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 {
  99         this->nodes_.reserve(NOFNODES);
 100         this->nodes_.push_back(this->root_);
 101         this->add_iy(this->root_);
 102         this->add_ixy(this->root_);
 103 }
 104
 105 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
 106         root_(init),
 107         goal_(goal),
 108         gen_(std::random_device{}())
 109 {
 110         this->nodes_.reserve(NOFNODES);
 111         this->nodes_.push_back(init);
 112         this->add_iy(init);
 113         this->add_ixy(init);
 114 }
 115
 116 // getter
 117 RRTNode *RRTBase::root()
 118 {
 119         return this->root_;
 120 }
 121
 122 RRTNode *RRTBase::goal()
 123 {
 124         return this->goal_;
 125 }
 126
 127 std::vector<RRTNode *> &RRTBase::nodes()
 128 {
 129         return this->nodes_;
 130 }
 131
 132 std::vector<RRTNode *> &RRTBase::dnodes()
 133 {
 134         return this->dnodes_;
 135 }
 136
 137 PolygonObstacle &RRTBase::frame()
 138 {
 139         return this->frame_;
 140 }
 141
 142 std::vector<RRTNode *> &RRTBase::samples()
 143 {
 144         return this->samples_;
 145 }
 146
 147 std::vector<CircleObstacle> *RRTBase::co()
 148 {
 149         return this->cobstacles_;
 150 }
 151
 152 std::vector<SegmentObstacle> *RRTBase::so()
 153 {
 154         return this->sobstacles_;
 155 }
 156
 157 std::vector<float> &RRTBase::clog()
 158 {
 159         return this->clog_;
 160 }
 161
 162 std::vector<float> &RRTBase::nlog()
 163 {
 164         return this->nlog_;
 165 }
 166
 167 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 168 {
 169         return this->rlog_;
 170 }
 171
 172 std::vector<float> &RRTBase::slog()
 173 {
 174         return this->slog_;
 175 }
 176
 177 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 178 {
 179         return this->tlog_;
 180 }
 181
 182 std::vector<RRTNode *> &RRTBase::slot_cusp()
 183 {
 184         return this->slot_cusp_;
 185 }
 186
 187 bool RRTBase::goal_found()
 188 {
 189         return this->goal_found_;
 190 }
 191
 192 float RRTBase::elapsed()
 193 {
 194         std::chrono::duration<float> dt;
 195         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 196                         this->tend_ - this->tstart_);
 197         return dt.count();
 198 }
 199
 200 // setter
 201 void RRTBase::root(RRTNode *node)
 202 {
 203         this->root_ = node;
 204 }
 205
 206 void RRTBase::goal(RRTNode *node)
 207 {
 208         this->goal_ = node;
 209 }
 210
 211 bool RRTBase::logr(RRTNode *root)
 212 {
 213         std::vector<RRTEdge *> e; // Edges to log
 214         std::vector<RRTNode *> s; // DFS stack
 215         std::vector<RRTNode *> r; // reset visited_
 216         RRTNode *tmp;
 217         s.push_back(root);
 218         while (s.size() > 0) {
 219                 tmp = s.back();
 220                 s.pop_back();
 221                 if (!tmp->visit()) {
 222                         r.push_back(tmp);
 223                         for (auto ch: tmp->children()) {
 224                                 s.push_back(ch);
 225                                 e.push_back(new RRTEdge(tmp, ch));
 226                         }
 227                 }
 228         }
 229         for (auto n: r)
 230                 n->visit(false);
 231         this->rlog_.push_back(e);
 232         return true;
 233 }
 234
 235 float RRTBase::ocost(RRTNode *n)
 236 {
 237         float dist = 9999;
 238         for (auto o: *this->cobstacles_)
 239                 if (o.dist_to(n) < dist)
 240                         dist = o.dist_to(n);
 241         for (auto o: *this->sobstacles_)
 242                 if (o.dist_to(n) < dist)
 243                         dist = o.dist_to(n);
 244         return n->ocost(dist);
 245 }
 246
 247 bool RRTBase::tlog(std::vector<RRTNode *> t)
 248 {
 249         if (t.size() > 0) {
 250                 this->slog_.push_back(this->elapsed());
 251                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 252                 this->nlog_.push_back(this->nodes_.size());
 253                 this->tlog_.push_back(t);
 254                 return true;
 255         } else {
 256                 return false;
 257         }
 258 }
 259
 260 void RRTBase::tstart()
 261 {
 262         this->tstart_ = std::chrono::high_resolution_clock::now();
 263 }
 264
 265 void RRTBase::tend()
 266 {
 267         this->tend_ = std::chrono::high_resolution_clock::now();
 268 }
 269
 270 bool RRTBase::link_obstacles(
 271                 std::vector<CircleObstacle> *cobstacles,
 272                 std::vector<SegmentObstacle> *sobstacles)
 273 {
 274         this->cobstacles_ = cobstacles;
 275         this->sobstacles_ = sobstacles;
 276         if (!this->cobstacles_ || !this->sobstacles_) {
