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
  25 #if USE_GL > 0
  26 // OpenGL
  27 #include <GL/gl.h>
  28 #include <GL/glu.h>
  29 #include <SDL2/SDL.h>
  30 #endif
  31
  32 // RRT
  33 #include "sample.h"
  34 #include "cost.h"
  35 #include "steer.h"
  36 #include "nn.h"
  37 #include "nv.h"
  38
  39 #if USE_GL > 0
  40 extern SDL_Window* gw;
  41 extern SDL_GLContext gc;
  42 #endif
  43
  44 Cell::Cell()
  45 {
  46         pthread_mutex_init(&this->m_, NULL);
  47 }
  48
  49 bool Cell::changed()
  50 {
  51         pthread_mutex_lock(&this->m_);
  52         bool ret = this->changed_;
  53         pthread_mutex_unlock(&this->m_);
  54         return ret;
  55 }
  56
  57 std::vector<RRTNode *> Cell::nodes()
  58 {
  59         pthread_mutex_lock(&this->m_);
  60         std::vector<RRTNode *> ret(this->nodes_);
  61         pthread_mutex_unlock(&this->m_);
  62         return ret;
  63 }
  64
  65 void Cell::add_node(RRTNode *n)
  66 {
  67         pthread_mutex_lock(&this->m_);
  68         this->nodes_.push_back(n);
  69         this->changed_ = true;
  70         pthread_mutex_unlock(&this->m_);
  71 }
  72
  73 RRTBase::~RRTBase()
  74 {
  75 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  76 // please uncommend the following code:
  77 //
  78         for (auto n: this->nodes_)
  79                 if (n != this->root_)
  80                         delete n;
  81         for (auto n: this->dnodes_)
  82                 if (n != this->root_ && n != this->goal_)
  83                         delete n;
  84         for (auto s: this->samples_)
  85                 if (s != this->goal_)
  86                         delete s;
  87         for (auto edges: this->rlog_)
  88                 for (auto e: edges)
  89                         delete e;
  90         delete this->root_;
  91         delete this->goal_;
  92 }
  93
  94 RRTBase::RRTBase()
  95         : root_(new RRTNode())
  96         , goal_(new RRTNode())
  97         , gen_(std::random_device{}())
  98         , ndx_(HMAX - HMIN, (HMAX - HMIN) / 4)
  99         , ndy_(VMAX - VMIN, (VMAX - VMIN) / 4)
 100         , ndh_(0, M_PI * 2 / 4)
 101 {
 102         this->nodes_.reserve(NOFNODES);
 103         this->nodes_.push_back(this->root_);
 104         this->add_iy(this->root_);
 105         this->add_ixy(this->root_);
 106 }
 107
 108 RRTBase::RRTBase(RRTNode *init, RRTNode *goal)
 109         : root_(init)
 110         , goal_(goal)
 111         , gen_(std::random_device{}())
 112         , ndx_(HMIN + (HMAX - HMIN) / 2, (HMAX - HMIN) / 4)
 113         , ndy_(VMIN + (VMAX - VMIN) / 2, (VMAX - VMIN) / 4)
 114         , ndh_(0, M_PI * 2 / 4)
 115 {
 116         this->nodes_.reserve(NOFNODES);
 117         this->nodes_.push_back(init);
 118         this->add_iy(init);
 119         this->add_ixy(init);
 120 }
 121
 122 // getter
 123 RRTNode *RRTBase::root()
 124 {
 125         return this->root_;
 126 }
 127
 128 RRTNode *RRTBase::goal()
 129 {
 130         return this->goal_;
 131 }
 132
 133 std::vector<RRTNode *> &RRTBase::goals()
 134 {
 135         return this->goals_;
 136 }
 137
 138 std::vector<RRTNode *> &RRTBase::nodes()
 139 {
 140         return this->nodes_;
 141 }
 142
 143 std::vector<RRTNode *> &RRTBase::dnodes()
 144 {
 145         return this->dnodes_;
 146 }
 147
 148 std::queue<RRTNode *> &RRTBase::firsts()
 149 {
 150         return this->firsts_;
 151 }
 152
 153 PolygonObstacle &RRTBase::frame()
 154 {
 155         return this->frame_;
 156 }
 157
 158 std::vector<RRTNode *> &RRTBase::samples()
 159 {
 160         return this->samples_;
 161 }
 162
 163 std::vector<CircleObstacle> *RRTBase::co()
 164 {
 165         return this->cobstacles_;
 166 }
 167
 168 std::vector<SegmentObstacle> *RRTBase::so()
 169 {
 170         return this->sobstacles_;
 171 }
 172
 173 std::vector<float> &RRTBase::clog()
 174 {
 175         return this->clog_;
 176 }
 177
 178 std::vector<float> &RRTBase::nlog()
 179 {
 180         return this->nlog_;
 181 }
 182
 183 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 184 {
 185         return this->rlog_;
 186 }
 187
 188 std::vector<float> &RRTBase::slog()
 189 {
 190         return this->slog_;
 191 }
 192
 193 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 194 {
 195         return this->tlog_;
 196 }
 197
 198 std::vector<RRTNode *> &RRTBase::slot_cusp()
 199 {
 200         return this->slot_cusp_;
 201 }
 202
 203 bool RRTBase::goal_found()
 204 {
 205         return this->goal_found_;
 206 }
 207
 208 float RRTBase::elapsed()
 209 {
 210         std::chrono::duration<float> dt;
 211         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 212                         this->tend_ - this->tstart_);
 213         return dt.count();
 214 }
 215
 216 std::vector<RRTNode *> RRTBase::traj_cusp()
 217 {
 218         std::vector<RRTNode *> tmp_cusps;
 219         for (auto n: this->tlog().back()) {
 220                 if (sgn(n->s()) == 0) {
 221                         tmp_cusps.push_back(n);
 222                 } else if (n->parent() &&
