decision_control/rrtplanner.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 <iostream>
  19 #include <cstdlib>
  20 #include <ctime>
  21 #include "compile.h"
  22 #include "nn.h"
  23 #include "nv.h"
  24 #include "sample.h"
  25 #include "steer.h"
  26 #include "rrtplanner.h"
  27 #include "cost.h"
  28
  29 #define CATI(a, b) a ## b
  30 #define CAT(a, b) CATI(a, b)
  31 #define KUWATA2008_CCOST CAT(c, CO)
  32 #define KUWATA2008_DCOST CO
  33
  34 LaValle1998::LaValle1998(RRTNode *init, RRTNode *goal):
  35         RRTBase(init, goal)
  36 {
  37         srand(static_cast<unsigned>(time(0)));
  38 }
  39
  40 bool LaValle1998::next()
  41 {
  42         RRTNode *rs;
  43 #if GOALFIRST > 0
  44         if (this->samples().size() == 0)
  45                 rs = this->goal();
  46         else
  47                 rs = this->sample();
  48 #else
  49         rs = this->sample();
  50 #endif
  51         this->samples().push_back(rs);
  52         RRTNode *nn = this->nn(rs);
  53         RRTNode *pn = nn;
  54         bool en_add = true;
  55         for (auto ns: this->steer(nn, rs)) {
  56                 if (!en_add) {
  57                         delete ns;
  58                 } else {
  59                         this->nodes().push_back(ns);
  60                         this->add_iy(ns);
  61                         pn->add_child(ns, this->cost(pn, ns));
  62                         if (this->collide(pn, ns)) {
  63                                 pn->children().pop_back();
  64                                 ns->remove_parent();
  65                                 this->iy_[IYI(ns->y())].pop_back();
  66                                 en_add = false;
  67                         } else {
  68                                 this->ocost(ns);
  69                                 pn = ns;
  70                                 if (this->goal_found(pn, CO)) {
  71                                         this->tlog(this->findt());
  72                                         en_add = false;
  73                                 }
  74                         }
  75                 }
  76         }
  77         return this->goal_found();
  78 }
  79
  80 Kuwata2008::Kuwata2008(RRTNode *init, RRTNode *goal):
  81         RRTBase(init, goal)
  82 {
  83         srand(static_cast<unsigned>(time(0)));
  84 }
  85
  86 bool Kuwata2008::next()
  87 {
  88         RRTNode *rs;
  89         if (this->samples().size() == 0) {
  90                 rs = this->goal();
  91         } else {
  92                 rs = this->sample();
  93         }
  94         this->samples().push_back(rs);
  95         float heur = static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
  96         if (this->goal_found()) {
  97                 if (heur < 0.7)
  98                         {}//this->cost = &KUWATA2008_CCOST;
  99                 else
 100                         {}//this->cost = &KUWATA2008_DCOST;
 101         } else {
 102                 if (heur < 0.3)
 103                         {}//this->cost = &KUWATA2008_CCOST;
 104                 else
 105                         {}//this->cost = &KUWATA2008_DCOST;
 106         }
 107         RRTNode *nn = this->nn(rs);
 108         RRTNode *pn = nn;
 109         std::vector<RRTNode *> newly_added;
 110         bool en_add = true;
 111         for (auto ns: this->steer(nn, rs)) {
 112                 if (!en_add) {
 113                         delete ns;
 114                 } else {
 115                         this->nodes().push_back(ns);
 116                         this->add_iy(ns);
 117                         pn->add_child(ns, KUWATA2008_DCOST(pn, ns));
 118                         if (this->collide(pn, ns)) {
 119                                 pn->children().pop_back();
 120                                 ns->remove_parent();
 121                                 this->iy_[IYI(ns->y())].pop_back();
 122                                 en_add = false;
 123                         } else {
 124                                 this->ocost(ns);
 125                                 pn = ns;
 126                                 newly_added.push_back(pn);
 127                                 if (this->goal_found(pn, &KUWATA2008_DCOST)) {
 128                                         this->tlog(this->findt());
 129                                         en_add = false;
 130                                 }
 131                         }
 132                 }
 133         }
 134         if (this->samples().size() <= 1)
 135                 return this->goal_found();
 136         for (auto na: newly_added) {
 137                 pn = na;
 138                 en_add = true;
 139                 for (auto ns: this->steer(na, this->goal())) {
 140                         if (!en_add) {
 141                                 delete ns;
 142                         } else {
 143                                 this->nodes().push_back(ns);
 144                                 this->add_iy(ns);
