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 "cost.h"
  34 #include "steer.h"
  35
  36 #if USE_GL > 0
  37 extern SDL_Window* gw;
  38 extern SDL_GLContext gc;
  39 #endif
  40
  41 Cell::Cell()
  42 {
  43         pthread_mutex_init(&this->m_, NULL);
  44 }
  45
  46 bool Cell::changed()
  47 {
  48         pthread_mutex_lock(&this->m_);
  49         bool ret = this->changed_;
  50         pthread_mutex_unlock(&this->m_);
  51         return ret;
  52 }
  53
  54 std::vector<RRTNode *> Cell::nodes()
  55 {
  56         pthread_mutex_lock(&this->m_);
  57         std::vector<RRTNode *> ret(this->nodes_);
  58         pthread_mutex_unlock(&this->m_);
  59         return ret;
  60 }
  61
  62 void Cell::add_node(RRTNode *n)
  63 {
  64         pthread_mutex_lock(&this->m_);
  65         this->nodes_.push_back(n);
  66         this->changed_ = true;
  67         pthread_mutex_unlock(&this->m_);
  68 }
  69
  70 RRTBase::~RRTBase()
  71 {
  72 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  73 // please uncommend the following code:
  74 //
  75         for (auto n: this->nodes_)
  76                 if (n != this->root_)
  77                         delete n;
  78         for (auto n: this->dnodes_)
  79                 if (n != this->root_ && n != this->goal_)
  80                         delete n;
  81         for (auto s: this->samples_)
  82                 if (s != this->goal_)
  83                         delete s;
  84         for (auto edges: this->rlog_)
  85                 for (auto e: edges)
  86                         delete e;
  87         delete this->root_;
  88         delete this->goal_;
  89 }
  90
  91 RRTBase::RRTBase()
  92         : root_(new RRTNode())
  93         , goal_(new RRTNode())
  94         , gen_(std::random_device{}())
  95 {
  96         this->nodes_.reserve(NOFNODES);
  97         this->nodes_.push_back(this->root_);
  98         this->add_iy(this->root_);
  99         this->add_ixy(this->root_);
 100         float hcenter = (this->HMAX - this->HMIN) / 2 + this->HMIN;
 101         float hrange = (this->HMAX - this->HMIN) / 2;
 102         float vcenter = (this->VMAX - this->VMIN) / 2 + this->VMIN;
 103         float vrange = (this->VMAX - this->VMIN) / 2;
 104         this->ndx_ = std::normal_distribution<float>(hcenter, hrange);
 105         this->ndy_ = std::normal_distribution<float>(vcenter, vrange);
 106         this->ndh_ = std::normal_distribution<float>(0, 2 * M_PI);
 107 }
 108
 109 RRTBase::RRTBase(RRTNode *init, RRTNode *goal)
 110         : root_(init)
 111         , goal_(goal)
 112         , gen_(std::random_device{}())
 113 {
 114         this->nodes_.reserve(NOFNODES);
 115         this->nodes_.push_back(init);
 116         this->add_iy(init);
 117         this->add_ixy(init);
 118         float hcenter = (this->HMAX - this->HMIN) / 2 + this->HMIN;
 119         float hrange = (this->HMAX - this->HMIN) / 2;
 120         float vcenter = (this->VMAX - this->VMIN) / 2 + this->VMIN;
 121         float vrange = (this->VMAX - this->VMIN) / 2;
 122         this->ndx_ = std::normal_distribution<float>(hcenter, hrange);
 123         this->ndy_ = std::normal_distribution<float>(vcenter, vrange);
 124         this->ndh_ = std::normal_distribution<float>(0, 2 * M_PI);
 125 }
 126
 127 // getter
 128 RRTNode *RRTBase::root()
 129 {
 130         return this->root_;
 131 }
 132
 133 RRTNode *RRTBase::goal()
 134 {
 135         return this->goal_;
 136 }
 137
 138 std::vector<RRTNode *> &RRTBase::goals()
 139 {
 140         return this->goals_;
 141 }
 142
 143 std::vector<RRTNode *> &RRTBase::nodes()
 144 {
 145         return this->nodes_;
 146 }
 147
 148 std::vector<RRTNode *> &RRTBase::dnodes()
 149 {
 150         return this->dnodes_;
 151 }
 152
 153 std::queue<RRTNode *> &RRTBase::firsts()
 154 {
 155         return this->firsts_;
 156 }
 157
 158 PolygonObstacle &RRTBase::frame()
 159 {
 160         return this->frame_;
 161 }
 162
 163 std::vector<RRTNode *> &RRTBase::samples()
 164 {
 165         return this->samples_;
 166 }
 167
 168 std::vector<CircleObstacle> *RRTBase::co()
 169 {
 170         return this->cobstacles_;
 171 }
 172
 173 std::vector<SegmentObstacle> *RRTBase::so()
 174 {
 175         return this->sobstacles_;
 176 }
 177
 178 std::vector<float> &RRTBase::clog()
 179 {
 180         return this->clog_;
 181 }
 182
 183 std::vector<float> &RRTBase::nlog()
 184 {
 185         return this->nlog_;
 186 }
 187
 188 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 189 {
 190         return this->rlog_;
 191 }
 192
 193 std::vector<float> &RRTBase::slog()
 194 {
 195         return this->slog_;
 196 }
 197
 198 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 199 {
 200         return this->tlog_;
 201 }
 202
 203 std::vector<RRTNode *> &RRTBase::slot_cusp()
 204 {
