base/rrtbase.cc

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is free software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #include <algorithm>
  19 #include <cmath>
  20 #include <omp.h>
  21 #include <queue>
  22 #include "bcar.h"
  23 #include "rrtbase.h"
  24 // OpenGL
  25 #include <GL/gl.h>
  26 #include <GL/glu.h>
  27 #include <SDL2/SDL.h>
  28 // RRT
  29 #include "sample.h"
  30 #include "cost.h"
  31 #include "steer.h"
  32 #include "nn.h"
  33 #include "nv.h"
  34
  35 extern SDL_Window* gw;
  36 extern SDL_GLContext gc;
  37
  38 RRTBase::~RRTBase()
  39 {
  40 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  41 // please uncommend the following code:
  42 //
  43 //        for (auto n: this->nodes_)
  44 //                if (n != this->root_)
  45 //                        delete n;
  46 //        for (auto n: this->dnodes_)
  47 //                if (n != this->root_ && n != this->goal_)
  48 //                        delete n;
  49 //        for (auto s: this->samples_)
  50 //                if (s != this->goal_)
  51 //                        delete s;
  52 //        for (auto edges: this->rlog_)
  53 //                for (auto e: edges)
  54 //                        delete e;
  55 //        delete this->root_;
  56 //        delete this->goal_;
  57 }
  58
  59 RRTBase::RRTBase():
  60         root_(new RRTNode()),
  61         goal_(new RRTNode())
  62 {
  63         this->nodes_.push_back(this->root_);
  64         this->add_iy(this->root_);
  65 }
  66
  67 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  68         root_(init),
  69         goal_(goal)
  70 {
  71         this->nodes_.push_back(init);
  72         this->add_iy(init);
  73 }
  74
  75 // getter
  76 RRTNode *RRTBase::root()
  77 {
  78         return this->root_;
  79 }
  80
  81 RRTNode *RRTBase::goal()
  82 {
  83         return this->goal_;
  84 }
  85
  86 std::vector<RRTNode *> &RRTBase::nodes()
  87 {
  88         return this->nodes_;
  89 }
  90
  91 std::vector<RRTNode *> &RRTBase::dnodes()
  92 {
  93         return this->dnodes_;
  94 }
  95
  96 std::vector<RRTNode *> &RRTBase::samples()
  97 {
  98         return this->samples_;
  99 }
 100
 101 std::vector<CircleObstacle> *RRTBase::co()
 102 {
 103         return this->cobstacles_;
 104 }
 105
 106 std::vector<SegmentObstacle> *RRTBase::so()
 107 {
 108         return this->sobstacles_;
 109 }
 110
 111 std::vector<float> &RRTBase::clog()
 112 {
 113         return this->clog_;
 114 }
 115
 116 std::vector<float> &RRTBase::nlog()
 117 {
 118         return this->nlog_;
 119 }
 120
 121 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 122 {
 123         return this->rlog_;
 124 }
 125
 126 std::vector<float> &RRTBase::slog()
 127 {
 128         return this->slog_;
 129 }
 130
 131 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 132 {
 133         return this->tlog_;
 134 }
 135
 136 bool RRTBase::goal_found()
 137 {
 138         return this->goal_found_;
 139 }
 140
 141 float RRTBase::elapsed()
 142 {
 143         std::chrono::duration<float> dt;
 144         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 145                         this->tend_ - this->tstart_);
 146         return dt.count();
 147 }
 148
 149 // setter
 150 void RRTBase::root(RRTNode *node)
 151 {
 152         this->root_ = node;
 153 }
 154
 155 void RRTBase::goal(RRTNode *node)
 156 {
 157         this->goal_ = node;
 158 }
 159
 160 bool RRTBase::logr(RRTNode *root)
 161 {
 162         std::vector<RRTEdge *> e; // Edges to log
 163         std::vector<RRTNode *> s; // DFS stack
 164         std::vector<RRTNode *> r; // reset visited_
 165         RRTNode *tmp;
 166         s.push_back(root);
 167         while (s.size() > 0) {
 168                 tmp = s.back();
 169                 s.pop_back();
 170                 if (!tmp->visit()) {
 171                         r.push_back(tmp);
 172                         for (auto ch: tmp->children()) {
 173                                 s.push_back(ch);
 174                                 e.push_back(new RRTEdge(tmp, ch));
 175                         }
 176                 }
 177         }
 178         for (auto n: r)
 179                 n->visit(false);
 180         this->rlog_.push_back(e);
 181         return true;
 182 }
 183
 184 float RRTBase::ocost(RRTNode *n)
 185 {
 186         float dist = 9999;
 187         for (auto o: *this->cobstacles_)
 188                 if (o.dist_to(n) < dist)
 189                         dist = o.dist_to(n);
 190         for (auto o: *this->sobstacles_)
 191                 if (o.dist_to(n) < dist)
 192                         dist = o.dist_to(n);
 193         return n->ocost(dist);
 194 }
 195
 196 bool RRTBase::tlog(std::vector<RRTNode *> t)
 197 {
 198         if (t.size() > 0) {
 199                 this->slog_.push_back(this->elapsed());
 200                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 201                 this->nlog_.push_back(this->nodes_.size());
 202                 this->tlog_.push_back(t);
 203                 return true;
 204         } else {
 205                 return false;
 206         }
 207 }