 145                                 pn->add_child(ns, KUWATA2008_DCOST(pn, ns));
 146                                 if (this->collide(pn, ns)) {
 147                                         pn->children().pop_back();
 148                                         ns->remove_parent();
 149                                         this->iy_[IYI(ns->y())].pop_back();
 150                                         en_add = false;
 151                                 } else {
 152                                         this->ocost(ns);
 153                                         pn = ns;
 154                                         if (this->goal_found(pn,
 155                                                         &KUWATA2008_DCOST)) {
 156                                                 this->tlog(this->findt());
 157                                                 en_add = false;
 158                                         }
 159                                 }
 160                         }
 161                 }
 162         }
 163         return this->goal_found();
 164 }
 165
 166 Karaman2011::Karaman2011()
 167 {
 168         srand(static_cast<unsigned>(time(0)));
 169 }
 170
 171 Karaman2011::Karaman2011(RRTNode *init, RRTNode *goal):
 172         RRTBase(init, goal)
 173 {
 174         srand(static_cast<unsigned>(time(0)));
 175 }
 176
 177 bool Karaman2011::next()
 178 {
 179         RRTNode *rs;
 180 #if GOALFIRST > 0
 181         if (this->samples().size() == 0)
 182                 rs = this->goal();
 183         else
 184                 rs = this->sample();
 185 #else
 186         rs = this->sample();
 187 #endif
 188         this->samples().push_back(rs);
 189         RRTNode *nn = this->nn(rs);
 190         RRTNode *pn = nn;
 191         std::vector<RRTNode *> nvs;
 192         bool en_add = true;
 193         bool skip = false;
 194         for (auto ns: this->steer(nn, rs)) {
 195                 if (!en_add) {
 196                         delete ns;
 197                 } else if (IS_NEAR(nn, ns)) {
 198                         delete ns;
 199                 } else {
 200                         if (IS_NEAR(ns, rs))
 201                                 en_add = false;
 202                         nvs = this->nv(ns,
 203                                         MIN(GAMMA_RRTSTAR(
 204                                                         this->nodes().size()),
 205                                                         0.2));
 206                         skip = false;
 207                         for (auto nv: nvs) {
 208                                 if (IS_NEAR(nv, ns))
 209                                         skip = true;
 210                         }
 211                         if (skip)
 212                                 continue;
 213                         this->nodes().push_back(ns);
 214                         this->add_iy(ns);
 215                         // connect
 216                         if (!this->connect(pn, ns, nvs)) {
 217                                 this->iy_[IYI(ns->y())].pop_back();
 218                                 en_add = false;
 219                         } else {
 220                                 // rewire
 221                                 this->rewire(nvs, ns);
 222                                 pn = ns;
 223                                 if (this->goal_found(pn, CO)) {
 224                                         this->tlog(this->findt());
 225                                         en_add = false;
 226                                 }
 227                         }
 228                 }
 229         }
 230         return this->goal_found();
 231 }
 232
 233 bool Karaman2011::connect(
 234                 RRTNode *pn,
 235                 RRTNode *ns,
 236                 std::vector<RRTNode *> nvs)
 237 {
 238         RRTNode *op; // old parent
 239         float od; // old direct cost
 240         float oc; // old cumulative cost
 241         bool connected = false;
 242         pn->add_child(ns, this->cost(pn, ns));
 243         if (this->collide(pn, ns)) {
 244                 pn->children().pop_back();
 245                 ns->remove_parent();
 246         } else {
 247                 this->ocost(ns);
 248                 connected = true;
 249         }
 250         for (auto nv: nvs) {
 251                 if (!connected || (nv->ccost() + this->cost(nv, ns) <
 252                                 ns->ccost())) {
 253                         op = ns->parent();
 254                         od = ns->dcost();
 255                         oc = ns->ccost();
 256                         nv->add_child(ns, this->cost(nv, ns));
 257                         if (this->collide(nv, ns)) {
 258                                 nv->children().pop_back();
 259                                 if (op)
 260                                         ns->parent(op);
 261                                 else
 262                                         ns->remove_parent();
 263                                 ns->dcost(od);