 223                                 sgn(n->s()) != sgn(n->parent()->s())) {
 224                         tmp_cusps.push_back(n);
 225                         tmp_cusps.push_back(n->parent());
 226                 }
 227         }
 228         std::vector<RRTNode *> cusps;
 229         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 230                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 231                         cusps.push_back(tmp_cusps[i]);
 232         }
 233         return cusps;
 234 }
 235
 236 // setter
 237 void RRTBase::root(RRTNode *node)
 238 {
 239         this->root_ = node;
 240 }
 241
 242 void RRTBase::goal(RRTNode *node)
 243 {
 244         this->goal_ = node;
 245 }
 246
 247 void RRTBase::goals(std::vector<RRTNode *> g)
 248 {
 249         this->goals_ = g;
 250         std::reverse(this->goals_.begin(), this->goals_.end());
 251         RRTNode *pn = this->goals_.front();
 252         for (auto n: this->goals_) {
 253                 if (n != pn) {
 254                         pn->add_child(n, this->cost(pn ,n));
 255                         pn = n;
 256                 }
 257         }
 258 }
 259
 260 bool RRTBase::logr(RRTNode *root)
 261 {
 262         std::vector<RRTEdge *> e; // Edges to log
 263         std::vector<RRTNode *> s; // DFS stack
 264         std::vector<RRTNode *> r; // reset visited_
 265         RRTNode *tmp;
 266         s.push_back(root);
 267         while (s.size() > 0) {
 268                 tmp = s.back();
 269                 s.pop_back();
 270                 if (!tmp->visit()) {
 271                         r.push_back(tmp);
 272                         for (auto ch: tmp->children()) {
 273                                 s.push_back(ch);
 274                                 e.push_back(new RRTEdge(tmp, ch));
 275                         }
 276                 }
 277         }
 278         for (auto n: r)
 279                 n->visit(false);
 280         this->rlog_.push_back(e);
 281         return true;
 282 }
 283
 284 float RRTBase::ocost(RRTNode *n)
 285 {
 286         float dist = 9999;
 287         for (auto o: *this->cobstacles_)
 288                 if (o.dist_to(n) < dist)
 289                         dist = o.dist_to(n);
 290         for (auto o: *this->sobstacles_)
 291                 if (o.dist_to(n) < dist)
 292                         dist = o.dist_to(n);
 293         return n->ocost(dist);
 294 }
 295
 296 bool RRTBase::tlog(std::vector<RRTNode *> t)
 297 {
 298         if (t.size() > 0) {
 299                 this->slog_.push_back(this->elapsed());
 300                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 301                 this->nlog_.push_back(this->nodes_.size());
 302                 this->tlog_.push_back(t);
 303                 return true;
 304         } else {
 305                 return false;
 306         }
 307 }
 308
 309 void RRTBase::tstart()
 310 {
 311         this->tstart_ = std::chrono::high_resolution_clock::now();
 312 }
 313
 314 void RRTBase::tend()
 315 {
 316         this->tend_ = std::chrono::high_resolution_clock::now();
 317 }
 318
 319 bool RRTBase::link_obstacles(
 320                 std::vector<CircleObstacle> *cobstacles,
 321                 std::vector<SegmentObstacle> *sobstacles)
 322 {
 323         this->cobstacles_ = cobstacles;
 324         this->sobstacles_ = sobstacles;
 325         if (!this->cobstacles_ || !this->sobstacles_) {
 326                 return false;
 327         }
 328         return true;
 329 }
 330
 331 bool RRTBase::add_iy(RRTNode *n)
 332 {
 333         int i = IYI(n->y());
 334         if (i < 0)
 335                 i = 0;
 336         if (i >= IYSIZE)
 337                 i = IYSIZE - 1;
 338         this->iy_[i].push_back(n);
 339         return true;
 340 }
 341
 342 bool RRTBase::add_ixy(RRTNode *n)
 343 {
 344         int ix = IXI(n->x());
 345         if (ix < 0)
 346                 ix = 0;
 347         if (ix >= IXSIZE)
 348                 ix = IXSIZE - 1;
 349         int iy = IYI(n->y());
 350         if (iy < 0)
 351                 iy = 0;
 352         if (iy >= IYSIZE)
 353                 iy = IYSIZE - 1;
 354         this->ixy_[ix][iy].add_node(n);
 355         return true;
 356 }
 357
 358 bool RRTBase::goal_found(bool f)
 359 {
 360         this->goal_found_ = f;
 361         return f;
 362 }
 363
 364 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 365 {
 366         for (unsigned int i = 0; i < sc.size() - 1; i++)
 367                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 368         sc[0]->parent(this->goal());
 369         this->slot_cusp_ = sc;
 370 }
 371
 372 // other
 373 bool RRTBase::glplot()
 374 {
 375 #if USE_GL > 0
 376         glClear(GL_COLOR_BUFFER_BIT);
 377         glLineWidth(1);
 378         glPointSize(1);
 379         // Plot obstacles
 380         glBegin(GL_LINES);
 381         for (auto o: *this->sobstacles_) {
 382                 glColor3f(0, 0, 0);
 383                 glVertex2f(GLVERTEX(o.init()));
