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