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::goals()
 128 {
 129         return this->goals_;
 130 }
 131
 132 std::vector<RRTNode *> &RRTBase::nodes()
 133 {
 134         return this->nodes_;
 135 }
 136
 137 std::vector<RRTNode *> &RRTBase::dnodes()
 138 {
 139         return this->dnodes_;
 140 }
 141
 142 PolygonObstacle &RRTBase::frame()
 143 {
 144         return this->frame_;
 145 }
 146
 147 std::vector<RRTNode *> &RRTBase::samples()
 148 {
 149         return this->samples_;
 150 }
 151
 152 std::vector<CircleObstacle> *RRTBase::co()
 153 {
 154         return this->cobstacles_;
 155 }
 156
 157 std::vector<SegmentObstacle> *RRTBase::so()
 158 {
 159         return this->sobstacles_;
 160 }
 161
 162 std::vector<float> &RRTBase::clog()
 163 {
 164         return this->clog_;
 165 }
 166
 167 std::vector<float> &RRTBase::nlog()
 168 {
 169         return this->nlog_;
 170 }
 171
 172 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 173 {
 174         return this->rlog_;
 175 }
 176
 177 std::vector<float> &RRTBase::slog()
 178 {
 179         return this->slog_;
 180 }
 181
 182 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 183 {
 184         return this->tlog_;
 185 }
 186
 187 std::vector<RRTNode *> &RRTBase::slot_cusp()
 188 {
 189         return this->slot_cusp_;
 190 }
 191
 192 bool RRTBase::goal_found()
 193 {
 194         return this->goal_found_;
 195 }
 196
 197 float RRTBase::elapsed()
 198 {
 199         std::chrono::duration<float> dt;
 200         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 201                         this->tend_ - this->tstart_);
 202         return dt.count();
 203 }
 204
 205 std::vector<RRTNode *> RRTBase::traj_cusp()
 206 {
 207         std::vector<RRTNode *> tmp_cusps;
 208         for (auto n: this->tlog().back()) {
 209                 if (sgn(n->s()) == 0) {
 210                         tmp_cusps.push_back(n);
 211                 } else if (n->parent() &&
 212                                 sgn(n->s()) != sgn(n->parent()->s())) {
 213                         tmp_cusps.push_back(n);
 214                         tmp_cusps.push_back(n->parent());
 215                 }
 216         }
 217         std::vector<RRTNode *> cusps;
 218         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 219                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 220                         cusps.push_back(tmp_cusps[i]);
 221         }
 222         return cusps;
 223 }
 224
 225 // setter
 226 void RRTBase::root(RRTNode *node)
 227 {
 228         this->root_ = node;
 229 }
 230
 231 void RRTBase::goal(RRTNode *node)
 232 {
 233         this->goal_ = node;
 234 }
 235
 236 void RRTBase::goals(std::vector<RRTNode *> g)
 237 {
 238         this->goals_ = g;
 239         std::reverse(this->goals_.begin(), this->goals_.end());
 240         RRTNode *pn = this->goals_.front();
 241         for (auto n: this->goals_) {
 242                 if (n != pn) {
 243                         pn->add_child(n, this->cost(pn ,n));
 244                         pn = n;
 245                 }
 246         }
 247 }
 248
 249 bool RRTBase::logr(RRTNode *root)
 250 {
 251         std::vector<RRTEdge *> e; // Edges to log
 252         std::vector<RRTNode *> s; // DFS stack
 253         std::vector<RRTNode *> r; // reset visited_
 254         RRTNode *tmp;
 255         s.push_back(root);
 256         while (s.size() > 0) {
 257                 tmp = s.back();
 258                 s.pop_back();
 259                 if (!tmp->visit()) {
 260                         r.push_back(tmp);
 261                         for (auto ch: tmp->children()) {
 262                                 s.push_back(ch);
 263                                 e.push_back(new RRTEdge(tmp, ch));
 264                         }
 265                 }
 266         }
 267         for (auto n: r)
 268                 n->visit(false);
 269         this->rlog_.push_back(e);
 270         return true;
 271 }
 272
 273 float RRTBase::ocost(RRTNode *n)
 274 {
 275         float dist = 9999;
 276         for (auto o: *this->cobstacles_)
 277                 if (o.dist_to(n) < dist)
 278                         dist = o.dist_to(n);
 279         for (auto o: *this->sobstacles_)
 280                 if (o.dist_to(n) < dist)
 281                         dist = o.dist_to(n);
 282         return n->ocost(dist);
 283 }
 284
 285 bool RRTBase::tlog(std::vector<RRTNode *> t)
 286 {
 287         if (t.size() > 0) {
 288                 this->slog_.push_back(this->elapsed());