 384                 glVertex2f(GLVERTEX(o.goal()));
 385         }
 386         glEnd();
 387         // Plot root, goal
 388         glPointSize(8);
 389         glBegin(GL_POINTS);
 390         glColor3f(1, 0, 0);
 391         glVertex2f(GLVERTEX(this->root_));
 392         glVertex2f(GLVERTEX(this->goal_));
 393         glEnd();
 394         // Plot last sample
 395         if (this->samples_.size() > 0) {
 396                 glPointSize(8);
 397                 glBegin(GL_POINTS);
 398                 glColor3f(0, 1, 0);
 399                 glVertex2f(GLVERTEX(this->samples_.back()));
 400                 glEnd();
 401         }
 402         // Plot nodes (position, orientation
 403         std::vector<RRTNode *> s; // DFS stack
 404         std::vector<RRTNode *> r; // reset visited_
 405         RRTNode *tmp;
 406         glBegin(GL_LINES);
 407         s.push_back(this->root_);
 408         while (s.size() > 0) {
 409                 tmp = s.back();
 410                 s.pop_back();
 411                 if (!tmp->visit()) {
 412                         r.push_back(tmp);
 413                         for (auto ch: tmp->children()) {
 414                                 s.push_back(ch);
 415                                 glColor3f(0.5, 0.5, 0.5);
 416                                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 417                                 glVertex2f(
 418                                         bc.lfx() * GLPLWSCALE,
 419                                         bc.lfy() * GLPLHSCALE
 420                                 );
 421                                 glVertex2f(
 422                                         bc.lrx() * GLPLWSCALE,
 423                                         bc.lry() * GLPLHSCALE
 424                                 );
 425                                 glVertex2f(
 426                                         bc.lrx() * GLPLWSCALE,
 427                                         bc.lry() * GLPLHSCALE
 428                                 );
 429                                 glVertex2f(
 430                                         bc.rrx() * GLPLWSCALE,
 431                                         bc.rry() * GLPLHSCALE
 432                                 );
 433                                 glVertex2f(
 434                                         bc.rrx() * GLPLWSCALE,
 435                                         bc.rry() * GLPLHSCALE
 436                                 );
 437                                 glVertex2f(
 438                                         bc.rfx() * GLPLWSCALE,
 439                                         bc.rfy() * GLPLHSCALE
 440                                 );
 441                         }
 442                 }
 443         }
 444         glEnd();
 445         // Plot nodes
 446         glBegin(GL_LINES);
 447         s.push_back(this->root_);
 448         while (s.size() > 0) {
 449                 tmp = s.back();
 450                 s.pop_back();
 451                 if (!tmp->visit()) {
 452                         r.push_back(tmp);
 453                         for (auto ch: tmp->children()) {
 454                                 s.push_back(ch);
 455                                 glColor3f(0.5, 0.5, 0.5);
 456                                 glVertex2f(GLVERTEX(tmp));
 457                                 glVertex2f(GLVERTEX(ch));
 458                         }
 459                 }
 460         }
 461         glEnd();
 462         // Plot nodes (from goal)
 463         glBegin(GL_LINES);
 464         s.push_back(this->goal_);
 465         while (s.size() > 0) {
 466                 tmp = s.back();
 467                 s.pop_back();
 468                 if (!tmp->visit()) {
 469                         r.push_back(tmp);
 470                         for (auto ch: tmp->children()) {
 471                                 s.push_back(ch);
 472                                 glColor3f(0.5, 0.5, 0.5);
 473                                 glVertex2f(GLVERTEX(tmp));
 474                                 glVertex2f(GLVERTEX(ch));
 475                         }
 476                 }
 477         }
 478         glEnd();
 479         std::vector<RRTNode *> cusps;
 480         // Plot last trajectory
 481         if (this->tlog().size() > 0) {
 482                 glLineWidth(2);
 483                 glBegin(GL_LINES);
 484                 for (auto n: this->tlog().back()) {
 485                         if (n->parent()) {
 486                                 glColor3f(0, 0, 1);
 487                                 glVertex2f(GLVERTEX(n));
 488                                 glVertex2f(GLVERTEX(n->parent()));
 489                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 490                                         cusps.push_back(n);
 491                         }
 492                 }
 493                 glEnd();
 494         }
 495         // Plot cusps
 496         glPointSize(8);
 497         glBegin(GL_POINTS);
 498         for (auto n: cusps) {
 499                 glColor3f(0, 0, 1);
