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 RRTBase::~RRTBase()
  39 {
  40 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  41 // please uncommend the following code:
  42 //
  43 //        for (auto n: this->nodes_)
  44 //                if (n != this->root_)
  45 //                        delete n;
  46 //        for (auto n: this->dnodes_)
  47 //                if (n != this->root_ && n != this->goal_)
  48 //                        delete n;
  49 //        for (auto s: this->samples_)
  50 //                if (s != this->goal_)
  51 //                        delete s;
  52 //        for (auto edges: this->rlog_)
  53 //                for (auto e: edges)
  54 //                        delete e;
  55 //        delete this->root_;
  56 //        delete this->goal_;
  57 }
  58
  59 RRTBase::RRTBase():
  60         root_(new RRTNode()),
  61         goal_(new RRTNode())
  62 {
  63         this->nodes_.reserve(20000);
  64         this->nodes_.push_back(this->root_);
  65         this->add_iy(this->root_);
  66 }
  67
  68 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  69         root_(init),
  70         goal_(goal)
  71 {
  72         this->nodes_.reserve(20000);
  73         this->nodes_.push_back(init);
  74         this->add_iy(init);
  75 }
  76
  77 // getter
  78 RRTNode *RRTBase::root()
  79 {
  80         return this->root_;
  81 }
  82
  83 RRTNode *RRTBase::goal()
  84 {
  85         return this->goal_;
  86 }
  87
  88 std::vector<RRTNode *> &RRTBase::nodes()
  89 {
  90         return this->nodes_;
  91 }
  92
  93 std::vector<RRTNode *> &RRTBase::dnodes()
  94 {
  95         return this->dnodes_;
  96 }
  97
  98 std::vector<RRTNode *> &RRTBase::samples()
  99 {
 100         return this->samples_;
 101 }
 102
 103 std::vector<CircleObstacle> *RRTBase::co()
 104 {
 105         return this->cobstacles_;
 106 }
 107
 108 std::vector<SegmentObstacle> *RRTBase::so()
 109 {
 110         return this->sobstacles_;
 111 }
 112
 113 std::vector<float> &RRTBase::clog()
 114 {
 115         return this->clog_;
 116 }
 117
 118 std::vector<float> &RRTBase::nlog()
 119 {
 120         return this->nlog_;
 121 }
 122
 123 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 124 {
 125         return this->rlog_;
 126 }
 127
 128 std::vector<float> &RRTBase::slog()
 129 {
 130         return this->slog_;
 131 }
 132
 133 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 134 {
 135         return this->tlog_;
 136 }
 137
 138 bool RRTBase::goal_found()
 139 {
 140         return this->goal_found_;
 141 }
 142
 143 float RRTBase::elapsed()
 144 {
 145         std::chrono::duration<float> dt;
 146         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 147                         this->tend_ - this->tstart_);
 148         return dt.count();
 149 }
 150
 151 // setter
 152 void RRTBase::root(RRTNode *node)
 153 {
 154         this->root_ = node;
 155 }
 156
 157 void RRTBase::goal(RRTNode *node)
 158 {
 159         this->goal_ = node;
 160 }
 161
 162 bool RRTBase::logr(RRTNode *root)
 163 {
 164         std::vector<RRTEdge *> e; // Edges to log
 165         std::vector<RRTNode *> s; // DFS stack
 166         std::vector<RRTNode *> r; // reset visited_
 167         RRTNode *tmp;
 168         s.push_back(root);
 169         while (s.size() > 0) {
 170                 tmp = s.back();
 171                 s.pop_back();
 172                 if (!tmp->visit()) {
 173                         r.push_back(tmp);
 174                         for (auto ch: tmp->children()) {
 175                                 s.push_back(ch);
 176                                 e.push_back(new RRTEdge(tmp, ch));
 177                         }
 178                 }
 179         }
 180         for (auto n: r)
 181                 n->visit(false);
 182         this->rlog_.push_back(e);
 183         return true;
 184 }
 185
 186 float RRTBase::ocost(RRTNode *n)
 187 {
 188         float dist = 9999;
 189         for (auto o: *this->cobstacles_)
 190                 if (o.dist_to(n) < dist)
 191                         dist = o.dist_to(n);
 192         for (auto o: *this->sobstacles_)
 193                 if (o.dist_to(n) < dist)
 194                         dist = o.dist_to(n);
 195         return n->ocost(dist);
 196 }
 197
 198 bool RRTBase::tlog(std::vector<RRTNode *> t)
 199 {
 200         if (t.size() > 0) {
 201                 this->slog_.push_back(this->elapsed());
 202                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 203                 this->nlog_.push_back(this->nodes_.size());
 204                 this->tlog_.push_back(t);
 205                 return true;
 206         } else {
 207                 return false;
 208         }
 209 }
 210
 211 void RRTBase::tstart()
 212 {
 213         this->tstart_ = std::chrono::high_resolution_clock::now();
 214 }
 215
 216 void RRTBase::tend()
 217 {
 218         this->tend_ = std::chrono::high_resolution_clock::now();
 219 }
 220
 221 bool RRTBase::link_obstacles(
 222                 std::vector<CircleObstacle> *cobstacles,