 289                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 290                 this->nlog_.push_back(this->nodes_.size());
 291                 this->tlog_.push_back(t);
 292                 return true;
 293         } else {
 294                 return false;
 295         }
 296 }
 297
 298 void RRTBase::tstart()
 299 {
 300         this->tstart_ = std::chrono::high_resolution_clock::now();
 301 }
 302
 303 void RRTBase::tend()
 304 {
 305         this->tend_ = std::chrono::high_resolution_clock::now();
 306 }
 307
 308 bool RRTBase::link_obstacles(
 309                 std::vector<CircleObstacle> *cobstacles,
 310                 std::vector<SegmentObstacle> *sobstacles)
 311 {
 312         this->cobstacles_ = cobstacles;
 313         this->sobstacles_ = sobstacles;
 314         if (!this->cobstacles_ || !this->sobstacles_) {
 315                 return false;
 316         }
 317         return true;
 318 }
 319
 320 bool RRTBase::add_iy(RRTNode *n)
 321 {
 322         int i = IYI(n->y());
 323         if (i < 0)
 324                 i = 0;
 325         if (i >= IYSIZE)
 326                 i = IYSIZE - 1;
 327         this->iy_[i].push_back(n);
 328         return true;
 329 }
 330
 331 bool RRTBase::add_ixy(RRTNode *n)
 332 {
 333         int ix = IXI(n->x());
 334         if (ix < 0)
 335                 ix = 0;
 336         if (ix >= IXSIZE)
 337                 ix = IXSIZE - 1;
 338         int iy = IYI(n->y());
 339         if (iy < 0)
 340                 iy = 0;
 341         if (iy >= IYSIZE)
 342                 iy = IYSIZE - 1;
 343         this->ixy_[ix][iy].add_node(n);
 344         return true;
 345 }
 346
 347 bool RRTBase::goal_found(bool f)
 348 {
 349         this->goal_found_ = f;
 350         return f;
 351 }
 352
 353 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 354 {
 355         for (unsigned int i = 0; i < sc.size() - 1; i++)
 356                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 357         sc[0]->parent(this->goal());
 358         this->slot_cusp_ = sc;
 359 }
 360
 361 // other
 362 bool RRTBase::glplot()
 363 {
 364 #if USE_GL > 0
 365         glClear(GL_COLOR_BUFFER_BIT);
 366         glLineWidth(1);
 367         glPointSize(1);
 368         // Plot obstacles
 369         glBegin(GL_LINES);
 370         for (auto o: *this->sobstacles_) {
 371                 glColor3f(0, 0, 0);
 372                 glVertex2f(GLVERTEX(o.init()));
 373                 glVertex2f(GLVERTEX(o.goal()));
 374         }
 375         glEnd();
 376         // Plot root, goal
 377         glPointSize(8);
 378         glBegin(GL_POINTS);
 379         glColor3f(1, 0, 0);
 380         glVertex2f(GLVERTEX(this->root_));
 381         glVertex2f(GLVERTEX(this->goal_));
 382         glEnd();
 383         // Plot last sample
 384         if (this->samples_.size() > 0) {
 385                 glPointSize(8);
 386                 glBegin(GL_POINTS);
 387                 glColor3f(0, 1, 0);
 388                 glVertex2f(GLVERTEX(this->samples_.back()));
 389                 glEnd();
 390         }
 391         // Plot nodes
 392         std::vector<RRTNode *> s; // DFS stack
 393         std::vector<RRTNode *> r; // reset visited_
 394         RRTNode *tmp;
 395         glBegin(GL_LINES);
 396         s.push_back(this->root_);
 397         while (s.size() > 0) {
 398                 tmp = s.back();
 399                 s.pop_back();
 400                 if (!tmp->visit()) {
 401                         r.push_back(tmp);
 402                         for (auto ch: tmp->children()) {
 403                                 s.push_back(ch);
 404                                 glColor3f(0.5, 0.5, 0.5);
 405                                 glVertex2f(GLVERTEX(tmp));
 406                                 glVertex2f(GLVERTEX(ch));
 407                         }
 408                 }
 409         }
 410         glEnd();
 411         // Plot nodes (from goal)
 412         glBegin(GL_LINES);
 413         s.push_back(this->goal_);
 414         while (s.size() > 0) {
 415                 tmp = s.back();
 416                 s.pop_back();
 417                 if (!tmp->visit()) {
 418                         r.push_back(tmp);
 419                         for (auto ch: tmp->children()) {
 420                                 s.push_back(ch);
 421                                 glColor3f(0.5, 0.5, 0.5);
 422                                 glVertex2f(GLVERTEX(tmp));
 423                                 glVertex2f(GLVERTEX(ch));
 424                         }
 425                 }
 426         }
 427         glEnd();
 428         std::vector<RRTNode *> cusps;