 277                 return false;
 278         }
 279         return true;
 280 }
 281
 282 bool RRTBase::add_iy(RRTNode *n)
 283 {
 284         int i = IYI(n->y());
 285         if (i < 0)
 286                 i = 0;
 287         if (i >= IYSIZE)
 288                 i = IYSIZE - 1;
 289         this->iy_[i].push_back(n);
 290         return true;
 291 }
 292
 293 bool RRTBase::add_ixy(RRTNode *n)
 294 {
 295         int ix = IXI(n->x());
 296         if (ix < 0)
 297                 ix = 0;
 298         if (ix >= IXSIZE)
 299                 ix = IXSIZE - 1;
 300         int iy = IYI(n->y());
 301         if (iy < 0)
 302                 iy = 0;
 303         if (iy >= IYSIZE)
 304                 iy = IYSIZE - 1;
 305         this->ixy_[ix][iy].add_node(n);
 306         return true;
 307 }
 308
 309 bool RRTBase::goal_found(bool f)
 310 {
 311         this->goal_found_ = f;
 312         return f;
 313 }
 314
 315 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 316 {
 317         for (unsigned int i = 0; i < sc.size() - 1; i++)
 318                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 319         sc[0]->parent(this->goal());
 320         this->slot_cusp_ = sc;
 321 }
 322
 323 // other
 324 bool RRTBase::glplot()
 325 {
 326 #if USE_GL > 0
 327         glClear(GL_COLOR_BUFFER_BIT);
 328         glLineWidth(1);
 329         glPointSize(1);
 330         // Plot obstacles
 331         glBegin(GL_LINES);
 332         for (auto o: *this->sobstacles_) {
 333                 glColor3f(0, 0, 0);
 334                 glVertex2f(GLVERTEX(o.init()));
 335                 glVertex2f(GLVERTEX(o.goal()));
 336         }
 337         glEnd();
 338         // Plot root, goal
 339         glPointSize(8);
 340         glBegin(GL_POINTS);
 341         glColor3f(1, 0, 0);
 342         glVertex2f(GLVERTEX(this->root_));
 343         glVertex2f(GLVERTEX(this->goal_));
 344         glEnd();
 345         // Plot last sample
 346         if (this->samples_.size() > 0) {
 347                 glPointSize(8);
 348                 glBegin(GL_POINTS);
 349                 glColor3f(0, 1, 0);
 350                 glVertex2f(GLVERTEX(this->samples_.back()));
 351                 glEnd();
 352         }
 353         // Plot nodes
 354         std::vector<RRTNode *> s; // DFS stack
 355         std::vector<RRTNode *> r; // reset visited_
 356         RRTNode *tmp;
 357         glBegin(GL_LINES);
 358         s.push_back(this->root_);
 359         while (s.size() > 0) {
 360                 tmp = s.back();
 361                 s.pop_back();
 362                 if (!tmp->visit()) {
 363                         r.push_back(tmp);
 364                         for (auto ch: tmp->children()) {
 365                                 s.push_back(ch);
 366                                 glColor3f(0.5, 0.5, 0.5);
 367                                 glVertex2f(GLVERTEX(tmp));
 368                                 glVertex2f(GLVERTEX(ch));
 369                         }
 370                 }
 371         }
 372         glEnd();
 373         // Plot nodes (from goal)
 374         glBegin(GL_LINES);
 375         s.push_back(this->goal_);
 376         while (s.size() > 0) {
 377                 tmp = s.back();
 378                 s.pop_back();
 379                 if (!tmp->visit()) {
 380                         r.push_back(tmp);
 381                         for (auto ch: tmp->children()) {
 382                                 s.push_back(ch);
 383                                 glColor3f(0.5, 0.5, 0.5);
 384                                 glVertex2f(GLVERTEX(tmp));
 385                                 glVertex2f(GLVERTEX(ch));
 386                         }
 387                 }
 388         }
 389         glEnd();
 390         std::vector<RRTNode *> cusps;
 391         // Plot last trajectory
 392         if (this->tlog().size() > 0) {
 393                 glLineWidth(2);
 394                 glBegin(GL_LINES);
 395                 for (auto n: this->tlog().back()) {
 396                         if (n->parent()) {
 397                                 glColor3f(0, 0, 1);
 398                                 glVertex2f(GLVERTEX(n));
 399                                 glVertex2f(GLVERTEX(n->parent()));
 400                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 401                                         cusps.push_back(n);
 402                         }
 403                 }
 404                 glEnd();
 405         }
 406         // Plot cusps
 407         glPointSize(8);
 408         glBegin(GL_POINTS);
 409         for (auto n: cusps) {
 410                 glColor3f(0, 0, 1);
 411                 glVertex2f(GLVERTEX(n));
 412         }
 413         glEnd();
 414         SDL_GL_SwapWindow(gw);
 415         for (auto n: r)