 223                 std::vector<SegmentObstacle> *sobstacles)
 224 {
 225         this->cobstacles_ = cobstacles;
 226         this->sobstacles_ = sobstacles;
 227         if (!this->cobstacles_ || !this->sobstacles_) {
 228                 return false;
 229         }
 230         return true;
 231 }
 232
 233 bool RRTBase::add_iy(RRTNode *n)
 234 {
 235         int i = IYI(n->y());
 236         if (i < 0)
 237                 i = 0;
 238         if (i >= IYSIZE)
 239                 i = IYSIZE - 1;
 240         this->iy_[i].push_back(n);
 241         return true;
 242 }
 243
 244 bool RRTBase::goal_found(bool f)
 245 {
 246         this->goal_found_ = f;
 247         return f;
 248 }
 249
 250 // other
 251 bool RRTBase::glplot()
 252 {
 253         glClear(GL_COLOR_BUFFER_BIT);
 254         glLineWidth(1);
 255         glPointSize(1);
 256         // Plot obstacles
 257         glBegin(GL_LINES);
 258         for (auto o: *this->sobstacles_) {
 259                 glColor3f(0, 0, 0);
 260                 glVertex2f(GLVERTEX(o.init()));
 261                 glVertex2f(GLVERTEX(o.goal()));
 262         }
 263         glEnd();
 264         // Plot root, goal
 265         glPointSize(8);
 266         glBegin(GL_POINTS);
 267         glColor3f(1, 0, 0);
 268         glVertex2f(GLVERTEX(this->root_));
 269         glVertex2f(GLVERTEX(this->goal_));
 270         glEnd();
 271         // Plot last sample
 272         if (this->samples_.size() > 0) {
 273                 glPointSize(8);
 274                 glBegin(GL_POINTS);
 275                 glColor3f(0, 1, 0);
 276                 glVertex2f(GLVERTEX(this->samples_.back()));
 277                 glEnd();
 278         }
 279         // Plot nodes
 280         std::vector<RRTNode *> s; // DFS stack
 281         std::vector<RRTNode *> r; // reset visited_
 282         RRTNode *tmp;
 283         glBegin(GL_LINES);
 284         s.push_back(this->root_);
 285         while (s.size() > 0) {
 286                 tmp = s.back();
 287                 s.pop_back();
 288                 if (!tmp->visit()) {
 289                         r.push_back(tmp);
 290                         for (auto ch: tmp->children()) {
 291                                 s.push_back(ch);
 292                                 glColor3f(0.5, 0.5, 0.5);
 293                                 glVertex2f(GLVERTEX(tmp));
 294                                 glVertex2f(GLVERTEX(ch));
 295                         }
 296                 }
 297         }
 298         glEnd();
 299         // Plot nodes (from goal)
 300         glBegin(GL_LINES);
 301         s.push_back(this->goal_);
 302         while (s.size() > 0) {
 303                 tmp = s.back();
 304                 s.pop_back();
 305                 if (!tmp->visit()) {
 306                         r.push_back(tmp);
 307                         for (auto ch: tmp->children()) {
 308                                 s.push_back(ch);
 309                                 glColor3f(0.5, 0.5, 0.5);
 310                                 glVertex2f(GLVERTEX(tmp));
 311                                 glVertex2f(GLVERTEX(ch));
 312                         }
 313                 }
 314         }
 315         glEnd();
 316         std::vector<RRTNode *> cusps;
 317         // Plot last trajectory
 318         if (this->tlog().size() > 0) {
 319                 glLineWidth(2);
 320                 glBegin(GL_LINES);
 321                 for (auto n: this->tlog().back()) {
 322                         if (n->parent()) {
 323                                 glColor3f(0, 0, 1);
 324                                 glVertex2f(GLVERTEX(n));
 325                                 glVertex2f(GLVERTEX(n->parent()));
 326                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 327                                         cusps.push_back(n);
 328                         }
 329                 }
 330                 glEnd();
 331         }
 332         // Plot cusps
 333         glPointSize(8);
 334         glBegin(GL_POINTS);
 335         for (auto n: cusps) {
 336                 glColor3f(0, 0, 1);
 337                 glVertex2f(GLVERTEX(n));
 338         }
 339         glEnd();
 340         SDL_GL_SwapWindow(gw);
 341         for (auto n: r)
 342                 n->visit(false);
 343         return true;
 344 }
 345
 346 bool RRTBase::goal_found(
 347                 RRTNode *node,
 348                 float (*cost)(RRTNode *, RRTNode* ))
 349 {
 350         float xx = pow(node->x() - this->goal_->x(), 2);
 351         float yy = pow(node->y() - this->goal_->y(), 2);
 352         float dh = std::abs(node->h() - this->goal_->h());
 353         if (IS_NEAR(node, this->goal_)) {
 354                 if (this->goal_found_) {
 355                         if (node->ccost() + (*cost)(node, this->goal_) <
 356                                         this->goal_->ccost()) {
 357                                 RRTNode *op; // old parent
 358                                 float oc; // old cumulative cost
 359                                 float od; // old direct cost