 429         // Plot last trajectory
 430         if (this->tlog().size() > 0) {
 431                 glLineWidth(2);
 432                 glBegin(GL_LINES);
 433                 for (auto n: this->tlog().back()) {
 434                         if (n->parent()) {
 435                                 glColor3f(0, 0, 1);
 436                                 glVertex2f(GLVERTEX(n));
 437                                 glVertex2f(GLVERTEX(n->parent()));
 438                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 439                                         cusps.push_back(n);
 440                         }
 441                 }
 442                 glEnd();
 443         }
 444         // Plot cusps
 445         glPointSize(8);
 446         glBegin(GL_POINTS);
 447         for (auto n: cusps) {
 448                 glColor3f(0, 0, 1);
 449                 glVertex2f(GLVERTEX(n));
 450         }
 451         glEnd();
 452         SDL_GL_SwapWindow(gw);
 453         for (auto n: r)
 454                 n->visit(false);
 455 #endif
 456         return true;
 457 }
 458
 459 bool RRTBase::goal_found(
 460                 RRTNode *node,
 461                 float (*cost)(RRTNode *, RRTNode* ))
 462 {
 463         if (IS_NEAR(node, this->goal_)) {
 464                 if (this->goal_found_) {
 465                         if (node->ccost() + this->cost(node, this->goal_) <
 466                                         this->goal_->ccost()) {
 467                                 RRTNode *op; // old parent
 468                                 float oc; // old cumulative cost
 469                                 float od; // old direct cost
 470                                 op = this->goal_->parent();
 471                                 oc = this->goal_->ccost();
 472                                 od = this->goal_->dcost();
 473                                 node->add_child(this->goal_,
 474                                                 this->cost(node, this->goal_));
 475                                 if (this->collide(node, this->goal_)) {
 476                                         node->children().pop_back();
 477                                         this->goal_->parent(op);
 478                                         this->goal_->ccost(oc);
 479                                         this->goal_->dcost(od);
 480                                 } else {
 481                                         op->rem_child(this->goal_);
 482                                         return true;
 483                                 }
 484                         } else {
 485                                 return false;
 486                         }
 487                 } else {
 488                         node->add_child(
 489                                         this->goal_,
 490                                         this->cost(node, this->goal_));
 491                         if (this->collide(node, this->goal_)) {
 492                                 node->children().pop_back();
 493                                 this->goal_->remove_parent();
 494                                 return false;
 495                         }
 496                         this->goal_found_ = true;
 497                         return true;
 498                 }
 499         }
 500         return false;
 501 }
 502
 503 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 504 {
 505         std::vector<RRTEdge *> edges;
 506         RRTNode *tmp = goal;
 507         volatile bool col = false;
 508         unsigned int i;
 509         while (tmp != init) {
 510                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 511                 std::vector<RRTEdge *> bcframe = bc.frame();
 512                 #pragma omp parallel for reduction(|: col)
 513                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 514                         if ((*this->cobstacles_)[i].collide(tmp)) {
 515                                 col = true;
 516                         }
 517                         for (auto &e: bcframe) {
 518                                 if ((*this->cobstacles_)[i].collide(e)) {
 519                                         col = true;
 520                                 }
 521                         }
 522                 }
 523                 if (col) {
 524                         for (auto e: bcframe) {
 525                                 delete e->init();
 526                                 delete e->goal();
 527                                 delete e;
 528                         }