 264                                 ns->ccost(oc);
 265                         } else if (connected) {
 266                                 op->children().pop_back();
 267                         } else {
 268                                 this->ocost(ns);
 269                                 connected = true;
 270                         }
 271                 }
 272         }
 273         return connected;
 274 }
 275
 276 bool Karaman2011::rewire(std::vector<RRTNode *> nvs, RRTNode *ns)
 277 {
 278         RRTNode *op; // old parent
 279         float od; // old direct cost
 280         float oc; // old cumulative cost
 281         for (auto nv: nvs) {
 282                 if (ns->ccost() + this->cost(ns, nv) < nv->ccost()) {
 283                         op = nv->parent();
 284                         od = nv->dcost();
 285                         oc = nv->ccost();
 286                         ns->add_child(nv, this->cost(ns, nv));
 287                         if (this->collide(ns, nv)) {
 288                                 ns->children().pop_back();
 289                                 nv->parent(op);
 290                                 nv->dcost(od);
 291                                 nv->ccost(oc);
 292                         } else {
 293                                 op->rem_child(nv);
 294                         }
 295                 }
 296         }
 297         return true;
 298 }
 299
 300 T1::T1(RRTNode *init, RRTNode *goal):
 301         RRTBase(init, goal)
 302 {
 303         srand(static_cast<unsigned>(time(0)));
 304 }
 305
 306 bool T1::next()
 307 {
 308         RRTNode *rs;
 309         if (this->samples().size() == 0)
 310                 rs = this->goal();
 311         else
 312                 rs = this->sample();
 313         this->samples().push_back(rs);
 314         RRTNode *nn = this->nn(rs);
 315         RRTNode *pn = nn;
 316         std::vector<RRTNode *> nvs;
 317         bool connected;
 318         RRTNode *op; // old parent
 319         float od; // old direct cost
 320         float oc; // old cumulative cost
 321         std::vector<RRTNode *> steered = this->steer(nn, rs);
 322         // RRT* for first node
 323         RRTNode *ns = steered[0];
 324         {
 325                 nvs = this->nv(ns, MIN(
 326                                 GAMMA_RRTSTAR(this->nodes().size()),
 327                                 0.2)); // TODO const
 328                 this->nodes().push_back(ns);
 329                 this->add_iy(ns);
 330                 connected = false;
 331                 pn->add_child(ns, this->cost(pn, ns));
 332                 if (this->collide(pn, ns)) {
 333                         pn->children().pop_back();
 334                 } else {
 335                         connected = true;
 336                 }
 337                 // connect
 338                 for (auto nv: nvs) {
 339                         if (!connected || (nv->ccost() + this->cost(nv, ns) <
 340                                         ns->ccost())) {
 341                                 op = ns->parent();
 342                                 od = ns->dcost();
 343                                 oc = ns->ccost();
 344                                 nv->add_child(ns, this->cost(nv, ns));
 345                                 if (this->collide(nv, ns)) {
 346                                         nv->children().pop_back();
 347                                         ns->parent(op);
 348                                         ns->dcost(od);
 349                                         ns->ccost(oc);
 350                                 } else if (connected) {
 351                                         op->children().pop_back();
 352                                 } else {
 353                                         connected = true;
 354                                 }
 355                         }
 356                 }
 357                 if (!connected)
 358                         return false;
 359                 // rewire
 360                 for (auto nv: nvs) {
 361                         if (ns->ccost() + this->cost(ns, nv) < nv->ccost()) {
 362                                 op = nv->parent();
 363                                 od = nv->dcost();
 364                                 oc = nv->ccost();
 365                                 ns->add_child(nv, this->cost(ns, nv));
 366                                 if (this->collide(ns, nv)) {
 367                                         ns->children().pop_back();
 368                                         nv->parent(op);
 369                                         nv->dcost(od);
 370                                         nv->ccost(oc);
 371                                 } else {
 372                                         op->rem_child(nv);
 373                                 }
 374                         }
 375                 }
 376                 pn = ns;
 377                 if (this->goal_found(pn, CO)) {