 360                                 op = this->goal_->parent();
 361                                 oc = this->goal_->ccost();
 362                                 od = this->goal_->dcost();
 363                                 node->add_child(this->goal_,
 364                                                 (*cost)(node, this->goal_));
 365                                 if (this->collide(node, this->goal_)) {
 366                                         node->children().pop_back();
 367                                         this->goal_->parent(op);
 368                                         this->goal_->ccost(oc);
 369                                         this->goal_->dcost(od);
 370                                 } else {
 371                                         op->rem_child(this->goal_);
 372                                         return true;
 373                                 }
 374                         } else {
 375                                 return false;
 376                         }
 377                 } else {
 378                         node->add_child(
 379                                         this->goal_,
 380                                         (*cost)(node, this->goal_));
 381                         if (this->collide(node, this->goal_)) {
 382                                 node->children().pop_back();
 383                                 this->goal_->remove_parent();
 384                                 return false;
 385                         }
 386                         this->goal_found_ = true;
 387                         return true;
 388                 }
 389         }
 390         return false;
 391 }
 392
 393 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 394 {
 395         std::vector<RRTEdge *> edges;
 396         RRTNode *tmp = goal;
 397         volatile bool col = false;
 398         unsigned int i;
 399         while (tmp != init) {
 400                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 401                 std::vector<RRTEdge *> bcframe = bc.frame();
 402                 #pragma omp parallel for reduction(|: col)
 403                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 404                         if ((*this->cobstacles_)[i].collide(tmp)) {
 405                                 col = true;
 406                         }
 407                         for (auto &e: bcframe) {
 408                                 if ((*this->cobstacles_)[i].collide(e)) {
 409                                         col = true;
 410                                 }
 411                         }
 412                 }
 413                 if (col) {
 414                         for (auto e: bcframe) {
 415                                 delete e->init();
 416                                 delete e->goal();
 417                                 delete e;
 418                         }
 419                         for (auto e: edges) {
 420                                 delete e;
 421                         }
 422                         return true;
 423                 }
 424                 #pragma omp parallel for reduction(|: col)
 425                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 426                         for (auto &e: bcframe) {
 427                                 if ((*this->sobstacles_)[i].collide(e)) {
 428                                         col = true;
 429                                 }
 430                         }
 431                 }
 432                 if (col) {
 433                         for (auto e: bcframe) {
 434                                 delete e->init();
 435                                 delete e->goal();
 436                                 delete e;
 437                         }
 438                         for (auto e: edges) {
 439                                 delete e;
 440                         }
 441                         return true;
 442                 }
 443                 if (!tmp->parent()) {
 444                         break;
 445                 }
 446                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 447                 tmp = tmp->parent();
 448                 for (auto e: bcframe) {
 449                         delete e->init();
 450                         delete e->goal();
 451                         delete e;
 452                 }
 453         }
 454         for (auto &e: edges) {
 455                 #pragma omp parallel for reduction(|: col)
 456                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 457                         if ((*this->cobstacles_)[i].collide(e)) {
 458                                 col = true;
 459                         }
 460                 }
 461                 if (col) {
 462                         for (auto e: edges) {
 463                                 delete e;
 464                         }
 465                         return true;
 466                 }
 467                 #pragma omp parallel for reduction(|: col)