 529                         for (auto e: edges) {
 530                                 delete e;
 531                         }
 532                         return true;
 533                 }
 534                 #pragma omp parallel for reduction(|: col)
 535                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 536                         for (auto &e: bcframe) {
 537                                 if ((*this->sobstacles_)[i].collide(e)) {
 538                                         col = true;
 539                                 }
 540                         }
 541                 }
 542                 if (col) {
 543                         for (auto e: bcframe) {
 544                                 delete e->init();
 545                                 delete e->goal();
 546                                 delete e;
 547                         }
 548                         for (auto e: edges) {
 549                                 delete e;
 550                         }
 551                         return true;
 552                 }
 553                 if (!tmp->parent()) {
 554                         break;
 555                 }
 556                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 557                 tmp = tmp->parent();
 558                 for (auto e: bcframe) {
 559                         delete e->init();
 560                         delete e->goal();
 561                         delete e;
 562                 }
 563         }
 564         for (auto &e: edges) {
 565                 #pragma omp parallel for reduction(|: col)
 566                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 567                         if ((*this->cobstacles_)[i].collide(e)) {
 568                                 col = true;
 569                         }
 570                 }
 571                 if (col) {
 572                         for (auto e: edges) {
 573                                 delete e;
 574                         }
 575                         return true;
 576                 }
 577                 #pragma omp parallel for reduction(|: col)
 578                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 579                         if ((*this->sobstacles_)[i].collide(e)) {
 580                                 col = true;
 581                         }
 582                 }
 583                 if (col) {
 584                         for (auto e: edges) {
 585                                 delete e;
 586                         }
 587                         return true;
 588                 }
 589         }
 590         for (auto e: edges) {
 591                 delete e;
 592         }
 593         return false;
 594 }
 595
 596 class RRTNodeDijkstra {
 597         public:
 598                 RRTNodeDijkstra(int i):
 599                         ni(i),
 600                         pi(0),
 601                         c(9999),
 602                         v(false)
 603                 {};
 604                 RRTNodeDijkstra(int i, float c):
 605                         ni(i),
 606                         pi(0),
 607                         c(c),
 608                         v(false)
 609                 {};
 610                 RRTNodeDijkstra(int i, int p, float c):
 611                         ni(i),
 612                         pi(p),
 613                         c(c),
 614                         v(false)
 615                 {};
 616                 unsigned int ni;
 617                 unsigned int pi;
 618                 float c;
 619                 bool v;
 620                 bool vi()
 621                 {
 622                         if (this->v)
 623                                 return true;
 624                         this->v = true;
 625                         return false;
 626                 };
 627 };
 628
 629 class RRTNodeDijkstraComparator {
 630         public:
 631                 int operator() (
 632                                 const RRTNodeDijkstra& n1,
 633                                 const RRTNodeDijkstra& n2)
 634                 {
 635                         return n1.c > n2.c;
 636                 }
 637 };
 638
 639 bool RRTBase::optp_dijkstra(
 640                 std::vector<RRTNode *> &cusps,
 641                 std::vector<int> &npi)
 642 {
 643         std::vector<RRTNodeDijkstra> dnodes;
 644         for (unsigned int i = 0; i < cusps.size(); i++)
 645                 if (i > 0)
 646                         dnodes.push_back(RRTNodeDijkstra(
 647                                                 i,