 416                 n->visit(false);
 417 #endif
 418         return true;
 419 }
 420
 421 bool RRTBase::goal_found(
 422                 RRTNode *node,
 423                 float (*cost)(RRTNode *, RRTNode* ))
 424 {
 425         if (IS_NEAR(node, this->goal_)) {
 426                 if (this->goal_found_) {
 427                         if (node->ccost() + this->cost(node, this->goal_) <
 428                                         this->goal_->ccost()) {
 429                                 RRTNode *op; // old parent
 430                                 float oc; // old cumulative cost
 431                                 float od; // old direct cost
 432                                 op = this->goal_->parent();
 433                                 oc = this->goal_->ccost();
 434                                 od = this->goal_->dcost();
 435                                 node->add_child(this->goal_,
 436                                                 this->cost(node, this->goal_));
 437                                 if (this->collide(node, this->goal_)) {
 438                                         node->children().pop_back();
 439                                         this->goal_->parent(op);
 440                                         this->goal_->ccost(oc);
 441                                         this->goal_->dcost(od);
 442                                 } else {
 443                                         op->rem_child(this->goal_);
 444                                         return true;
 445                                 }
 446                         } else {
 447                                 return false;
 448                         }
 449                 } else {
 450                         node->add_child(
 451                                         this->goal_,
 452                                         this->cost(node, this->goal_));
 453                         if (this->collide(node, this->goal_)) {
 454                                 node->children().pop_back();
 455                                 this->goal_->remove_parent();
 456                                 return false;
 457                         }
 458                         this->goal_found_ = true;
 459                         return true;
 460                 }
 461         }
 462         return false;
 463 }
 464
 465 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 466 {
 467         std::vector<RRTEdge *> edges;
 468         RRTNode *tmp = goal;
 469         volatile bool col = false;
 470         unsigned int i;
 471         while (tmp != init) {
 472                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 473                 std::vector<RRTEdge *> bcframe = bc.frame();
 474                 #pragma omp parallel for reduction(|: col)
 475                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 476                         if ((*this->cobstacles_)[i].collide(tmp)) {
 477                                 col = true;
 478                         }
 479                         for (auto &e: bcframe) {
 480                                 if ((*this->cobstacles_)[i].collide(e)) {
 481                                         col = true;
 482                                 }
 483                         }
 484                 }
 485                 if (col) {
 486                         for (auto e: bcframe) {
 487                                 delete e->init();
 488                                 delete e->goal();
 489                                 delete e;
 490                         }
 491                         for (auto e: edges) {
 492                                 delete e;
 493                         }
 494                         return true;
 495                 }
 496                 #pragma omp parallel for reduction(|: col)
 497                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 498                         for (auto &e: bcframe) {
 499                                 if ((*this->sobstacles_)[i].collide(e)) {
 500                                         col = true;
 501                                 }
 502                         }
 503                 }
 504                 if (col) {
 505                         for (auto e: bcframe) {
 506                                 delete e->init();
 507                                 delete e->goal();
 508                                 delete e;
 509                         }
 510                         for (auto e: edges) {
 511                                 delete e;
 512                         }
 513                         return true;
 514                 }
 515                 if (!tmp->parent()) {
 516                         break;
 517                 }