 468                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 469                         if ((*this->sobstacles_)[i].collide(e)) {
 470                                 col = true;
 471                         }
 472                 }
 473                 if (col) {
 474                         for (auto e: edges) {
 475                                 delete e;
 476                         }
 477                         return true;
 478                 }
 479         }
 480         for (auto e: edges) {
 481                 delete e;
 482         }
 483         return false;
 484 }
 485
 486 class RRTNodeDijkstra {
 487         public:
 488                 RRTNodeDijkstra(int i):
 489                         ni(i),
 490                         pi(0),
 491                         c(9999),
 492                         v(false)
 493                 {};
 494                 RRTNodeDijkstra(int i, float c):
 495                         ni(i),
 496                         pi(0),
 497                         c(c),
 498                         v(false)
 499                 {};
 500                 RRTNodeDijkstra(int i, int p, float c):
 501                         ni(i),
 502                         pi(p),
 503                         c(c),
 504                         v(false)
 505                 {};
 506                 unsigned int ni;
 507                 unsigned int pi;
 508                 float c;
 509                 bool v;
 510                 bool vi()
 511                 {
 512                         if (this->v)
 513                                 return true;
 514                         this->v = true;
 515                         return false;
 516                 };
 517 };
 518
 519 class RRTNodeDijkstraComparator {
 520         public:
 521                 int operator() (
 522                                 const RRTNodeDijkstra& n1,
 523                                 const RRTNodeDijkstra& n2)
 524                 {
 525                         return n1.c > n2.c;
 526                 }
 527 };
 528
 529 bool RRTBase::optp_dijkstra(
 530                 std::vector<RRTNode *> &cusps,
 531                 std::vector<int> &npi)
 532 {
 533         std::vector<RRTNodeDijkstra> dnodes;
 534         for (unsigned int i = 0; i < cusps.size(); i++)
 535                 if (i > 0)
 536                         dnodes.push_back(RRTNodeDijkstra(
 537                                                 i,
 538                                                 i - 1,
 539                                                 cusps[i]->ccost()));
 540                 else
 541                         dnodes.push_back(RRTNodeDijkstra(
 542                                                 i,
 543                                                 cusps[i]->ccost()));
 544         dnodes[0].vi();
 545         std::priority_queue<
 546                 RRTNodeDijkstra,
 547                 std::vector<RRTNodeDijkstra>,
 548                 RRTNodeDijkstraComparator> pq;
 549         RRTNodeDijkstra tmp = dnodes[0];
 550         pq.push(tmp);
 551         float ch_cost = 9999;
 552         std::vector<RRTNode *> steered;
 553         while (!pq.empty()) {
 554                 tmp = pq.top();
 555                 pq.pop();
 556                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 557                         ch_cost = dnodes[tmp.ni].c +
 558                                 this->cost(cusps[tmp.ni], cusps[i]);
 559                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 560                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 561                                 steered[j]->add_child(steered[j + 1], 1);
 562                         if (this->collide(
 563                                         steered[0],
 564                                         steered[steered.size() - 1])) {
 565                                 for (auto n: steered)
 566                                         delete n;
 567                                 continue;
 568                         }
 569                         if (ch_cost < dnodes[i].c) {
 570                                 dnodes[i].c = ch_cost;
 571                                 dnodes[i].pi = tmp.ni;
 572                                 if (!dnodes[i].vi())
 573                                         pq.push(dnodes[i]);
 574                         }
 575                         for (auto n: steered)
 576                                 delete n;
 577                 }
 578         }
 579         unsigned int tmpi = 0;
 580         for (auto n: dnodes) {
 581                 if (n.v && n.ni > tmpi)
 582                         tmpi = n.ni;
 583         }
 584         while (tmpi > 0) {
 585                 npi.push_back(tmpi);
 586                 tmpi = dnodes[tmpi].pi;
 587         }
 588         npi.push_back(tmpi);
 589         std::reverse(npi.begin(), npi.end());
 590         return true;
 591 }
 592
 593 bool RRTBase::optp_rrp(
 594                 std::vector<RRTNode *> &cusps,
 595                 std::vector<int> &npi)
 596 {
 597         std::vector<RRTNode *> steered;