 208
 209 void RRTBase::tstart()
 210 {
 211         this->tstart_ = std::chrono::high_resolution_clock::now();
 212 }
 213
 214 void RRTBase::tend()
 215 {
 216         this->tend_ = std::chrono::high_resolution_clock::now();
 217 }
 218
 219 bool RRTBase::link_obstacles(
 220                 std::vector<CircleObstacle> *cobstacles,
 221                 std::vector<SegmentObstacle> *sobstacles)
 222 {
 223         this->cobstacles_ = cobstacles;
 224         this->sobstacles_ = sobstacles;
 225         if (!this->cobstacles_ || !this->sobstacles_) {
 226                 return false;
 227         }
 228         return true;
 229 }
 230
 231 bool RRTBase::add_iy(RRTNode *n)
 232 {
 233         int i = IYI(n->y());
 234         if (i < 0)
 235                 i = 0;
 236         if (i >= IYSIZE)
 237                 i = IYSIZE - 1;
 238         this->iy_[i].push_back(n);
 239         return true;
 240 }
 241
 242 bool RRTBase::goal_found(bool f)
 243 {
 244         this->goal_found_ = f;
 245         return f;
 246 }
 247
 248 // other
 249 bool RRTBase::glplot()
 250 {
 251         glClear(GL_COLOR_BUFFER_BIT);
 252         glLineWidth(1);
 253         glPointSize(1);
 254         // Plot obstacles
 255         glBegin(GL_LINES);
 256         for (auto o: *this->sobstacles_) {
 257                 glColor3f(0, 0, 0);
 258                 glVertex2f(GLVERTEX(o.init()));
 259                 glVertex2f(GLVERTEX(o.goal()));
 260         }
 261         glEnd();
 262         // Plot root, goal
 263         glPointSize(8);
 264         glBegin(GL_POINTS);
 265         glColor3f(1, 0, 0);
 266         glVertex2f(GLVERTEX(this->root_));
 267         glVertex2f(GLVERTEX(this->goal_));
 268         glEnd();
 269         // Plot last sample
 270         if (this->samples_.size() > 0) {
 271                 glPointSize(8);
 272                 glBegin(GL_POINTS);
 273                 glColor3f(0, 1, 0);
 274                 glVertex2f(GLVERTEX(this->samples_.back()));
 275                 glEnd();
 276         }
 277         // Plot nodes
 278         std::vector<RRTNode *> s; // DFS stack
 279         std::vector<RRTNode *> r; // reset visited_
 280         RRTNode *tmp;
 281         glBegin(GL_LINES);
 282         s.push_back(this->root_);
 283         while (s.size() > 0) {
 284                 tmp = s.back();
 285                 s.pop_back();
 286                 if (!tmp->visit()) {
 287                         r.push_back(tmp);
 288                         for (auto ch: tmp->children()) {
 289                                 s.push_back(ch);
 290                                 glColor3f(0.5, 0.5, 0.5);
 291                                 glVertex2f(GLVERTEX(tmp));
 292                                 glVertex2f(GLVERTEX(ch));
 293                         }
 294                 }
 295         }
 296         glEnd();
 297         // Plot nodes (from goal)
 298         glBegin(GL_LINES);
 299         s.push_back(this->goal_);
 300         while (s.size() > 0) {
 301                 tmp = s.back();
 302                 s.pop_back();
 303                 if (!tmp->visit()) {
 304                         r.push_back(tmp);
 305                         for (auto ch: tmp->children()) {
 306                                 s.push_back(ch);
 307                                 glColor3f(0.5, 0.5, 0.5);
 308                                 glVertex2f(GLVERTEX(tmp));
 309                                 glVertex2f(GLVERTEX(ch));
 310                         }
 311                 }
 312         }
 313         glEnd();
 314         std::vector<RRTNode *> cusps;
 315         // Plot last trajectory
 316         if (this->tlog().size() > 0) {
 317                 glLineWidth(2);
 318                 glBegin(GL_LINES);
 319                 for (auto n: this->tlog().back()) {
 320                         if (n->parent()) {
 321                                 glColor3f(0, 0, 1);
 322                                 glVertex2f(GLVERTEX(n));
 323                                 glVertex2f(GLVERTEX(n->parent()));
 324                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 325                                         cusps.push_back(n);
 326                         }
 327                 }
 328                 glEnd();
 329         }
 330         // Plot cusps
 331         glPointSize(8);
 332         glBegin(GL_POINTS);
 333         for (auto n: cusps) {
 334                 glColor3f(0, 0, 1);
 335                 glVertex2f(GLVERTEX(n));
 336         }
 337         glEnd();
 338         SDL_GL_SwapWindow(gw);
 339         for (auto n: r)
 340                 n->visit(false);
 341         return true;
 342 }
 343
 344 bool RRTBase::goal_found(
 345                 RRTNode *node,
 346                 float (*cost)(RRTNode *, RRTNode* ))
 347 {
 348         float xx = pow(node->x() - this->goal_->x(), 2);
 349         float yy = pow(node->y() - this->goal_->y(), 2);
 350         float dh = std::abs(node->h() - this->goal_->h());
 351         if (IS_NEAR(node, this->goal_)) {
 352                 if (this->goal_found_) {
 353                         if (node->ccost() + (*cost)(node, this->goal_) <