 500                 glVertex2f(GLVERTEX(n));
 501         }
 502         glEnd();
 503         SDL_GL_SwapWindow(gw);
 504         for (auto n: r)
 505                 n->visit(false);
 506 #endif
 507         return true;
 508 }
 509
 510 bool RRTBase::goal_found(
 511                 RRTNode *node,
 512                 float (*cost)(RRTNode *, RRTNode* ))
 513 {
 514         if (GOAL_IS_NEAR(node, this->goal_)) {
 515                 if (this->goal_found_) {
 516                         if (node->ccost() + this->cost(node, this->goal_) <
 517                                         this->goal_->ccost()) {
 518                                 RRTNode *op; // old parent
 519                                 float oc; // old cumulative cost
 520                                 float od; // old direct cost
 521                                 op = this->goal_->parent();
 522                                 oc = this->goal_->ccost();
 523                                 od = this->goal_->dcost();
 524                                 node->add_child(this->goal_,
 525                                                 this->cost(node, this->goal_));
 526                                 if (this->collide(node, this->goal_)) {
 527                                         node->children().pop_back();
 528                                         this->goal_->parent(op);
 529                                         this->goal_->ccost(oc);
 530                                         this->goal_->dcost(od);
 531                                 } else {
 532                                         op->rem_child(this->goal_);
 533                                         return true;
 534                                 }
 535                         } else {
 536                                 return false;
 537                         }
 538                 } else {
 539                         node->add_child(
 540                                         this->goal_,
 541                                         this->cost(node, this->goal_));
 542                         if (this->collide(node, this->goal_)) {
 543                                 node->children().pop_back();
 544                                 this->goal_->remove_parent();
 545                                 return false;
 546                         }
 547                         this->goal_found_ = true;
 548                         // Update ccost of goal's parents
 549                         if (this->goals().size() > 0) {
 550                                 RRTNode *ch = this->goals().back();
 551                                 RRTNode *pn = this->goals().back()->parent();
 552                                 while (pn) {
 553                                         pn->ccost(
 554                                                 ch->ccost()
 555                                                 - this->cost(pn, ch)
 556                                         );
 557                                         ch = pn;
 558                                         pn = pn->parent();
 559                                 }
 560                         }
 561                         return true;
 562                 }
 563         }
 564         return false;
 565 }
 566
 567 bool RRTBase::goal_found(
 568         RRTNode *node,
 569         RRTNode *goal
 570 )
 571 {
 572         if (GOAL_IS_NEAR(node, goal)) {
 573                 if (this->goal_found_) {
 574                         if (
 575                                 goal->ccost() != -1
 576                                 && node->ccost() + this->cost(node, goal)
 577                                 < goal->ccost()
 578                         ) {
 579                                 RRTNode *op; // old parent
 580                                 float oc; // old cumulative cost
 581                                 float od; // old direct cost
 582                                 op = goal->parent();
 583                                 oc = goal->ccost();
 584                                 od = goal->dcost();
 585                                 node->add_child(goal,
 586                                                 this->cost(node, goal));
 587                                 if (this->collide(node, goal)) {
 588                                         node->children().pop_back();
 589                                         goal->parent(op);
 590                                         goal->ccost(oc);
 591                                         goal->dcost(od);
 592                                 } else {
 593                                         op->rem_child(goal);
 594                                         return true;
 595                                 }
 596                         } else {
 597                                 return false;
 598                         }
 599                 } else {
 600                         node->add_child(
 601                                 goal,
 602                                 this->cost(node, goal)