 518                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 519                 tmp = tmp->parent();
 520                 for (auto e: bcframe) {
 521                         delete e->init();
 522                         delete e->goal();
 523                         delete e;
 524                 }
 525         }
 526         for (auto &e: edges) {
 527                 #pragma omp parallel for reduction(|: col)
 528                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 529                         if ((*this->cobstacles_)[i].collide(e)) {
 530                                 col = true;
 531                         }
 532                 }
 533                 if (col) {
 534                         for (auto e: edges) {
 535                                 delete e;
 536                         }
 537                         return true;
 538                 }
 539                 #pragma omp parallel for reduction(|: col)
 540                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 541                         if ((*this->sobstacles_)[i].collide(e)) {
 542                                 col = true;
 543                         }
 544                 }
 545                 if (col) {
 546                         for (auto e: edges) {
 547                                 delete e;
 548                         }
 549                         return true;
 550                 }
 551         }
 552         for (auto e: edges) {
 553                 delete e;
 554         }
 555         return false;
 556 }
 557
 558 class RRTNodeDijkstra {
 559         public:
 560                 RRTNodeDijkstra(int i):
 561                         ni(i),
 562                         pi(0),
 563                         c(9999),
 564                         v(false)
 565                 {};
 566                 RRTNodeDijkstra(int i, float c):
 567                         ni(i),
 568                         pi(0),
 569                         c(c),
 570                         v(false)
 571                 {};
 572                 RRTNodeDijkstra(int i, int p, float c):
 573                         ni(i),
 574                         pi(p),
 575                         c(c),
 576                         v(false)
 577                 {};
 578                 unsigned int ni;
 579                 unsigned int pi;
 580                 float c;
 581                 bool v;
 582                 bool vi()
 583                 {
 584                         if (this->v)
 585                                 return true;
 586                         this->v = true;
 587                         return false;
 588                 };
 589 };
 590
 591 class RRTNodeDijkstraComparator {
 592         public:
 593                 int operator() (
 594                                 const RRTNodeDijkstra& n1,
 595                                 const RRTNodeDijkstra& n2)
 596                 {
 597                         return n1.c > n2.c;
 598                 }
 599 };
 600
 601 bool RRTBase::optp_dijkstra(
 602                 std::vector<RRTNode *> &cusps,
 603                 std::vector<int> &npi)
 604 {
 605         std::vector<RRTNodeDijkstra> dnodes;
 606         for (unsigned int i = 0; i < cusps.size(); i++)
 607                 if (i > 0)
 608                         dnodes.push_back(RRTNodeDijkstra(
 609                                                 i,
 610                                                 i - 1,
 611                                                 cusps[i]->ccost()));
 612                 else
 613                         dnodes.push_back(RRTNodeDijkstra(
 614                                                 i,
 615                                                 cusps[i]->ccost()));
 616         dnodes[0].vi();
 617         std::priority_queue<
 618                 RRTNodeDijkstra,
 619                 std::vector<RRTNodeDijkstra>,
 620                 RRTNodeDijkstraComparator> pq;
 621         RRTNodeDijkstra tmp = dnodes[0];
 622         pq.push(tmp);
 623         float ch_cost = 9999;
 624         std::vector<RRTNode *> steered;
 625         while (!pq.empty()) {
 626                 tmp = pq.top();
 627                 pq.pop();
 628                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 629                         ch_cost = dnodes[tmp.ni].c +
 630                                 this->cost(cusps[tmp.ni], cusps[i]);
 631                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 632                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 633                                 steered[j]->add_child(steered[j + 1], 1);
 634                         if (this->collide(
 635                                         steered[0],