 648                                                 i - 1,
 649                                                 cusps[i]->ccost()));
 650                 else
 651                         dnodes.push_back(RRTNodeDijkstra(
 652                                                 i,
 653                                                 cusps[i]->ccost()));
 654         dnodes[0].vi();
 655         std::priority_queue<
 656                 RRTNodeDijkstra,
 657                 std::vector<RRTNodeDijkstra>,
 658                 RRTNodeDijkstraComparator> pq;
 659         RRTNodeDijkstra tmp = dnodes[0];
 660         pq.push(tmp);
 661         float ch_cost = 9999;
 662         std::vector<RRTNode *> steered;
 663         while (!pq.empty()) {
 664                 tmp = pq.top();
 665                 pq.pop();
 666                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 667                         ch_cost = dnodes[tmp.ni].c +
 668                                 this->cost(cusps[tmp.ni], cusps[i]);
 669                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 670                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 671                                 steered[j]->add_child(steered[j + 1], 1);
 672                         if (this->collide(
 673                                         steered[0],
 674                                         steered[steered.size() - 1])) {
 675                                 for (auto n: steered)
 676                                         delete n;
 677                                 continue;
 678                         }
 679                         if (ch_cost < dnodes[i].c) {
 680                                 dnodes[i].c = ch_cost;
 681                                 dnodes[i].pi = tmp.ni;
 682                                 if (!dnodes[i].vi())
 683                                         pq.push(dnodes[i]);
 684                         }
 685                         for (auto n: steered)
 686                                 delete n;
 687                 }
 688         }
 689         unsigned int tmpi = 0;
 690         for (auto n: dnodes) {
 691                 if (n.v && n.ni > tmpi)
 692                         tmpi = n.ni;
 693         }
 694         while (tmpi > 0) {
 695                 npi.push_back(tmpi);
 696                 tmpi = dnodes[tmpi].pi;
 697         }
 698         npi.push_back(tmpi);
 699         std::reverse(npi.begin(), npi.end());
 700         return true;
 701 }
 702
 703 bool RRTBase::optp_rrp(
 704                 std::vector<RRTNode *> &cusps,
 705                 std::vector<int> &npi)
 706 {
 707         std::vector<RRTNode *> steered;
 708         std::vector<int> candidates;
 709         RRTNode *x_j = nullptr;
 710         RRTNode *x_i = nullptr;
 711         int j = cusps.size() - 1;
 712         int i_min = 0;
 713         float c_min = 0;
 714         float cost = 0;
 715         float dx = 0;
 716         float dy = 0;
 717         float ed = 0;
 718         float th_i = 0;
 719         float th_j = 0;
 720         while (j > 0) {
 721                 npi.push_back(j);
 722                 steered.clear();
 723                 candidates.clear();
 724                 x_j = cusps[j];
 725                 for (int i = 0; i < j; i++) {
 726                         steered = this->steer(cusps[i], x_j);
 727                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 728                                 steered[k]->add_child(steered[k + 1], 1);
 729                         if (!this->collide(
 730                                         steered[0],
 731                                         steered[steered.size() - 1]))
 732                                 candidates.push_back(i);
 733                 }
 734                 if (candidates.size() <= 0)
 735                         return false;
 736                 i_min = candidates[0];
 737                 x_i = cusps[i_min];
 738                 c_min = 9999;
 739                 for (auto c: candidates) {
 740                         x_i = cusps[c];
 741                         dx = x_j->x() - x_i->x();
 742                         dy = x_j->y() - x_i->y();
 743                         ed = EDIST(x_i, x_j);
 744                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 745                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 746                         cost = th_i + th_j;
 747                         if (cost < c_min) {
 748                                 i_min = c;
 749                                 c_min = cost;
 750                         }