 603                         );
 604                         if (this->collide(node, goal)) {
 605                                 node->children().pop_back();
 606                                 goal->remove_parent();
 607                                 return false;
 608                         }
 609                         this->goal_found_ = true;
 610                         // Update ccost of goal's children
 611                         goal->update_ccost();
 612                         // Update ccost of goals
 613                         for (auto g: this->goals()) {
 614                                 if (g == goal)
 615                                         break;
 616                                 g->ccost(-1);
 617                         }
 618                         return true;
 619                 }
 620         }
 621         return false;
 622 }
 623
 624 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 625 {
 626         std::vector<RRTEdge *> edges;
 627         RRTNode *tmp = goal;
 628         volatile bool col = false;
 629         unsigned int i;
 630         while (tmp != init) {
 631                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 632                 std::vector<RRTEdge *> bcframe = bc.frame();
 633                 #pragma omp parallel for reduction(|: col)
 634                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 635                         if ((*this->cobstacles_)[i].collide(tmp)) {
 636                                 col = true;
 637                         }
 638                         for (auto &e: bcframe) {
 639                                 if ((*this->cobstacles_)[i].collide(e)) {
 640                                         col = true;
 641                                 }
 642                         }
 643                 }
 644                 if (col) {
 645                         for (auto e: bcframe) {
 646                                 delete e->init();
 647                                 delete e->goal();
 648                                 delete e;
 649                         }
 650                         for (auto e: edges) {
 651                                 delete e;
 652                         }
 653                         return true;
 654                 }
 655                 #pragma omp parallel for reduction(|: col)
 656                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 657                         for (auto &e: bcframe) {
 658                                 if ((*this->sobstacles_)[i].collide(e)) {
 659                                         col = true;
 660                                 }
 661                         }
 662                 }
 663                 if (col) {
 664                         for (auto e: bcframe) {
 665                                 delete e->init();
 666                                 delete e->goal();
 667                                 delete e;
 668                         }
 669                         for (auto e: edges) {
 670                                 delete e;
 671                         }
 672                         return true;
 673                 }
 674                 if (!tmp->parent()) {
 675                         break;
 676                 }
 677                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 678                 tmp = tmp->parent();
 679                 for (auto e: bcframe) {
 680                         delete e->init();
 681                         delete e->goal();
 682                         delete e;
 683                 }
 684         }
 685         for (auto &e: edges) {
 686                 #pragma omp parallel for reduction(|: col)
 687                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 688                         if ((*this->cobstacles_)[i].collide(e)) {
 689                                 col = true;
 690                         }
 691                 }
 692                 if (col) {
 693                         for (auto e: edges) {
 694                                 delete e;
 695                         }
 696                         return true;
 697                 }
 698                 #pragma omp parallel for reduction(|: col)
 699                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 700                         if ((*this->sobstacles_)[i].collide(e)) {
 701                                 col = true;
 702                         }
 703                 }
 704                 if (col) {
 705                         for (auto e: edges) {
 706                                 delete e;
 707                         }
 708                         return true;
 709                 }
 710         }
 711         for (auto e: edges) {
 712                 delete e;
 713         }
 714         return false;
 715 }
 716
 717 class RRTNodeDijkstra {
 718         public:
 719                 RRTNodeDijkstra(int i):
 720                         ni(i),
 721                         pi(0),