 205         return this->slot_cusp_;
 206 }
 207
 208 bool RRTBase::goal_found()
 209 {
 210         return this->goal_found_;
 211 }
 212
 213 float RRTBase::elapsed()
 214 {
 215         std::chrono::duration<float> dt;
 216         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 217                         this->tend_ - this->tstart_);
 218         return dt.count();
 219 }
 220
 221 std::vector<RRTNode *> RRTBase::traj_cusp()
 222 {
 223         std::vector<RRTNode *> tmp_cusps;
 224         for (auto n: this->tlog().back()) {
 225                 if (sgn(n->s()) == 0) {
 226                         tmp_cusps.push_back(n);
 227                 } else if (n->parent() &&
 228                                 sgn(n->s()) != sgn(n->parent()->s())) {
 229                         tmp_cusps.push_back(n);
 230                         tmp_cusps.push_back(n->parent());
 231                 }
 232         }
 233         std::vector<RRTNode *> cusps;
 234         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 235                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 236                         cusps.push_back(tmp_cusps[i]);
 237         }
 238         return cusps;
 239 }
 240
 241 // setter
 242 void RRTBase::root(RRTNode *node)
 243 {
 244         this->root_ = node;
 245 }
 246
 247 void RRTBase::goal(RRTNode *node)
 248 {
 249         this->goal_ = node;
 250 }
 251
 252 void RRTBase::goals(std::vector<RRTNode *> g)
 253 {
 254         this->goals_ = g;
 255         std::reverse(this->goals_.begin(), this->goals_.end());
 256         RRTNode *pn = this->goals_.front();
 257         for (auto n: this->goals_) {
 258                 if (n != pn) {
 259                         pn->add_child(n, this->cost(pn ,n));
 260                         pn = n;
 261                 }
 262         }
 263 }
 264
 265 bool RRTBase::logr(RRTNode *root)
 266 {
 267         std::vector<RRTEdge *> e; // Edges to log
 268         std::vector<RRTNode *> s; // DFS stack
 269         std::vector<RRTNode *> r; // reset visited_
 270         RRTNode *tmp;
 271         s.push_back(root);
 272         while (s.size() > 0) {
 273                 tmp = s.back();
 274                 s.pop_back();
 275                 if (!tmp->visit()) {
 276                         r.push_back(tmp);
 277                         for (auto ch: tmp->children()) {
 278                                 s.push_back(ch);
 279                                 e.push_back(new RRTEdge(tmp, ch));
 280                         }
 281                 }
 282         }
 283         for (auto n: r)
 284                 n->visit(false);
 285         this->rlog_.push_back(e);
 286         return true;
 287 }
 288
 289 float RRTBase::ocost(RRTNode *n)
 290 {
 291         float dist = 9999;
 292         for (auto o: *this->cobstacles_)
 293                 if (o.dist_to(n) < dist)
 294                         dist = o.dist_to(n);
 295         for (auto o: *this->sobstacles_)
 296                 if (o.dist_to(n) < dist)
 297                         dist = o.dist_to(n);
 298         return n->ocost(dist);
 299 }
 300
 301 bool RRTBase::tlog(std::vector<RRTNode *> t)
 302 {
 303         if (t.size() > 0) {
 304                 this->slog_.push_back(this->elapsed());
 305                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 306                 this->nlog_.push_back(this->nodes_.size());
 307                 this->tlog_.push_back(t);
 308                 return true;
 309         } else {
 310                 return false;
 311         }
 312 }
 313
 314 void RRTBase::tstart()
 315 {
 316         this->tstart_ = std::chrono::high_resolution_clock::now();
 317 }
 318
 319 void RRTBase::tend()
 320 {
 321         this->tend_ = std::chrono::high_resolution_clock::now();
 322 }
 323
 324 bool RRTBase::link_obstacles(
 325                 std::vector<CircleObstacle> *cobstacles,
 326                 std::vector<SegmentObstacle> *sobstacles)
 327 {
 328         this->cobstacles_ = cobstacles;
 329         this->sobstacles_ = sobstacles;
 330         if (!this->cobstacles_ || !this->sobstacles_) {
 331                 return false;
 332         }
 333         return true;
 334 }
 335
 336 bool RRTBase::add_iy(RRTNode *n)
 337 {
 338         int i = this->YI(n);
 339         if (i < 0)
 340                 i = 0;
 341         if (i >= IYSIZE)
 342                 i = IYSIZE - 1;
 343         this->iy_[i].push_back(n);
 344         return true;
 345 }
 346
 347 bool RRTBase::add_ixy(RRTNode *n)
 348 {
 349         int ix = this->XI(n);
 350         if (ix < 0)
 351                 ix = 0;
 352         if (ix >= IXSIZE)
 353                 ix = IXSIZE - 1;
 354         int iy = this->YI(n);
 355         if (iy < 0)
 356                 iy = 0;
 357         if (iy >= IYSIZE)
 358                 iy = IYSIZE - 1;