 378                         this->tlog(this->findt());
 379                 }
 380         }
 381         unsigned int i = 0;
 382         for (i = 1; i < steered.size(); i++) {
 383                 ns = steered[i];
 384                 this->nodes().push_back(ns);
 385                 this->add_iy(ns);
 386                 pn->add_child(ns, this->cost(pn, ns));
 387                 if (this->collide(pn, ns)) {
 388                         pn->children().pop_back();
 389                         break;
 390                 }
 391                 pn = ns;
 392                 if (this->goal_found(pn, CO)) {
 393                         this->tlog(this->findt());
 394                         break;
 395                 }
 396         }
 397         return this->goal_found();
 398 }
 399
 400 bool T2::next()
 401 {
 402         RRTNode *rs;
 403 #if GOALFIRST > 0
 404         if (this->samples().size() == 0)
 405                 rs = this->goal();
 406         else
 407                 rs = this->sample();
 408 #else
 409         rs = this->sample();
 410 #endif
 411         this->samples().push_back(rs);
 412         RRTNode *nn = this->nn(rs);
 413         if (!nn)
 414                 return false;
 415         RRTNode *pn = nn;
 416         std::vector<RRTNode *> nvs;
 417         std::vector<RRTNode *> newly_added;
 418         bool en_add = true;
 419         int cusps = 0;
 420         for (auto ns: this->steer(nn, rs)) {
 421                 ns->rs(rs);
 422                 if (!en_add) {
 423                         delete ns;
 424                 } else if (IS_NEAR(pn, ns)) {
 425                         delete ns;
 426                 } else {
 427                         if (sgn(ns->s()) == 0 || sgn(pn->s()) != sgn(ns->s()))
 428                                 cusps++;
 429                         if (cusps > 4)
 430                                 en_add = false;
 431                         nvs = this->nv(
 432                                         ns,
 433                                         MIN(
 434                                                 GAMMA_RRTSTAR(
 435                                                         this->nodes().size()),
 436                                                 0.2)); // TODO const
 437                         this->nodes().push_back(ns);
 438                         this->add_iy(ns);
 439                         // connect
 440                         if (!this->connect(pn, ns, nvs)) {
 441                                 this->iy_[IYI(ns->y())].pop_back();
 442                                 this->nodes().pop_back();
 443                                 delete ns;
 444                                 en_add = false;
 445                         } else {
 446                                 this->add_ixy(ns);
 447                                 // rewire
 448                                 this->rewire(nvs, ns);
 449                                 pn = ns;
 450                                 newly_added.push_back(pn);
 451                                 if (this->goal_found(pn, CO)) {
 452                                         this->goal_cost();
 453                                         this->tlog(this->findt());
 454                                         en_add = false;
 455                                 }
 456                         }
 457                 }
 458         }
 459         en_add = true;
 460         cusps = 0;
 461         for (auto ns: this->steer(pn, rs, 0.01)) {
 462                 ns->rs(rs);
 463                 if (!en_add) {
 464                         delete ns;
 465                 } else if (IS_NEAR(pn, ns)) {
 466                         delete ns;
 467                 } else {
 468                         if (sgn(ns->s()) == 0 || sgn(pn->s()) != sgn(ns->s()))
 469                                 cusps++;
 470                         if (cusps > 4)
 471                                 en_add = false;
 472                         nvs = this->nv(
 473                                         ns,
 474                                         MIN(
 475                                                 GAMMA_RRTSTAR(
 476                                                         this->nodes().size()),
 477                                                 0.2)); // TODO const
 478                         this->nodes().push_back(ns);
 479                         this->add_iy(ns);
 480                         // connect
 481                         if (!this->connect(pn, ns, nvs)) {
 482                                 this->iy_[IYI(ns->y())].pop_back();
 483                                 this->nodes().pop_back();
 484                                 delete ns;
 485                                 en_add = false;
 486                         } else {
 487                                 this->add_ixy(ns);
 488                                 // rewire
 489                                 this->rewire(nvs, ns);
 490                                 pn = ns;