 722                         c(9999),
 723                         v(false)
 724                 {};
 725                 RRTNodeDijkstra(int i, float c):
 726                         ni(i),
 727                         pi(0),
 728                         c(c),
 729                         v(false)
 730                 {};
 731                 RRTNodeDijkstra(int i, int p, float c):
 732                         ni(i),
 733                         pi(p),
 734                         c(c),
 735                         v(false)
 736                 {};
 737                 unsigned int ni;
 738                 unsigned int pi;
 739                 float c;
 740                 bool v;
 741                 bool vi()
 742                 {
 743                         if (this->v)
 744                                 return true;
 745                         this->v = true;
 746                         return false;
 747                 };
 748 };
 749
 750 class RRTNodeDijkstraComparator {
 751         public:
 752                 int operator() (
 753                                 const RRTNodeDijkstra& n1,
 754                                 const RRTNodeDijkstra& n2)
 755                 {
 756                         return n1.c > n2.c;
 757                 }
 758 };
 759
 760 bool RRTBase::optp_dijkstra(
 761                 std::vector<RRTNode *> &cusps,
 762                 std::vector<int> &npi)
 763 {
 764         std::vector<RRTNodeDijkstra> dnodes;
 765         for (unsigned int i = 0; i < cusps.size(); i++)
 766                 if (i > 0)
 767                         dnodes.push_back(RRTNodeDijkstra(
 768                                                 i,
 769                                                 i - 1,
 770                                                 cusps[i]->ccost()));
 771                 else
 772                         dnodes.push_back(RRTNodeDijkstra(
 773                                                 i,
 774                                                 cusps[i]->ccost()));
 775         dnodes[0].vi();
 776         std::priority_queue<
 777                 RRTNodeDijkstra,
 778                 std::vector<RRTNodeDijkstra>,
 779                 RRTNodeDijkstraComparator> pq;
 780         RRTNodeDijkstra tmp = dnodes[0];
 781         pq.push(tmp);
 782         float ch_cost = 9999;
 783         std::vector<RRTNode *> steered;
 784         while (!pq.empty()) {
 785                 tmp = pq.top();
 786                 pq.pop();
 787                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 788                         ch_cost = dnodes[tmp.ni].c +
 789                                 this->cost(cusps[tmp.ni], cusps[i]);
 790                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 791                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 792                                 steered[j]->add_child(steered[j + 1], 1);
 793                         if (this->collide(
 794                                         steered[0],
 795                                         steered[steered.size() - 1])) {
 796                                 for (auto n: steered)
 797                                         delete n;
 798                                 continue;
 799                         }
 800                         if (ch_cost < dnodes[i].c) {
 801                                 dnodes[i].c = ch_cost;
 802                                 dnodes[i].pi = tmp.ni;
 803                                 if (!dnodes[i].vi())
 804                                         pq.push(dnodes[i]);
 805                         }
 806                         for (auto n: steered)
 807                                 delete n;
 808                 }
 809         }
 810         unsigned int tmpi = 0;
 811         for (auto n: dnodes) {
 812                 if (n.v && n.ni > tmpi)
 813                         tmpi = n.ni;
 814         }
 815         while (tmpi > 0) {
 816                 npi.push_back(tmpi);
 817                 tmpi = dnodes[tmpi].pi;
 818         }
 819         npi.push_back(tmpi);
 820         std::reverse(npi.begin(), npi.end());
 821         return true;
 822 }
 823
 824 bool RRTBase::optp_rrp(
 825                 std::vector<RRTNode *> &cusps,
 826                 std::vector<int> &npi)
 827 {
 828         std::vector<RRTNode *> steered;
 829         std::vector<int> candidates;
 830         RRTNode *x_j = nullptr;
 831         RRTNode *x_i = nullptr;
 832         int j = cusps.size() - 1;
 833         int i_min = 0;
 834         float c_min = 0;
 835         float cost = 0;
 836         float dx = 0;
 837         float dy = 0;
 838         float ed = 0;
 839         float th_i = 0;
 840         float th_j = 0;
 841         while (j > 0) {
 842                 npi.push_back(j);
 843                 steered.clear();
 844                 candidates.clear();
 845                 x_j = cusps[j];
 846                 for (int i = 0; i < j; i++) {
 847                         steered = this->steer(cusps[i], x_j);