 598         std::vector<int> candidates;
 599         RRTNode *x_j = nullptr;
 600         RRTNode *x_i = nullptr;
 601         int j = cusps.size() - 1;
 602         int i_min = 0;
 603         float c_min = 0;
 604         float cost = 0;
 605         float dx = 0;
 606         float dy = 0;
 607         float ed = 0;
 608         float th_i = 0;
 609         float th_j = 0;
 610         while (j > 0) {
 611                 npi.push_back(j);
 612                 steered.clear();
 613                 candidates.clear();
 614                 x_j = cusps[j];
 615                 for (int i = 0; i < j; i++) {
 616                         steered = this->steer(cusps[i], x_j);
 617                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 618                                 steered[k]->add_child(steered[k + 1], 1);
 619                         if (!this->collide(
 620                                         steered[0],
 621                                         steered[steered.size() - 1]))
 622                                 candidates.push_back(i);
 623                 }
 624                 if (candidates.size() <= 0)
 625                         return false;
 626                 i_min = candidates[0];
 627                 x_i = cusps[i_min];
 628                 c_min = 9999;
 629                 for (auto c: candidates) {
 630                         x_i = cusps[c];
 631                         dx = x_j->x() - x_i->x();
 632                         dy = x_j->y() - x_i->y();
 633                         ed = EDIST(x_i, x_j);
 634                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 635                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 636                         cost = th_i + th_j;
 637                         if (cost < c_min) {
 638                                 i_min = c;
 639                                 c_min = cost;
 640                         }
 641                 }
 642                 j = i_min;
 643
 644         }
 645         npi.push_back(j);
 646         std::reverse(npi.begin(), npi.end());
 647         return true;
 648 }
 649
 650 bool RRTBase::optp_smart(
 651                 std::vector<RRTNode *> &cusps,
 652                 std::vector<int> &npi)
 653 {
 654         std::vector<RRTNode *> steered;
 655         int li = cusps.size() - 1;
 656         int ai = li - 1;
 657         npi.push_back(li);
 658         while (ai > 1) {
 659                 steered = this->steer(cusps[ai - 1], cusps[li]);
 660                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 661                         steered[j]->add_child(steered[j + 1], 1);
 662                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 663                         npi.push_back(ai);
 664                         li = ai;
 665                 }
 666                 ai--;
 667                 for (auto n: steered)
 668                         delete n;
 669         }
 670         npi.push_back(0);
 671         std::reverse(npi.begin(), npi.end());
 672         return true;
 673 }
 674
 675 bool RRTBase::opt_path()
 676 {
 677         if (this->tlog().size() == 0)
 678                 return false;
 679         float oc = this->tlog().back().front()->ccost();
 680         std::vector<RRTNode *> tmp_cusps;
 681         for (auto n: this->tlog().back()) {
 682                 if (sgn(n->s()) == 0) {
 683                         tmp_cusps.push_back(n);
 684                 } else if (n->parent() &&
 685                                 sgn(n->s()) != sgn(n->parent()->s())) {
 686                         tmp_cusps.push_back(n);
 687                         tmp_cusps.push_back(n->parent());
 688                 }
 689                 //tmp_cusps.push_back(n);
 690         }
 691         if (tmp_cusps.size() < 2)
 692                 return false;
 693         std::vector<RRTNode *> cusps;
 694         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 695                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 696                         cusps.push_back(tmp_cusps[i]);
 697         }
 698         std::reverse(cusps.begin(), cusps.end());
 699         std::vector<int> npi; // new path indexes
 700         if (!this->optp_dijkstra(cusps, npi))
 701                 return false;
 702         RRTNode *pn = cusps[npi[0]];
 703         RRTNode *tmp = nullptr;
 704         bool en_add = true;
 705         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 706                 pn = cusps[npi[i]];
 707                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 708                         if (!en_add) {
 709                                 delete ns;
 710                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 711                                 tmp = ns;
 712                                 while (tmp && tmp != cusps[npi[i]]) {
 713                                         pn = tmp->parent();
 714                                         delete tmp;
 715                                         tmp = pn;
 716                                 }