 491                                 newly_added.push_back(pn);
 492                                 if (this->goal_found(pn, CO)) {
 493                                         this->goal_cost();
 494                                         this->tlog(this->findt());
 495                                         en_add = false;
 496                                 }
 497                         }
 498                 }
 499         }
 500         if (this->samples().size() <= 1)
 501                 return this->goal_found();
 502         // steer to goal
 503         for (auto na: newly_added) {
 504                 pn = na;
 505                 en_add = true;
 506                 cusps = 0;
 507                 for (auto ns: this->steer(na, this->goal())) {
 508                         ns->rs(rs);
 509                         if (!en_add) {
 510                                 delete ns;
 511                         } else if (IS_NEAR(pn, ns)) {
 512                                 delete ns;
 513                         } else {
 514                                 if (sgn(pn->s()) != sgn(ns->s()))
 515                                         cusps++;
 516                                 if (cusps > 4)
 517                                         en_add = false;
 518                                 this->nodes().push_back(ns);
 519                                 this->add_iy(ns);
 520                                 pn->add_child(ns, this->cost(pn, ns));
 521                                 if (this->collide(pn, ns)) {
 522                                         pn->children().pop_back();
 523                                         ns->remove_parent();
 524                                         this->iy_[IYI(ns->y())].pop_back();
 525                                         this->nodes().pop_back();
 526                                         delete ns;
 527                                         en_add = false;
 528                                 } else {
 529                                         this->add_ixy(ns);
 530                                         this->ocost(ns);
 531                                         pn = ns;
 532                                         if (this->goal_found(pn, CO)) {
 533                                                 this->goal_cost();
 534                                                 this->tlog(this->findt());
 535                                                 en_add = false;
 536                                         }
 537                                 }
 538                         }
 539                 }
 540                 en_add = true;
 541                 cusps = 0;
 542                 for (auto ns: this->steer(pn, this->goal(), 0.01)) {
 543                         ns->rs(rs);
 544                         if (!en_add) {
 545                                 delete ns;
 546                         } else if (IS_NEAR(pn, ns)) {
 547                                 delete ns;
 548                         } else {
 549                                 if (sgn(pn->s()) != sgn(ns->s()))
 550                                         cusps++;
 551                                 if (cusps > 4)
 552                                         en_add = false;
 553                                 this->nodes().push_back(ns);
 554                                 this->add_iy(ns);
 555                                 pn->add_child(ns, this->cost(pn, ns));
 556                                 if (this->collide(pn, ns)) {
 557                                         pn->children().pop_back();
 558                                         ns->remove_parent();
 559                                         this->iy_[IYI(ns->y())].pop_back();
 560                                         this->nodes().pop_back();
 561                                         delete ns;
 562                                         en_add = false;
 563                                 } else {
 564                                         this->add_ixy(ns);
 565                                         this->ocost(ns);
 566                                         pn = ns;
 567                                         if (this->goal_found(pn, CO)) {
 568                                                 this->goal_cost();
 569                                                 this->tlog(this->findt());
 570                                                 en_add = false;
 571                                         }
 572                                 }
 573                         }
 574                 }
 575         }
 576         // steer to goals
 577         for (auto na: newly_added) {
 578         for (auto go: this->goals()) {
 579                 pn = na;
 580                 en_add = true;
 581                 cusps = 0;
 582                 for (auto ns: this->steer(na, go)) {
 583                         ns->rs(rs);
 584                         if (!en_add) {
 585                                 delete ns;