 354                                         this->goal_->ccost()) {
 355                                 RRTNode *op; // old parent
 356                                 float oc; // old cumulative cost
 357                                 float od; // old direct cost
 358                                 op = this->goal_->parent();
 359                                 oc = this->goal_->ccost();
 360                                 od = this->goal_->dcost();
 361                                 node->add_child(this->goal_,
 362                                                 (*cost)(node, this->goal_));
 363                                 if (this->collide(node, this->goal_)) {
 364                                         node->children().pop_back();
 365                                         this->goal_->parent(op);
 366                                         this->goal_->ccost(oc);
 367                                         this->goal_->dcost(od);
 368                                 } else {
 369                                         op->rem_child(this->goal_);
 370                                         return true;
 371                                 }
 372                         } else {
 373                                 return false;
 374                         }
 375                 } else {
 376                         node->add_child(
 377                                         this->goal_,
 378                                         (*cost)(node, this->goal_));
 379                         if (this->collide(node, this->goal_)) {
 380                                 node->children().pop_back();
 381                                 this->goal_->remove_parent();
 382                                 return false;
 383                         }
 384                         this->goal_found_ = true;
 385                         return true;
 386                 }
 387         }
 388         return false;
 389 }
 390
 391 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 392 {
 393         std::vector<RRTEdge *> edges;
 394         RRTNode *tmp = goal;
 395         volatile bool col = false;
 396         unsigned int i;
 397         while (tmp != init) {
 398                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 399                 std::vector<RRTEdge *> bcframe = bc.frame();
 400                 #pragma omp parallel for reduction(|: col)
 401                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 402                         if ((*this->cobstacles_)[i].collide(tmp)) {
 403                                 col = true;
 404                         }
 405                         for (auto &e: bcframe) {
 406                                 if ((*this->cobstacles_)[i].collide(e)) {
 407                                         col = true;
 408                                 }
 409                         }
 410                 }
 411                 if (col) {
 412                         for (auto e: bcframe) {
 413                                 delete e->init();
 414                                 delete e->goal();
 415                                 delete e;
 416                         }
 417                         for (auto e: edges) {
 418                                 delete e;
 419                         }
 420                         return true;
 421                 }
 422                 #pragma omp parallel for reduction(|: col)
 423                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 424                         for (auto &e: bcframe) {
 425                                 if ((*this->sobstacles_)[i].collide(e)) {
 426                                         col = true;
 427                                 }
 428                         }
 429                 }
 430                 if (col) {
 431                         for (auto e: bcframe) {
 432                                 delete e->init();
 433                                 delete e->goal();
 434                                 delete e;
 435                         }
 436                         for (auto e: edges) {
 437                                 delete e;
 438                         }
 439                         return true;
 440                 }
 441                 if (!tmp->parent()) {
 442                         break;
 443                 }
 444                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 445                 tmp = tmp->parent();
 446                 for (auto e: bcframe) {
 447                         delete e->init();
 448                         delete e->goal();
 449                         delete e;
 450                 }
 451         }
 452         for (auto &e: edges) {
 453                 #pragma omp parallel for reduction(|: col)
 454                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 455                         if ((*this->cobstacles_)[i].collide(e)) {
 456                                 col = true;
 457                         }
 458                 }
 459                 if (col) {
 460                         for (auto e: edges) {
 461                                 delete e;