 636                                         steered[steered.size() - 1])) {
 637                                 for (auto n: steered)
 638                                         delete n;
 639                                 continue;
 640                         }
 641                         if (ch_cost < dnodes[i].c) {
 642                                 dnodes[i].c = ch_cost;
 643                                 dnodes[i].pi = tmp.ni;
 644                                 if (!dnodes[i].vi())
 645                                         pq.push(dnodes[i]);
 646                         }
 647                         for (auto n: steered)
 648                                 delete n;
 649                 }
 650         }
 651         unsigned int tmpi = 0;
 652         for (auto n: dnodes) {
 653                 if (n.v && n.ni > tmpi)
 654                         tmpi = n.ni;
 655         }
 656         while (tmpi > 0) {
 657                 npi.push_back(tmpi);
 658                 tmpi = dnodes[tmpi].pi;
 659         }
 660         npi.push_back(tmpi);
 661         std::reverse(npi.begin(), npi.end());
 662         return true;
 663 }
 664
 665 bool RRTBase::optp_rrp(
 666                 std::vector<RRTNode *> &cusps,
 667                 std::vector<int> &npi)
 668 {
 669         std::vector<RRTNode *> steered;
 670         std::vector<int> candidates;
 671         RRTNode *x_j = nullptr;
 672         RRTNode *x_i = nullptr;
 673         int j = cusps.size() - 1;
 674         int i_min = 0;
 675         float c_min = 0;
 676         float cost = 0;
 677         float dx = 0;
 678         float dy = 0;
 679         float ed = 0;
 680         float th_i = 0;
 681         float th_j = 0;
 682         while (j > 0) {
 683                 npi.push_back(j);
 684                 steered.clear();
 685                 candidates.clear();
 686                 x_j = cusps[j];
 687                 for (int i = 0; i < j; i++) {
 688                         steered = this->steer(cusps[i], x_j);
 689                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 690                                 steered[k]->add_child(steered[k + 1], 1);
 691                         if (!this->collide(
 692                                         steered[0],
 693                                         steered[steered.size() - 1]))
 694                                 candidates.push_back(i);
 695                 }
 696                 if (candidates.size() <= 0)
 697                         return false;
 698                 i_min = candidates[0];
 699                 x_i = cusps[i_min];
 700                 c_min = 9999;
 701                 for (auto c: candidates) {
 702                         x_i = cusps[c];
 703                         dx = x_j->x() - x_i->x();
 704                         dy = x_j->y() - x_i->y();
 705                         ed = EDIST(x_i, x_j);
 706                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 707                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 708                         cost = th_i + th_j;
 709                         if (cost < c_min) {
 710                                 i_min = c;
 711                                 c_min = cost;
 712                         }
 713                 }
 714                 j = i_min;
 715
 716         }
 717         npi.push_back(j);
 718         std::reverse(npi.begin(), npi.end());
 719         return true;
 720 }
 721
 722 bool RRTBase::optp_smart(
 723                 std::vector<RRTNode *> &cusps,
 724                 std::vector<int> &npi)
 725 {
 726         std::vector<RRTNode *> steered;
 727         int li = cusps.size() - 1;
 728         int ai = li - 1;
 729         npi.push_back(li);
 730         while (ai > 1) {
 731                 steered = this->steer(cusps[ai - 1], cusps[li]);
 732                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 733                         steered[j]->add_child(steered[j + 1], 1);
 734                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 735                         npi.push_back(ai);
 736                         li = ai;
 737                 }
 738                 ai--;
 739                 for (auto n: steered)
 740                         delete n;
 741         }
 742         npi.push_back(0);
 743         std::reverse(npi.begin(), npi.end());
 744         return true;
 745 }
 746
 747 bool RRTBase::opt_path()
 748 {
 749         if (this->tlog().size() == 0)
 750                 return false;
 751         float oc = this->tlog().back().front()->ccost();
 752         std::vector<RRTNode *> tmp_cusps;
 753         for (auto n: this->tlog().back()) {
 754                 if (sgn(n->s()) == 0) {
 755                         tmp_cusps.push_back(n);