 586                         } else if (IS_NEAR(pn, ns)) {
 587                                 delete ns;
 588                         } else {
 589                                 if (sgn(pn->s()) != sgn(ns->s()))
 590                                         cusps++;
 591                                 if (cusps > 4)
 592                                         en_add = false;
 593                                 this->nodes().push_back(ns);
 594                                 this->add_iy(ns);
 595                                 pn->add_child(ns, this->cost(pn, ns));
 596                                 if (this->collide(pn, ns)) {
 597                                         pn->children().pop_back();
 598                                         ns->remove_parent();
 599                                         this->iy_[IYI(ns->y())].pop_back();
 600                                         this->nodes().pop_back();
 601                                         delete ns;
 602                                         en_add = false;
 603                                 } else {
 604                                         this->add_ixy(ns);
 605                                         this->ocost(ns);
 606                                         pn = ns;
 607                                         if (this->goal_found(pn, go)) {
 608                                                 this->tlog(this->findt());
 609                                                 en_add = false;
 610                                         }
 611                                 }
 612                         }
 613                 }
 614         }}
 615         return this->goal_found();
 616 }
 617
 618 float T2::goal_cost()
 619 {
 620         std::vector<RRTNode *> nvs;
 621         nvs = this->nv(this->goal(), 0.2);
 622         for (auto nv: nvs) {
 623                 if (std::abs(this->goal()->h() - nv->h()) >=
 624                                 this->GOAL_FOUND_ANGLE)
 625                         continue;
 626                 if (nv->ccost() + this->cost(nv, this->goal()) >=
 627                                 this->goal()->ccost())
 628                         continue;
 629                 RRTNode *op; // old parent
 630                 float oc; // old cumulative cost
 631                 float od; // old direct cost
 632                 op = this->goal()->parent();
 633                 oc = this->goal()->ccost();
 634                 od = this->goal()->dcost();
 635                 nv->add_child(this->goal(),
 636                                 this->cost(nv, this->goal()));
 637                 if (this->collide(nv, this->goal())) {
 638                         nv->children().pop_back();
 639                         this->goal()->parent(op);
 640                         this->goal()->ccost(oc);
 641                         this->goal()->dcost(od);
 642                 } else {
 643                         op->rem_child(this->goal());
 644                 }
 645         }
 646         return this->goal()->ccost();
 647 }
 648
 649 T3::~T3()
 650 {
 651         for (auto n: this->p_root_.nodes())
 652                 if (n != this->p_root_.root() && n != this->p_root_.goal())
 653                         delete n;
 654         for (auto n: this->p_root_.dnodes())
 655                 if (n != this->p_root_.root() && n != this->p_root_.goal())
 656                         delete n;
 657         for (auto s: this->p_root_.samples())
 658                 if (s != this->p_root_.goal())
 659                         delete s;
 660         for (auto edges: this->p_root_.rlog())
 661                 for (auto e: edges)
 662                         delete e;
 663
 664         for (auto n: this->p_goal_.nodes())
 665                 if (n != this->p_goal_.root() && n != this->p_goal_.goal())
 666                         delete n;
 667         for (auto n: this->p_goal_.dnodes())
 668                 if (n != this->p_goal_.root() && n != this->p_goal_.goal())
 669                         delete n;
 670         for (auto s: this->p_goal_.samples())
 671                 if (s != this->p_goal_.goal())
 672                         delete s;
 673         for (auto edges: this->p_goal_.rlog())
 674                 for (auto e: edges)
 675                         delete e;
 676
 677         for (auto n: this->nodes())
 678                 if (n != this->root())
 679                         delete n;
 680         for (auto n: this->dnodes())
 681                 if (n != this->root() && n != this->goal())
 682                         delete n;
 683         for (auto s: this->samples())
 684                 if (s != this->goal())
 685                         delete s;
 686         for (auto edges: this->rlog())
 687                 for (auto e: edges)
 688                         delete e;
 689
 690         delete this->root();
 691         delete this->goal();
 692 }
 693
 694 T3::T3()
 695 {
 696         srand(static_cast<unsigned>(time(0)));
 697 }
 698
 699 T3::T3(RRTNode *init, RRTNode *goal):