 359         this->ixy_[ix][iy].add_node(n);
 360         return true;
 361 }
 362
 363 bool RRTBase::goal_found(bool f)
 364 {
 365         this->goal_found_ = f;
 366         return f;
 367 }
 368
 369 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 370 {
 371         for (unsigned int i = 0; i < sc.size() - 1; i++)
 372                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 373         sc[0]->parent(this->goal());
 374         this->slot_cusp_ = sc;
 375 }
 376
 377 // other
 378 bool RRTBase::glplot()
 379 {
 380 #if USE_GL > 0
 381         float glplwscale = 1.0 / ((this->VMAX) - (this->VMIN));
 382         float glplhscale = 1.0 / ((this->HMAX) - (this->HMIN));
 383         glClear(GL_COLOR_BUFFER_BIT);
 384         glLineWidth(1);
 385         glPointSize(1);
 386         // Plot obstacles
 387         glBegin(GL_LINES);
 388         for (auto o: *this->sobstacles_) {
 389                 glColor3f(0, 0, 0);
 390                 glVertex2f(GLVERTEX(o.init()));
 391                 glVertex2f(GLVERTEX(o.goal()));
 392         }
 393         glEnd();
 394         // Plot root, goal
 395         glPointSize(8);
 396         glBegin(GL_POINTS);
 397         glColor3f(1, 0, 0);
 398         glVertex2f(GLVERTEX(this->root_));
 399         glVertex2f(GLVERTEX(this->goal_));
 400         glEnd();
 401         // Plot last sample
 402         if (this->samples_.size() > 0) {
 403                 glPointSize(8);
 404                 glBegin(GL_POINTS);
 405                 glColor3f(0, 1, 0);
 406                 glVertex2f(GLVERTEX(this->samples_.back()));
 407                 glEnd();
 408         }
 409         // Plot nodes (position, orientation
 410         std::vector<RRTNode *> s; // DFS stack
 411         std::vector<RRTNode *> r; // reset visited_
 412         RRTNode *tmp;
 413         glBegin(GL_LINES);
 414         s.push_back(this->root_);
 415         while (s.size() > 0) {
 416                 tmp = s.back();
 417                 s.pop_back();
 418                 if (!tmp->visit()) {
 419                         r.push_back(tmp);
 420                         for (auto ch: tmp->children()) {
 421                                 s.push_back(ch);
 422                                 glColor3f(0.5, 0.5, 0.5);
 423                                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 424                                 glVertex2f(
 425                                         bc.lfx() * glplwscale,
 426                                         bc.lfy() * glplhscale
 427                                 );
 428                                 glVertex2f(
 429                                         bc.lrx() * glplwscale,
 430                                         bc.lry() * glplhscale
 431                                 );
 432                                 glVertex2f(
 433                                         bc.lrx() * glplwscale,
 434                                         bc.lry() * glplhscale
 435                                 );
 436                                 glVertex2f(
 437                                         bc.rrx() * glplwscale,
 438                                         bc.rry() * glplhscale
 439                                 );
 440                                 glVertex2f(
 441                                         bc.rrx() * glplwscale,
 442                                         bc.rry() * glplhscale
 443                                 );
 444                                 glVertex2f(
 445                                         bc.rfx() * glplwscale,
 446                                         bc.rfy() * glplhscale
 447                                 );
 448                         }
 449                 }
 450         }
 451         glEnd();
 452         // Plot nodes
 453         glBegin(GL_LINES);
 454         s.push_back(this->root_);
 455         while (s.size() > 0) {
 456                 tmp = s.back();
 457                 s.pop_back();
 458                 if (!tmp->visit()) {
 459                         r.push_back(tmp);
 460                         for (auto ch: tmp->children()) {
 461                                 s.push_back(ch);
 462                                 glColor3f(0.5, 0.5, 0.5);
 463                                 glVertex2f(GLVERTEX(tmp));
 464                                 glVertex2f(GLVERTEX(ch));
 465                         }
 466                 }
 467         }
 468         glEnd();
 469         // Plot nodes (from goal)
 470         glBegin(GL_LINES);
 471         s.push_back(this->goal_);
 472         while (s.size() > 0) {
 473                 tmp = s.back();
 474                 s.pop_back();
 475                 if (!tmp->visit()) {
 476                         r.push_back(tmp);
 477                         for (auto ch: tmp->children()) {