 462                         }
 463                         return true;
 464                 }
 465                 #pragma omp parallel for reduction(|: col)
 466                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 467                         if ((*this->sobstacles_)[i].collide(e)) {
 468                                 col = true;
 469                         }
 470                 }
 471                 if (col) {
 472                         for (auto e: edges) {
 473                                 delete e;
 474                         }
 475                         return true;
 476                 }
 477         }
 478         for (auto e: edges) {
 479                 delete e;
 480         }
 481         return false;
 482 }
 483
 484 class RRTNodeDijkstra {
 485         public:
 486                 RRTNodeDijkstra(int i):
 487                         ni(i),
 488                         pi(0),
 489                         c(9999),
 490                         v(false)
 491                 {};
 492                 RRTNodeDijkstra(int i, float c):
 493                         ni(i),
 494                         pi(0),
 495                         c(c),
 496                         v(false)
 497                 {};
 498                 RRTNodeDijkstra(int i, int p, float c):
 499                         ni(i),
 500                         pi(p),
 501                         c(c),
 502                         v(false)
 503                 {};
 504                 unsigned int ni;
 505                 unsigned int pi;
 506                 float c;
 507                 bool v;
 508                 bool vi()
 509                 {
 510                         if (this->v)
 511                                 return true;
 512                         this->v = true;
 513                         return false;
 514                 };
 515 };
 516
 517 class RRTNodeDijkstraComparator {
 518         public:
 519                 int operator() (
 520                                 const RRTNodeDijkstra& n1,
 521                                 const RRTNodeDijkstra& n2)
 522                 {
 523                         return n1.c > n2.c;
 524                 }
 525 };
 526
 527 bool RRTBase::optp_dijkstra(
 528                 std::vector<RRTNode *> &cusps,
 529                 std::vector<int> &npi)
 530 {
 531         std::vector<RRTNodeDijkstra> dnodes;
 532         for (unsigned int i = 0; i < cusps.size(); i++)
 533                 if (i > 0)
 534                         dnodes.push_back(RRTNodeDijkstra(
 535                                                 i,
 536                                                 i - 1,
 537                                                 cusps[i]->ccost()));
 538                 else
 539                         dnodes.push_back(RRTNodeDijkstra(
 540                                                 i,
 541                                                 cusps[i]->ccost()));
 542         dnodes[0].vi();
 543         std::priority_queue<
 544                 RRTNodeDijkstra,
 545                 std::vector<RRTNodeDijkstra>,
 546                 RRTNodeDijkstraComparator> pq;
 547         RRTNodeDijkstra tmp = dnodes[0];
 548         pq.push(tmp);
 549         float ch_cost = 9999;
 550         std::vector<RRTNode *> steered;
 551         while (!pq.empty()) {
 552                 tmp = pq.top();
 553                 pq.pop();
 554                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 555                         ch_cost = dnodes[tmp.ni].c +
 556                                 this->cost(cusps[tmp.ni], cusps[i]);
 557                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 558                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 559                                 steered[j]->add_child(steered[j + 1], 1);
 560                         if (this->collide(
 561                                         steered[0],
 562                                         steered[steered.size() - 1])) {
 563                                 for (auto n: steered)
 564                                         delete n;
 565                                 continue;
 566                         }
 567                         if (ch_cost < dnodes[i].c) {
 568                                 dnodes[i].c = ch_cost;
 569                                 dnodes[i].pi = tmp.ni;
 570                                 if (!dnodes[i].vi())
 571                                         pq.push(dnodes[i]);
 572                         }
 573                         for (auto n: steered)
 574                                 delete n;
 575                 }
 576         }
 577         unsigned int tmpi = 0;
 578         for (auto n: dnodes) {
 579                 if (n.v && n.ni > tmpi)
 580                         tmpi = n.ni;
 581         }
 582         while (tmpi > 0) {
 583                 npi.push_back(tmpi);
 584                 tmpi = dnodes[tmpi].pi;
 585         }
 586         npi.push_back(tmpi);
 587         std::reverse(npi.begin(), npi.end());
 588         return true;
 589 }
 590
 591 bool RRTBase::optp_rrp(