 756                 } else if (n->parent() &&
 757                                 sgn(n->s()) != sgn(n->parent()->s())) {
 758                         tmp_cusps.push_back(n);
 759                         tmp_cusps.push_back(n->parent());
 760                 }
 761                 //tmp_cusps.push_back(n);
 762         }
 763         if (tmp_cusps.size() < 2)
 764                 return false;
 765         std::vector<RRTNode *> cusps;
 766         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 767                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 768                         cusps.push_back(tmp_cusps[i]);
 769         }
 770         std::reverse(cusps.begin(), cusps.end());
 771         std::vector<int> npi; // new path indexes
 772         if (!this->optp_dijkstra(cusps, npi))
 773                 return false;
 774         RRTNode *pn = cusps[npi[0]];
 775         RRTNode *tmp = nullptr;
 776         bool en_add = true;
 777         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 778                 pn = cusps[npi[i]];
 779                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 780                         if (!en_add) {
 781                                 delete ns;
 782                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 783                                 tmp = ns;
 784                                 while (tmp && tmp != cusps[npi[i]]) {
 785                                         pn = tmp->parent();
 786                                         delete tmp;
 787                                         tmp = pn;
 788                                 }
 789                                 pn = cusps[npi[i]];
 790                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 791                                 delete ns;
 792                                 cusps[npi[i + 1]]->parent()->rem_child(
 793                                                 cusps[npi[i + 1]]);
 794                                 pn->add_child(
 795                                         cusps[npi[i + 1]],
 796                                         this->cost(pn, cusps[npi[i + 1]]));
 797                                 en_add = false;
 798                         } else if (IS_NEAR(pn, ns)) {
 799                                 delete ns;
 800                         } else {
 801                                 this->nodes().push_back(ns);
 802                                 this->add_iy(ns);
 803                                 this->add_ixy(ns);
 804                                 pn->add_child(ns, this->cost(pn, ns));
 805                                 pn = ns;
 806                         }
 807                 }
 808         }
 809         this->root()->update_ccost();
 810         if (this->tlog().back().front()->ccost() < oc)
 811                 return true;
 812         return false;
 813 }
 814
 815 bool RRTBase::rebase(RRTNode *nr)
 816 {
 817         if (!nr || this->goal_ == nr || this->root_ == nr)
 818                 return false;
 819         std::vector<RRTNode *> s; // DFS stack
 820         RRTNode *tmp;
 821         unsigned int i = 0;
 822         unsigned int to_del = 0;
 823         int iy = 0;
 824         s.push_back(this->root_);
 825         while (s.size() > 0) {
 826                 tmp = s.back();
 827                 s.pop_back();
 828                 for (auto ch: tmp->children()) {
 829                         if (ch != nr)
 830                                 s.push_back(ch);
 831                 }
 832                 to_del = this->nodes_.size();
 833                 #pragma omp parallel for reduction(min: to_del)
 834                 for (i = 0; i < this->nodes_.size(); i++) {
 835                         if (this->nodes_[i] == tmp)
 836                                 to_del = i;
 837                 }
 838                 if (to_del < this->nodes_.size())
 839                         this->nodes_.erase(this->nodes_.begin() + to_del);
 840                 iy = IYI(tmp->y());
 841                 to_del = this->iy_[iy].size();
 842                 #pragma omp parallel  for reduction(min: to_del)
 843                 for (i = 0; i < this->iy_[iy].size(); i++) {
 844                         if (this->iy_[iy][i] == tmp)
 845                                 to_del = i;
 846                 }
 847                 if (to_del < this->iy_[iy].size())
 848                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 849                 this->dnodes().push_back(tmp);
 850         }
 851         this->root_ = nr;
 852         this->root_->remove_parent();
 853         return true;
 854 }
 855
 856 std::vector<RRTNode *> RRTBase::findt()
 857 {
 858         return this->findt(this->goal_);
 859 }
 860