 478                                 s.push_back(ch);
 479                                 glColor3f(0.5, 0.5, 0.5);
 480                                 glVertex2f(GLVERTEX(tmp));
 481                                 glVertex2f(GLVERTEX(ch));
 482                         }
 483                 }
 484         }
 485         glEnd();
 486         std::vector<RRTNode *> cusps;
 487         // Plot last trajectory
 488         if (this->tlog().size() > 0) {
 489                 glLineWidth(2);
 490                 glBegin(GL_LINES);
 491                 for (auto n: this->tlog().back()) {
 492                         if (n->parent()) {
 493                                 glColor3f(0, 0, 1);
 494                                 glVertex2f(GLVERTEX(n));
 495                                 glVertex2f(GLVERTEX(n->parent()));
 496                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 497                                         cusps.push_back(n);
 498                         }
 499                 }
 500                 glEnd();
 501         }
 502         // Plot cusps
 503         glPointSize(8);
 504         glBegin(GL_POINTS);
 505         for (auto n: cusps) {
 506                 glColor3f(0, 0, 1);
 507                 glVertex2f(GLVERTEX(n));
 508         }
 509         glEnd();
 510         SDL_GL_SwapWindow(gw);
 511         for (auto n: r)
 512                 n->visit(false);
 513 #endif
 514         return true;
 515 }
 516
 517 bool RRTBase::goal_found(
 518                 RRTNode *node,
 519                 float (*cost)(RRTNode *, RRTNode* ))
 520 {
 521         if (GOAL_IS_NEAR(node, this->goal_)) {
 522                 if (this->goal_found_) {
 523                         if (node->ccost() + this->cost(node, this->goal_) <
 524                                         this->goal_->ccost()) {
 525                                 RRTNode *op; // old parent
 526                                 float oc; // old cumulative cost
 527                                 float od; // old direct cost
 528                                 op = this->goal_->parent();
 529                                 oc = this->goal_->ccost();
 530                                 od = this->goal_->dcost();
 531                                 node->add_child(this->goal_,
 532                                                 this->cost(node, this->goal_));
 533                                 if (this->collide(node, this->goal_)) {
 534                                         node->children().pop_back();
 535                                         this->goal_->parent(op);
 536                                         this->goal_->ccost(oc);
 537                                         this->goal_->dcost(od);
 538                                 } else {
 539                                         op->rem_child(this->goal_);
 540                                         return true;
 541                                 }
 542                         } else {
 543                                 return false;
 544                         }
 545                 } else {
 546                         node->add_child(
 547                                         this->goal_,
 548                                         this->cost(node, this->goal_));
 549                         if (this->collide(node, this->goal_)) {
 550                                 node->children().pop_back();
 551                                 this->goal_->remove_parent();
 552                                 return false;
 553                         }
 554                         this->goal_found_ = true;
 555                         // Update ccost of goal's parents
 556                         if (this->goals().size() > 0) {
 557                                 RRTNode *ch = this->goals().back();
 558                                 RRTNode *pn = this->goals().back()->parent();
 559                                 while (pn) {
 560                                         pn->ccost(
 561                                                 ch->ccost()
 562                                                 - this->cost(pn, ch)
 563                                         );
 564                                         ch = pn;
 565                                         pn = pn->parent();
 566                                 }
 567                         }
 568                         return true;
 569                 }
 570         }
 571         return false;
 572 }
 573
 574 bool RRTBase::goal_found(
 575         RRTNode *node,
 576         RRTNode *goal
 577 )
 578 {
 579         if (GOAL_IS_NEAR(node, goal)) {
 580                 if (this->goal_found_) {
 581                         if (
 582                                 goal->ccost() != -1
 583                                 && node->ccost() + this->cost(node, goal)