 717                                 pn = cusps[npi[i]];
 718                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 719                                 delete ns;
 720                                 cusps[npi[i + 1]]->parent()->rem_child(
 721                                                 cusps[npi[i + 1]]);
 722                                 pn->add_child(
 723                                         cusps[npi[i + 1]],
 724                                         this->cost(pn, cusps[npi[i + 1]]));
 725                                 en_add = false;
 726                         } else if (IS_NEAR(pn, ns)) {
 727                                 delete ns;
 728                         } else {
 729                                 this->nodes().push_back(ns);
 730                                 this->add_iy(ns);
 731                                 pn->add_child(ns, this->cost(pn, ns));
 732                                 pn = ns;
 733                         }
 734                 }
 735         }
 736         this->root()->update_ccost();
 737         if (this->tlog().back().front()->ccost() < oc)
 738                 return true;
 739         return false;
 740 }
 741
 742 bool RRTBase::rebase(RRTNode *nr)
 743 {
 744         if (!nr || this->goal_ == nr || this->root_ == nr)
 745                 return false;
 746         std::vector<RRTNode *> s; // DFS stack
 747         RRTNode *tmp;
 748         unsigned int i = 0;
 749         unsigned int to_del = 0;
 750         int iy = 0;
 751         s.push_back(this->root_);
 752         while (s.size() > 0) {
 753                 tmp = s.back();
 754                 s.pop_back();
 755                 for (auto ch: tmp->children()) {
 756                         if (ch != nr)
 757                                 s.push_back(ch);
 758                 }
 759                 to_del = this->nodes_.size();
 760                 #pragma omp parallel for reduction(min: to_del)
 761                 for (i = 0; i < this->nodes_.size(); i++) {
 762                         if (this->nodes_[i] == tmp)
 763                                 to_del = i;
 764                 }
 765                 if (to_del < this->nodes_.size())
 766                         this->nodes_.erase(this->nodes_.begin() + to_del);
 767                 iy = IYI(tmp->y());
 768                 to_del = this->iy_[iy].size();
 769                 #pragma omp parallel  for reduction(min: to_del)
 770                 for (i = 0; i < this->iy_[iy].size(); i++) {
 771                         if (this->iy_[iy][i] == tmp)
 772                                 to_del = i;
 773                 }
 774                 if (to_del < this->iy_[iy].size())
 775                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 776                 this->dnodes().push_back(tmp);
 777         }
 778         this->root_ = nr;
 779         this->root_->remove_parent();
 780         return true;
 781 }
 782
 783 std::vector<RRTNode *> RRTBase::findt()
 784 {
 785         return this->findt(this->goal_);
 786 }
 787
 788 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 789 {
 790         std::vector<RRTNode *> nodes;
 791         if (!n || !n->parent())
 792                 return nodes;
 793         while (n) {
 794                 nodes.push_back(n);
 795                 n = n->parent();
 796         }
 797         return nodes;
 798 }
 799
 800 // RRT Framework
 801 RRTNode *RRTBase::sample()
 802 {
 803         return sa1();
 804 }
 805
 806 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 807 {
 808         return co2(init, goal);
 809 }
 810
 811 RRTNode *RRTBase::nn(RRTNode *rs)
 812 {
 813         return nn4(this->iy_, rs, nullptr);
 814         //return nn3(this->iy_, rs, nullptr);
 815 }
 816
 817 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 818 {
 819         std::vector<RRTNode *> nvs;
 820         unsigned int iy = IYI(node->y());
 821         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 822         unsigned int i = 0; // vector index
 823         unsigned int j = 0; // array index
 824         unsigned int jmin = 0; // minimal j index
 825         unsigned int jmax = 0; // maximal j index
 826         jmin = iy - iy_dist;
 827         jmin = (jmin > 0) ? jmin : 0;
 828         jmax = iy + iy_dist + 1;
 829         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 830         #pragma omp parallel for reduction(merge: nvs)
 831         for (j = jmin; j < jmax; j++) {
 832                 #pragma omp parallel for reduction(merge: nvs)
 833                 for (i = 0; i < this->iy_[j].size(); i++) {
 834                         if (this->cost(this->iy_[j][i], node) < dist) {
 835                                 nvs.push_back(this->iy_[j][i]);
 836                         }
 837                 }
 838         }
 839         return nvs;
 840 }
 841
 842 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 843 {
 844         return st3(init, goal);
 845 }
 846
 847 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 848 {
 849         return st3(init, goal, step);
 850 }