 700         RRTBase(init, goal),
 701         p_root_(init, goal),
 702         p_goal_(goal, init)
 703 {
 704         srand(static_cast<unsigned>(time(0)));
 705 }
 706
 707 bool T3::next()
 708 {
 709         RRTNode *ron = nullptr;
 710         RRTNode *gon = nullptr;
 711         bool ret = false;
 712         ret = this->p_root_.next();
 713         ret |= this->p_goal_.next();
 714         if (this->overlaptrees(&ron, &gon)) {
 715                 if (this->connecttrees(ron, gon))
 716                         this->goal_found(true);
 717                 this->tlog(this->findt());
 718                 ret |= true;
 719         }
 720         return ret;
 721 }
 722
 723 bool T3::link_obstacles(
 724         std::vector<CircleObstacle> *cobstacles,
 725         std::vector<SegmentObstacle> *sobstacles)
 726 {
 727         bool ret = false;
 728         ret = RRTBase::link_obstacles(cobstacles, sobstacles);
 729         ret &= this->p_root_.link_obstacles(cobstacles, sobstacles);
 730         ret &= this->p_goal_.link_obstacles(cobstacles, sobstacles);
 731         return ret;
 732 }
 733
 734 bool T3::connecttrees(RRTNode *rn, RRTNode *gn)
 735 {
 736         while (gn != this->goal()) {
 737                 this->p_root_.nodes().push_back(new RRTNode(
 738                                 gn->x(),
 739                                 gn->y(),
 740                                 gn->h()));
 741                 rn->add_child(
 742                                 this->p_root_.nodes().back(),
 743                                 this->p_root_.cost(
 744                                                 rn,
 745                                                 this->p_root_.nodes().back()));
 746                 rn = this->p_root_.nodes().back();
 747                 gn = gn->parent();
 748         }
 749         rn->add_child(this->goal(), this->p_root_.cost(rn, this->goal()));
 750         return true;
 751 }
 752
 753 bool T3::overlaptrees(RRTNode **ron, RRTNode **gon)
 754 {
 755         for (auto rn: this->p_root_.nodes()) {
 756                 if (rn->parent() == nullptr)
 757                         continue;
 758                 for (auto gn: this->p_goal_.nodes()) {
 759                         if (gn->parent() == nullptr)
 760                                 continue;
 761                         if (IS_NEAR(rn, gn)) {
 762                                 *ron = rn;
 763                                 *gon = gn;
 764                                 return true;
 765                         }
 766                 }
 767         }
 768         return false;
 769 }
 770
 771 Klemm2015::Klemm2015(RRTNode *init, RRTNode *goal):
 772         Karaman2011(init, goal),
 773         orig_root_(init),
 774         orig_goal_(goal)
 775 {
 776         srand(static_cast<unsigned>(time(0)));
 777         this->root()->tree('R');
 778         this->goal()->tree('G');
 779         this->add_iy(this->goal());
 780 }
 781
 782 bool Klemm2015::next()
 783 {
 784         RRTNode *xn = nullptr;
 785         RRTNode *rs;
 786         int ret = 0;
 787 #if GOALFIRST > 0
 788         if (this->samples().size() == 0)
 789                 rs = this->goal();
 790         else
 791                 rs = this->sample();
 792 #else
 793         rs = this->sample();
 794 #endif
 795         this->samples().push_back(rs);
 796         //std::cerr << "next" << std::endl;
 797         if (this->extendstar1(rs, &xn) != 2) {
 798         //        if (xn) {
 799         //                std::cerr << "- xn: " << xn->x() << ", " << xn->y();
 800         //                std::cerr << std::endl;
 801         //        } else {
 802         //                std::cerr << "- xn: nullptr" << std::endl;
 803         //        }
 804                 this->swap();
 805                 ret = this->connectstar(xn);
 806         } else {
 807                 this->swap();
 808         }
 809         if (ret == 1) {
 810                 this->tlog(this->findt());
 811                 return true;
 812         }
 813         return this->goal_found();
 814 }
 815
 816 int Klemm2015::extendstar1(RRTNode *rs, RRTNode **xn)
 817 {
 818         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 819         char tree = this->root()->tree();
 820         //std::cerr << "extend*1" << std::endl;
 821         //std::cerr << "- tree is " << tree << std::endl;
 822         //std::cerr << "  - rs: " << rs->x() << ", " << rs->y() << std::endl;
 823         //if (xn && *xn) {
 824         //        std::cerr << "  - xn: " << (*xn)->x() << ", " << (*xn)->y();
 825         //        std::cerr << std::endl;
 826         //}
 827         //for (int i = 0; i < IYSIZE; i++) {
 828         //        if (this->iy_[i].size() > 0) {
 829         //                RRTNode *tmpn = this->iy_[i].back();
 830         //                float tmpd = EDIST(tmpn, this->goal());
 831
 832         //                std::cerr << i << ": " << tmpn->x();
 833         //                std::cerr << ", " << tmpn->y();
