy_[j][i], node) < dist) {
 898                                 nvs.push_back(this->iy_[j][i]);
 899                         }
 900                 }
 901         }
 902         return nvs;
 903 }
 904
 905 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 906 {
 907         return st3(init, goal);
 908 }
 909
 910 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 911 {
 912         return st3(init, goal, step);
 913 }