 592                 std::vector<RRTNode *> &cusps,
 593                 std::vector<int> &npi)
 594 {
 595         std::vector<RRTNode *> steered;
 596         std::vector<int> candidates;
 597         RRTNode *x_j = nullptr;
 598         RRTNode *x_i = nullptr;
 599         int j = cusps.size() - 1;
 600         int i_min = 0;
 601         float c_min = 0;
 602         float cost = 0;
 603         float dx = 0;
 604         float dy = 0;
 605         float ed = 0;
 606         float th_i = 0;
 607         float th_j = 0;
 608         while (j > 0) {
 609                 npi.push_back(j);
 610                 steered.clear();
 611                 candidates.clear();
 612                 x_j = cusps[j];
 613                 for (int i = 0; i < j; i++) {
 614                         steered = this->steer(cusps[i], x_j);
 615                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 616                                 steered[k]->add_child(steered[k + 1], 1);
 617                         if (!this->collide(
 618                                         steered[0],
 619                                         steered[steered.size() - 1]))
 620                                 candidates.push_back(i);
 621                 }
 622                 if (candidates.size() <= 0)
 623                         return false;
 624                 i_min = candidates[0];
 625                 x_i = cusps[i_min];
 626                 c_min = 9999;
 627                 for (auto c: candidates) {
 628                         x_i = cusps[c];
 629                         dx = x_j->x() - x_i->x();
 630                         dy = x_j->y() - x_i->y();
 631                         ed = EDIST(x_i, x_j);
 632                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 633                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 634                         cost = th_i + th_j;
 635                         if (cost < c_min) {
 636                                 i_min = c;
 637                                 c_min = cost;
 638                         }
 639                 }
 640                 j = i_min;
 641
 642         }
 643         npi.push_back(j);
 644         std::reverse(npi.begin(), npi.end());
 645         return true;
 646 }
 647
 648 bool RRTBase::optp_smart(
 649                 std::vector<RRTNode *> &cusps,
 650                 std::vector<int> &npi)
 651 {
 652         std::vector<RRTNode *> steered;
 653         int li = cusps.size() - 1;
 654         int ai = li - 1;
 655         npi.push_back(li);
 656         while (ai > 1) {
 657                 steered = this->steer(cusps[ai - 1], cusps[li]);
 658                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 659                         steered[j]->add_child(steered[j + 1], 1);
 660                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 661                         npi.push_back(ai);
 662                         li = ai;
 663                 }
 664                 ai--;
 665                 for (auto n: steered)
 666                         delete n;
 667         }
 668         npi.push_back(0);
 669         std::reverse(npi.begin(), npi.end());
 670         return true;
 671 }
 672
 673 bool RRTBase::opt_path()
 674 {
 675         if (this->tlog().size() == 0)
 676                 return false;
 677         float oc = this->tlog().back().front()->ccost();
 678         std::vector<RRTNode *> tmp_cusps;
 679         for (auto n: this->tlog().back()) {
 680                 if (sgn(n->s()) == 0) {
 681                         tmp_cusps.push_back(n);
 682                 } else if (n->parent() &&
 683                                 sgn(n->s()) != sgn(n->parent()->s())) {
 684                         tmp_cusps.push_back(n);
 685                         tmp_cusps.push_back(n->parent());
 686                 }
 687                 //tmp_cusps.push_back(n);
 688         }
 689         if (tmp_cusps.size() < 2)
 690                 return false;
 691         std::vector<RRTNode *> cusps;
 692         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 693                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 694                         cusps.push_back(tmp_cusps[i]);
 695         }
 696         std::reverse(cusps.begin(), cusps.end());
 697         std::vector<int> npi; // new path indexes
 698         if (!this->optp_dijkstra(cusps, npi))
 699                 return false;
 700         RRTNode *pn = cusps[npi[0]];
 701         RRTNode *tmp = nullptr;
 702         bool en_add = true;
 703         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 704                 pn = cusps[npi[i]];
 705                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 706                         if (!en_add) {
 707                                 delete ns;
 708                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 709                                 tmp = ns;
 710                                 while (tmp && tmp != cusps[npi[i]]) {
 711                                         pn = tmp->parent();
 712                                         delete tmp;