 751                 }
 752                 j = i_min;
 753
 754         }
 755         npi.push_back(j);
 756         std::reverse(npi.begin(), npi.end());
 757         return true;
 758 }
 759
 760 bool RRTBase::optp_smart(
 761                 std::vector<RRTNode *> &cusps,
 762                 std::vector<int> &npi)
 763 {
 764         std::vector<RRTNode *> steered;
 765         int li = cusps.size() - 1;
 766         int ai = li - 1;
 767         npi.push_back(li);
 768         while (ai > 1) {
 769                 steered = this->steer(cusps[ai - 1], cusps[li]);
 770                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 771                         steered[j]->add_child(steered[j + 1], 1);
 772                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 773                         npi.push_back(ai);
 774                         li = ai;
 775                 }
 776                 ai--;
 777                 for (auto n: steered)
 778                         delete n;
 779         }
 780         npi.push_back(0);
 781         std::reverse(npi.begin(), npi.end());
 782         return true;
 783 }
 784
 785 bool RRTBase::opt_path()
 786 {
 787         if (this->tlog().size() == 0)
 788                 return false;
 789         float oc = this->tlog().back().front()->ccost();
 790         std::vector<RRTNode *> tmp_cusps;
 791         for (auto n: this->tlog().back()) {
 792                 if (sgn(n->s()) == 0) {
 793                         tmp_cusps.push_back(n);
 794                 } else if (n->parent() &&
 795                                 sgn(n->s()) != sgn(n->parent()->s())) {
 796                         tmp_cusps.push_back(n);
 797                         tmp_cusps.push_back(n->parent());
 798                 }
 799                 //tmp_cusps.push_back(n);
 800         }
 801         if (tmp_cusps.size() < 2)
 802                 return false;
 803         std::vector<RRTNode *> cusps;
 804         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 805                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 806                         cusps.push_back(tmp_cusps[i]);
 807         }
 808         std::reverse(cusps.begin(), cusps.end());
 809         std::vector<int> npi; // new path indexes
 810         if (!this->optp_dijkstra(cusps, npi))
 811                 return false;
 812         RRTNode *pn = cusps[npi[0]];
 813         RRTNode *tmp = nullptr;
 814         bool en_add = true;
 815         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 816                 pn = cusps[npi[i]];
 817                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 818                         if (!en_add) {
 819                                 delete ns;
 820                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 821                                 tmp = ns;
 822                                 while (tmp && tmp != cusps[npi[i]]) {
 823                                         pn = tmp->parent();
 824                                         delete tmp;
 825                                         tmp = pn;
 826                                 }
 827                                 pn = cusps[npi[i]];
 828                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 829                                 delete ns;
 830                                 cusps[npi[i + 1]]->parent()->rem_child(
 831                                                 cusps[npi[i + 1]]);
 832                                 pn->add_child(
 833                                         cusps[npi[i + 1]],
 834                                         this->cost(pn, cusps[npi[i + 1]]));
 835                                 en_add = false;
 836                         } else if (IS_NEAR(pn, ns)) {
 837                                 delete ns;
 838                         } else {
 839                                 this->nodes().push_back(ns);
 840                                 this->add_iy(ns);
 841                                 this->add_ixy(ns);
 842                                 pn->add_child(ns, this->cost(pn, ns));
 843                                 pn = ns;
 844                         }
 845                 }
 846         }
 847         this->root()->update_ccost();
 848         if (this->tlog().back().front()->ccost() < oc)
 849                 return true;
 850         return false;
 851 }
 852
 853 bool RRTBase::rebase(RRTNode *nr)
 854 {
 855         if (!nr || this->goal_ == nr || this->root_ == nr)
 856                 return false;
 857         std::vector<RRTNode *> s; // DFS stack