 584                                 < goal->ccost()
 585                         ) {
 586                                 RRTNode *op; // old parent
 587                                 float oc; // old cumulative cost
 588                                 float od; // old direct cost
 589                                 op = goal->parent();
 590                                 oc = goal->ccost();
 591                                 od = goal->dcost();
 592                                 node->add_child(goal,
 593                                                 this->cost(node, goal));
 594                                 if (this->collide(node, goal)) {
 595                                         node->children().pop_back();
 596                                         goal->parent(op);
 597                                         goal->ccost(oc);
 598                                         goal->dcost(od);
 599                                 } else {
 600                                         op->rem_child(goal);
 601                                         return true;
 602                                 }
 603                         } else {
 604                                 return false;
 605                         }
 606                 } else {
 607                         node->add_child(
 608                                 goal,
 609                                 this->cost(node, goal)
 610                         );
 611                         if (this->collide(node, goal)) {
 612                                 node->children().pop_back();
 613                                 goal->remove_parent();
 614                                 return false;
 615                         }
 616                         this->goal_found_ = true;
 617                         // Update ccost of goal's children
 618                         goal->update_ccost();
 619                         // Update ccost of goals
 620                         for (auto g: this->goals()) {
 621                                 if (g == goal)
 622                                         break;
 623                                 g->ccost(-1);
 624                         }
 625                         return true;
 626                 }
 627         }
 628         return false;
 629 }
 630
 631 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 632 {
 633         std::vector<RRTEdge *> edges;
 634         RRTNode *tmp = goal;
 635         volatile bool col = false;
 636         unsigned int i;
 637         while (tmp != init) {
 638                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 639                 std::vector<RRTEdge *> bcframe = bc.frame();
 640                 #pragma omp parallel for reduction(|: col)
 641                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 642                         if ((*this->cobstacles_)[i].collide(tmp)) {
 643                                 col = true;
 644                         }
 645                         for (auto &e: bcframe) {
 646                                 if ((*this->cobstacles_)[i].collide(e)) {
 647                                         col = true;
 648                                 }
 649                         }
 650                 }
 651                 if (col) {
 652                         for (auto e: bcframe) {
 653                                 delete e->init();
 654                                 delete e->goal();
 655                                 delete e;
 656                         }
 657                         for (auto e: edges) {
 658                                 delete e;
 659                         }
 660                         return true;
 661                 }
 662                 #pragma omp parallel for reduction(|: col)
 663                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 664                         for (auto &e: bcframe) {
 665                                 if ((*this->sobstacles_)[i].collide(e)) {
 666                                         col = true;
 667                                 }
 668                         }
 669                 }
 670                 if (col) {
 671                         for (auto e: bcframe) {
 672                                 delete e->init();
 673                                 delete e->goal();
 674                                 delete e;
 675                         }
 676                         for (auto e: edges) {
 677                                 delete e;
 678                         }
 679                         return true;
 680                 }
 681                 if (!tmp->parent()) {
 682                         break;
 683                 }
 684                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 685                 tmp = tmp->parent();
