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