 834         //                std::cerr << ", " << tmpn->tree();
 835         //                std::cerr << " (" << tmpd << ")";
 836
 837         //                if (tmpn == this->root())
 838         //                        std::cerr << " root";
 839         //                if (tmpn == this->goal())
 840         //                        std::cerr << " goal";
 841         //                std::cerr << std::endl;
 842         //        }
 843         //}
 844         RRTNode *nn = this->nn(rs);
 845         //std::cerr << "  - nn: " << nn->x() << ", " << nn->y() << std::endl;
 846         std::vector<RRTNode *> nvs;
 847         std::vector<RRTNode *> steered = this->steer(nn, rs);
 848         RRTNode *ns = steered[1];
 849         ns->tree(tree);
 850         nvs = this->nv(
 851                         ns,
 852                         MIN(
 853                                 GAMMA_RRTSTAR(
 854                                         this->nodes().size()),
 855                                 0.2)); // TODO const
 856         this->nodes().push_back(ns);
 857         this->add_iy(ns);
 858         // connect
 859         if (!this->connect(nn, ns, nvs)) {
 860                 this->iy_[IYI(ns->y())].pop_back();
 861                 ret = 2;
 862         } else {
 863                 // rewire
 864                 this->rewire(nvs, ns);
 865         }
 866         for (auto n: steered) {
 867                 if (n != steered[1])
 868                         delete n;
 869         }
 870         *xn = ns;
 871         //std::cerr << "  - xn: " << (*xn)->x() << ", " << (*xn)->y();
 872         //std::cerr << std::endl;
 873         return ret;
 874 }
 875
 876 int Klemm2015::extendstarC(RRTNode *rs)
 877 {
 878         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 879         char tree = this->root()->tree();
 880         //std::cerr << "extend*C" << std::endl;
 881         //std::cerr << "- tree is " << tree << std::endl;
 882         //std::cerr << "  - rs: " << rs->x() << ", " << rs->y() << std::endl;
 883         RRTNode *nn = this->nn(rs);
 884         RRTNode *pn = nn;
 885         std::vector<RRTNode *> nvs;
 886         bool en_add = true;
 887         for (auto ns: this->steer(nn, rs)) {
 888                 if (!en_add) {
 889                         delete ns;
 890                 } else {
 891                         nvs = this->nv(
 892                                         ns,
 893                                         MIN(
 894                                                 GAMMA_RRTSTAR(
 895                                                         this->nodes().size()),
 896                                                 0.2)); // TODO const
 897                         this->nodes().push_back(ns);
 898                         this->add_iy(ns);
 899                         // connect
 900                         if (!this->connect(pn, ns, nvs)) {
 901                                 this->iy_[IYI(ns->y())].pop_back();
 902                                 en_add = false;
 903                                 ret = 2;
 904                         } else {
 905                                 // rewire
 906                                 this->rewire(nvs, ns);
 907                                 pn = ns;
 908 if (IS_NEAR(pn, rs)) { // GOAL FOUND !
 909         RRTNode *tmp;
 910         if (this->orig_root_ == this->root()) { // rs is in G tree
 911                 // add all rs parents to pn
 912                 tmp = rs->parent();
 913         } else { // rs is in R tree
 914                 tmp = pn->parent();
 915                 pn = rs;
 916                 this->swap();
 917         }
 918         while (tmp != this->goal()) {
 919                 this->nodes().push_back(new RRTNode(
 920                                 tmp->x(),
 921                                 tmp->y(),
 922                                 tmp->h()));
 923                 this->nodes().back()->s(tmp->s());
 924                 this->nodes().back()->tree('R');
 925                 pn->add_child(
 926                                 this->nodes().back(),
 927                                 this->cost(pn, this->nodes().back()));
 928                 pn = this->nodes().back();
 929                 tmp = tmp->parent();
 930         }
 931         pn->add_child(tmp, this->cost(pn, tmp)); // add goal()
 932         en_add = false;
 933         ret = 1;
 934 }
 935                         }
 936                 }
 937         }
 938         return ret;
 939 }
 940
 941 int Klemm2015::connectstar(RRTNode *x)
 942 {
 943         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 944         //std::cerr << "connect* (start)" << std::endl;
 945         ret = this->extendstarC(x);
 946         //std::cerr << "connect* (end)" << std::endl;
 947         return ret;
 948 }
 949
 950 void Klemm2015::swap()
 951 {
 952         RRTNode *tmp;
 953         tmp = this->root();
 954         this->root(this->goal());
 955         this->goal(tmp);
 956 }