 848                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 849                                 steered[k]->add_child(steered[k + 1], 1);
 850                         if (!this->collide(
 851                                         steered[0],
 852                                         steered[steered.size() - 1]))
 853                                 candidates.push_back(i);
 854                 }
 855                 if (candidates.size() <= 0)
 856                         return false;
 857                 i_min = candidates[0];
 858                 x_i = cusps[i_min];
 859                 c_min = 9999;
 860                 for (auto c: candidates) {
 861                         x_i = cusps[c];
 862                         dx = x_j->x() - x_i->x();
 863                         dy = x_j->y() - x_i->y();
 864                         ed = EDIST(x_i, x_j);
 865                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 866                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 867                         cost = th_i + th_j;
 868                         if (cost < c_min) {
 869                                 i_min = c;
 870                                 c_min = cost;
 871                         }
 872                 }
 873                 j = i_min;
 874
 875         }
 876         npi.push_back(j);
 877         std::reverse(npi.begin(), npi.end());
 878         return true;
 879 }
 880
 881 bool RRTBase::optp_smart(
 882                 std::vector<RRTNode *> &cusps,
 883                 std::vector<int> &npi)
 884 {
 885         std::vector<RRTNode *> steered;
 886         int li = cusps.size() - 1;
 887         int ai = li - 1;
 888         npi.push_back(li);
 889         while (ai > 1) {
 890                 steered = this->steer(cusps[ai - 1], cusps[li]);
 891                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 892                         steered[j]->add_child(steered[j + 1], 1);
 893                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 894                         npi.push_back(ai);
 895                         li = ai;
 896                 }
 897                 ai--;
 898                 for (auto n: steered)
 899                         delete n;
 900         }
 901         npi.push_back(0);
 902         std::reverse(npi.begin(), npi.end());
 903         return true;
 904 }
 905
 906 bool RRTBase::opt_path()
 907 {
 908         if (this->tlog().size() == 0)
 909                 return false;
 910         float oc = this->tlog().back().front()->ccost();
 911         std::vector<RRTNode *> tmp_cusps;
 912         for (auto n: this->tlog().back()) {
 913                 if (sgn(n->s()) == 0) {
 914                         tmp_cusps.push_back(n);
 915                 } else if (n->parent() &&
 916                                 sgn(n->s()) != sgn(n->parent()->s())) {
 917                         tmp_cusps.push_back(n);
 918                         tmp_cusps.push_back(n->parent());
 919                 }
 920                 //tmp_cusps.push_back(n);
 921         }
 922         if (tmp_cusps.size() < 2)
 923                 return false;
 924         std::vector<RRTNode *> cusps;
 925         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 926                 if (!IS_NEAR(
 927                         tmp_cusps[i],
 928                         tmp_cusps[(i + 1) % tmp_cusps.size()]
 929                 ))
 930                         cusps.push_back(tmp_cusps[i]);
 931         }
 932         std::reverse(cusps.begin(), cusps.end());
 933         std::vector<int> npi; // new path indexes
 934         if (!this->optp_dijkstra(cusps, npi))
 935                 return false;
 936         RRTNode *pn = cusps[npi[0]];
 937         RRTNode *tmp = nullptr;
 938         bool en_add = true;
 939         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 940                 pn = cusps[npi[i]];
 941                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 942                         if (!en_add) {
 943                                 delete ns;
 944                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 945                                 tmp = ns;
 946                                 while (tmp && tmp != cusps[npi[i]]) {
 947                                         pn = tmp->parent();
 948                                         delete tmp;
 949                                         tmp = pn;
 950                                 }
 951                                 pn = cusps[npi[i]];
 952                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 953                                 delete ns;
 954                                 cusps[npi[i + 1]]->parent()->rem_child(
 955                                                 cusps[npi[i + 1]]);
 956                                 pn->add_child(
 957                                         cusps[npi[i + 1]],
 958                                         this->cost(pn, cusps[npi[i + 1]]));