 858         RRTNode *tmp;
 859         unsigned int i = 0;
 860         unsigned int to_del = 0;
 861         int iy = 0;
 862         s.push_back(this->root_);
 863         while (s.size() > 0) {
 864                 tmp = s.back();
 865                 s.pop_back();
 866                 for (auto ch: tmp->children()) {
 867                         if (ch != nr)
 868                                 s.push_back(ch);
 869                 }
 870                 to_del = this->nodes_.size();
 871                 #pragma omp parallel for reduction(min: to_del)
 872                 for (i = 0; i < this->nodes_.size(); i++) {
 873                         if (this->nodes_[i] == tmp)
 874                                 to_del = i;
 875                 }
 876                 if (to_del < this->nodes_.size())
 877                         this->nodes_.erase(this->nodes_.begin() + to_del);
 878                 iy = IYI(tmp->y());
 879                 to_del = this->iy_[iy].size();
 880                 #pragma omp parallel  for reduction(min: to_del)
 881                 for (i = 0; i < this->iy_[iy].size(); i++) {
 882                         if (this->iy_[iy][i] == tmp)
 883                                 to_del = i;
 884                 }
 885                 if (to_del < this->iy_[iy].size())
 886                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 887                 this->dnodes().push_back(tmp);
 888         }
 889         this->root_ = nr;
 890         this->root_->remove_parent();
 891         return true;
 892 }
 893
 894 std::vector<RRTNode *> RRTBase::findt()
 895 {
 896         return this->findt(this->goal_);
 897 }
 898
 899 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 900 {
 901         std::vector<RRTNode *> nodes;
 902         if (!n || !n->parent())
 903                 return nodes;
 904         while (n) {
 905                 nodes.push_back(n);
 906                 n = n->parent();
 907         }
 908         return nodes;
 909 }
 910
 911 // RRT Framework
 912 RRTNode *RRTBase::sample()
 913 {
 914         if (this->useSamplingInfo_ && this->nodes().size() % 2 == 0) {
 915                 float x = static_cast<float>(rand());
 916                 x /= static_cast<float>(RAND_MAX / this->samplingInfo_.x);
 917                 x -= this->samplingInfo_.x / 2;
 918                 x += this->samplingInfo_.x0;
 919                 float y = static_cast<float>(rand());
 920                 y /= static_cast<float>(RAND_MAX / this->samplingInfo_.y);
 921                 y -= this->samplingInfo_.y / 2;
 922                 y += this->samplingInfo_.y0;
 923                 float h = static_cast<float>(rand());
 924                 h /= static_cast<float>(RAND_MAX / this->samplingInfo_.h);
 925                 h -= this->samplingInfo_.h / 2;
 926                 h += this->samplingInfo_.h0;
 927                 return new RRTNode(x, y, h);
 928         } else {
 929                 return sa1();
 930         }
 931 }
 932
 933 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 934 {
 935         return co2(init, goal);
 936 }
 937
 938 RRTNode *RRTBase::nn(RRTNode *rs)
 939 {
 940         return nn4(this->iy_, rs, nullptr);
 941         //return nn3(this->iy_, rs, nullptr);
 942 }
 943
 944 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 945 {
 946         std::vector<RRTNode *> nvs;
 947         unsigned int iy = IYI(node->y());
 948         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 949         unsigned int i = 0; // vector index
 950         unsigned int j = 0; // array index
 951         unsigned int jmin = 0; // minimal j index
 952         unsigned int jmax = 0; // maximal j index
 953         jmin = iy - iy_dist;
 954         jmin = (jmin > 0) ? jmin : 0;
 955         jmax = iy + iy_dist + 1;
 956         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 957         #pragma omp parallel for reduction(merge: nvs)
 958         for (j = jmin; j < jmax; j++) {
 959                 #pragma omp parallel for reduction(merge: nvs)
 960                 for (i = 0; i < this->iy_[j].size(); i++) {
 961                         if (this->cost(this->iy_[j][i], node) < dist) {
 962                                 nvs.push_back(this->iy_[j][i]);
 963                         }
 964                 }
 965         }
 966         return nvs;
 967 }
 968
 969 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 970 {
 971         return st3(init, goal);
 972 }
 973
 974 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 975 {
 976         return st3(init, goal, step);
 977 }