 713                                         tmp = pn;
 714                                 }
 715                                 pn = cusps[npi[i]];
 716                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 717                                 delete ns;
 718                                 cusps[npi[i + 1]]->parent()->rem_child(
 719                                                 cusps[npi[i + 1]]);
 720                                 pn->add_child(
 721                                         cusps[npi[i + 1]],
 722                                         this->cost(pn, cusps[npi[i + 1]]));
 723                                 en_add = false;
 724                         } else if (IS_NEAR(pn, ns)) {
 725                                 delete ns;
 726                         } else {
 727                                 this->nodes().push_back(ns);
 728                                 this->add_iy(ns);
 729                                 pn->add_child(ns, this->cost(pn, ns));
 730                                 pn = ns;
 731                         }
 732                 }
 733         }
 734         this->root()->update_ccost();
 735         if (this->tlog().back().front()->ccost() < oc)
 736                 return true;
 737         return false;
 738 }
 739
 740 bool RRTBase::rebase(RRTNode *nr)
 741 {
 742         if (!nr || this->goal_ == nr || this->root_ == nr)
 743                 return false;
 744         std::vector<RRTNode *> s; // DFS stack
 745         RRTNode *tmp;
 746         unsigned int i = 0;
 747         unsigned int to_del = 0;
 748         int iy = 0;
 749         s.push_back(this->root_);
 750         while (s.size() > 0) {
 751                 tmp = s.back();
 752                 s.pop_back();
 753                 for (auto ch: tmp->children()) {
 754                         if (ch != nr)
 755                                 s.push_back(ch);
 756                 }
 757                 to_del = this->nodes_.size();
 758                 #pragma omp parallel for reduction(min: to_del)
 759                 for (i = 0; i < this->nodes_.size(); i++) {
 760                         if (this->nodes_[i] == tmp)
 761                                 to_del = i;
 762                 }
 763                 if (to_del < this->nodes_.size())
 764                         this->nodes_.erase(this->nodes_.begin() + to_del);
 765                 iy = IYI(tmp->y());
 766                 to_del = this->iy_[iy].size();
 767                 #pragma omp parallel  for reduction(min: to_del)
 768                 for (i = 0; i < this->iy_[iy].size(); i++) {
 769                         if (this->iy_[iy][i] == tmp)
 770                                 to_del = i;
 771                 }
 772                 if (to_del < this->iy_[iy].size())
 773                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 774                 this->dnodes().push_back(tmp);
 775         }
 776         this->root_ = nr;
 777         this->root_->remove_parent();
 778         return true;
 779 }
 780
 781 std::vector<RRTNode *> RRTBase::findt()
 782 {
 783         return this->findt(this->goal_);
 784 }
 785
 786 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 787 {
 788         std::vector<RRTNode *> nodes;
 789         if (!n || !n->parent())
 790                 return nodes;
 791         while (n) {
 792                 nodes.push_back(n);
 793                 n = n->parent();
 794         }
 795         return nodes;
 796 }
 797
 798 // RRT Framework
 799 RRTNode *RRTBase::sample()
 800 {
 801         return sa1();
 802 }
 803
 804 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 805 {
 806         return co2(init, goal);
 807 }
 808
 809 RRTNode *RRTBase::nn(RRTNode *rs)
 810 {
 811         return nn4(this->iy_, rs, nullptr);
 812         //return nn3(this->iy_, rs, nullptr);
 813 }
 814
 815 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 816 {
 817         std::vector<RRTNode *> nvs;
 818         unsigned int iy = IYI(node->y());
 819         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 820         unsigned int i = 0; // vector index
 821         unsigned int j = 0; // array index
 822         unsigned int jmin = 0; // minimal j index
 823         unsigned int jmax = 0; // maximal j index
 824         jmin = iy - iy_dist;
 825         jmin = (jmin > 0) ? jmin : 0;
 826         jmax = iy + iy_dist + 1;
 827         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 828         #pragma omp parallel for reduction(merge: nvs)
 829         for (j = jmin; j < jmax; j++) {
 830                 #pragma omp parallel for reduction(merge: nvs)
 831                 for (i = 0; i < this->iy_[j].size(); i++) {
 832                         if (this->cost(this->iy_[j][i], node) < dist) {
 833                                 nvs.push_back(this->iy_[j][i]);
 834                         }
 835                 }
 836         }
 837         return nvs;
 838 }
 839
 840 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 841 {
 842         return st3(init, goal);
 843 }
 844
 845 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 846 {
 847         return st3(init, goal, step);
 848 }