 959                                 en_add = false;
 960                         } else if (IS_NEAR(pn, ns)) {
 961                                 delete ns;
 962                         } else {
 963                                 this->nodes().push_back(ns);
 964                                 this->add_iy(ns);
 965                                 this->add_ixy(ns);
 966                                 pn->add_child(ns, this->cost(pn, ns));
 967                                 pn = ns;
 968                         }
 969                 }
 970         }
 971         this->root()->update_ccost();
 972         if (this->tlog().back().front()->ccost() < oc)
 973                 return true;
 974         return false;
 975 }
 976
 977 bool RRTBase::rebase(RRTNode *nr)
 978 {
 979         if (!nr || this->goal_ == nr || this->root_ == nr)
 980                 return false;
 981         std::vector<RRTNode *> s; // DFS stack
 982         RRTNode *tmp;
 983         unsigned int i = 0;
 984         unsigned int to_del = 0;
 985         int iy = 0;
 986         s.push_back(this->root_);
 987         while (s.size() > 0) {
 988                 tmp = s.back();
 989                 s.pop_back();
 990                 for (auto ch: tmp->children()) {
 991                         if (ch != nr)
 992                                 s.push_back(ch);
 993                 }
 994                 to_del = this->nodes_.size();
 995                 #pragma omp parallel for reduction(min: to_del)
 996                 for (i = 0; i < this->nodes_.size(); i++) {
 997                         if (this->nodes_[i] == tmp)
 998                                 to_del = i;
 999                 }
1000                 if (to_del < this->nodes_.size())
1001                         this->nodes_.erase(this->nodes_.begin() + to_del);
1002                 iy = IYI(tmp->y());
1003                 to_del = this->iy_[iy].size();
1004                 #pragma omp parallel  for reduction(min: to_del)
1005                 for (i = 0; i < this->iy_[iy].size(); i++) {
1006                         if (this->iy_[iy][i] == tmp)
1007                                 to_del = i;
1008                 }
1009                 if (to_del < this->iy_[iy].size())
1010                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
1011                 this->dnodes().push_back(tmp);
1012         }
1013         this->root_ = nr;
1014         this->root_->remove_parent();
1015         return true;
1016 }
1017
1018 std::vector<RRTNode *> RRTBase::findt()
1019 {
1020         return this->findt(this->goal_);
1021 }
1022
1023 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
1024 {
1025         std::vector<RRTNode *> nodes;
1026         if (!n || !n->parent())
1027                 return nodes;
1028         while (n) {
1029                 nodes.push_back(n);
1030                 n = n->parent();
1031         }
1032         return nodes;
1033 }
1034
1035 // RRT Framework
1036 void RRTBase::setSamplingInfo(SamplingInfo si)
1037 {
1038         this->ndx_ = std::normal_distribution<float>(si.x0, si.x);
1039         this->ndy_ = std::normal_distribution<float>(si.y0, si.y);
1040         this->ndh_ = std::normal_distribution<float>(si.h0, si.h);
1041 }
1042
1043 RRTNode *RRTBase::sample()
1044 {
1045         float x = this->ndx_(this->gen_);
1046         float y = this->ndy_(this->gen_);
1047         float h = this->ndh_(this->gen_);
1048         return new RRTNode(x, y, h);
1049 }
1050
1051 float RRTBase::cost(RRTNode *init, RRTNode *goal)
1052 {
1053         return co2(init, goal);
1054 }
1055
1056 RRTNode *RRTBase::nn(RRTNode *rs)
1057 {
1058         return nn4(this->iy_, rs, nullptr);
1059         //return nn3(this->iy_, rs, nullptr);
1060 }
1061
1062 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
1063 {
1064         std::vector<RRTNode *> nvs;
1065         unsigned int iy = IYI(node->y());
1066         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
1067         unsigned int i = 0; // vector index
1068         unsigned int j = 0; // array index
1069         unsigned int jmin = 0; // minimal j index
1070         unsigned int jmax = 0; // maximal j index
1071         jmin = iy - iy_dist;
1072         jmin = (jmin > 0) ? jmin : 0;
1073         jmax = iy + iy_dist + 1;
1074         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
1075         #pragma omp parallel for reduction(merge: nvs)
1076         for (j = jmin; j < jmax; j++) {
1077                 #pragma omp parallel for reduction(merge: nvs)
1078                 for (i = 0; i < this->iy_[j].size(); i++) {
1079                         if (this->cost(this->iy_[j][i], node) < dist) {
1080                                 nvs.push_back(this->iy_[j][i]);
1081                         }
1082                 }
1083         }
1084         return nvs;
1085 }
1086
1087 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
1088 {
1089         return st3(init, goal);
1090 }
1091
1092 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
1093 {
1094         return st3(init, goal, step);
1095 }