 861 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 862 {
 863         std::vector<RRTNode *> nodes;
 864         if (!n || !n->parent())
 865                 return nodes;
 866         while (n) {
 867                 nodes.push_back(n);
 868                 n = n->parent();
 869         }
 870         return nodes;
 871 }
 872
 873 // RRT Framework
 874 RRTNode *RRTBase::sample()
 875 {
 876         if (
 877                 this->samplingInfo_.x &&
 878                 this->samplingInfo_.dx &&
 879                 this->samplingInfo_.y &&
 880                 this->samplingInfo_.dy &&
 881                 this->samplingInfo_.sh &&
 882                 this->samplingInfo_.h &&
 883                 this->samplingInfo_.dh
 884         ) {
 885                 float x = this->samplingInfo_.x;
 886                 float y = this->samplingInfo_.y;
 887                 float h = 0;
 888                 std::normal_distribution<float> xdist(
 889                         0,
 890                         (this->samplingInfo_.r)
 891                                 ?this->samplingInfo_.r
 892                                 :BCAR_WIDTH * 2
 893                 );
 894                 std::normal_distribution<float> hdist(
 895                         0,
 896                         this->samplingInfo_.h / 3
 897                 );
 898                 if (!this->samplingInfo_.r) {
 899                         float dx = BCAR_WIDTH / 2 +
 900                                 std::abs(xdist(this->gen_));
 901                         x += dx * cos(
 902                                 this->samplingInfo_.sh +
 903                                 this->samplingInfo_.dx * M_PI / 2
 904                         );
 905                         y += dx * cos(
 906                                 this->samplingInfo_.sh +
 907                                 this->samplingInfo_.dx * M_PI / 2
 908                         );
 909                         std::normal_distribution<float> ydist(
 910                                 0,
 911                                 (this->samplingInfo_.r)
 912                                         ?this->samplingInfo_.r
 913                                         :BCAR_LENGTH / 3
 914                         );
 915                         float dy = ydist(this->gen_);
 916                         x += dy * cos(this->samplingInfo_.sh);
 917                         y += dy * sin(this->samplingInfo_.sh);
 918                         h = std::abs(hdist(this->gen_));
 919                 } else {
 920                         float dr = std::abs(xdist(this->gen_));
 921                         float dh = hdist(this->gen_);
 922                         x += dr * cos(this->samplingInfo_.sh + M_PI / 2 + dh);
 923                         y += dr * sin(this->samplingInfo_.sh + M_PI / 2 + dh);
 924                         h = -M_PI / 2 + dh;
 925                 }
 926                 return new RRTNode(
 927                         x,
 928                         y,
 929                         this->samplingInfo_.sh + this->samplingInfo_.dh * h
 930                 );
 931         } else {
 932                 return sa1();
 933         }
 934 }
 935
 936 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 937 {
 938         return co2(init, goal);
 939 }
 940
 941 RRTNode *RRTBase::nn(RRTNode *rs)
 942 {
 943         return nn4(this->iy_, rs, nullptr);
 944         //return nn3(this->iy_, rs, nullptr);
 945 }
 946
 947 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 948 {
 949         std::vector<RRTNode *> nvs;
 950         unsigned int iy = IYI(node->y());
 951         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 952         unsigned int i = 0; // vector index
 953         unsigned int j = 0; // array index
 954         unsigned int jmin = 0; // minimal j index
 955         unsigned int jmax = 0; // maximal j index
 956         jmin = iy - iy_dist;
 957         jmin = (jmin > 0) ? jmin : 0;
 958         jmax = iy + iy_dist + 1;
 959         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 960         #pragma omp parallel for reduction(merge: nvs)
 961         for (j = jmin; j < jmax; j++) {
 962                 #pragma omp parallel for reduction(merge: nvs)
 963                 for (i = 0; i < this->iy_[j].size(); i++) {
 964                         if (this->cost(this->iy_[j][i], node) < dist) {
 965                                 nvs.push_back(this->iy_[j][i]);
 966                         }
 967                 }
 968         }
 969         return nvs;
 970 }
 971
 972 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 973 {
 974         return st3(init, goal);
 975 }
 976
 977 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 978 {
 979         return st3(init, goal, step);
 980 }