 686                 for (auto e: bcframe) {
 687                         delete e->init();
 688                         delete e->goal();
 689                         delete e;
 690                 }
 691         }
 692         for (auto &e: edges) {
 693                 #pragma omp parallel for reduction(|: col)
 694                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 695                         if ((*this->cobstacles_)[i].collide(e)) {
 696                                 col = true;
 697                         }
 698                 }
 699                 if (col) {
 700                         for (auto e: edges) {
 701                                 delete e;
 702                         }
 703                         return true;
 704                 }
 705                 #pragma omp parallel for reduction(|: col)
 706                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 707                         if ((*this->sobstacles_)[i].collide(e)) {
 708                                 col = true;
 709                         }
 710                 }
 711                 if (col) {
 712                         for (auto e: edges) {
 713                                 delete e;
 714                         }
 715                         return true;
 716                 }
 717         }
 718         for (auto e: edges) {
 719                 delete e;
 720         }
 721         return false;
 722 }
 723
 724 class RRTNodeDijkstra {
 725         public:
 726                 RRTNodeDijkstra(int i):
 727                         ni(i),
 728                         pi(0),
 729                         c(9999),
 730                         v(false)
 731                 {};
 732                 RRTNodeDijkstra(int i, float c):
 733                         ni(i),
 734                         pi(0),
 735                         c(c),
 736                         v(false)
 737                 {};
 738                 RRTNodeDijkstra(int i, int p, float c):
 739                         ni(i),
 740                         pi(p),
 741                         c(c),
 742                         v(false)
 743                 {};
 744                 unsigned int ni;
 745                 unsigned int pi;
 746                 float c;
 747                 bool v;
 748                 bool vi()
 749                 {
 750                         if (this->v)
 751                                 return true;
 752                         this->v = true;
 753                         return false;
 754                 };
 755 };
 756
 757 class RRTNodeDijkstraComparator {
 758         public:
 759                 int operator() (
 760                                 const RRTNodeDijkstra& n1,
 761                                 const RRTNodeDijkstra& n2)
 762                 {
 763                         return n1.c > n2.c;
 764                 }
 765 };
 766
 767 bool RRTBase::optp_dijkstra(
 768                 std::vector<RRTNode *> &cusps,
 769                 std::vector<int> &npi)
 770 {
 771         std::vector<RRTNodeDijkstra> dnodes;
 772         for (unsigned int i = 0; i < cusps.size(); i++)
 773                 if (i > 0)
 774                         dnodes.push_back(RRTNodeDijkstra(
 775                                                 i,
 776                                                 i - 1,
 777                                                 cusps[i]->ccost()));
 778                 else
 779                         dnodes.push_back(RRTNodeDijkstra(
 780                                                 i,
 781                                                 cusps[i]->ccost()));
 782         dnodes[0].vi();
 783         std::priority_queue<
 784                 RRTNodeDijkstra,
 785                 std::vector<RRTNodeDijkstra>,
 786                 RRTNodeDijkstraComparator> pq;
 787         RRTNodeDijkstra tmp = dnodes[0];
 788         pq.push(tmp);
 789         float ch_cost = 9999;
 790         std::vector<RRTNode *> steered;
 791         while (!pq.empty()) {
 792                 tmp = pq.top();
 793                 pq.pop();
 794                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 795                         ch_cost = dnodes[tmp.ni].c +
 796                                 this->cost(cusps[tmp.ni], cusps[i]);
 797                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 798                         if (steered.size() <= 0)
 799                                 break;
 800                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 801                                 steered[j]->add_child(steered[j + 1], 1);
 802                         if (this->collide(
 803                                         steered[0],
 804                                         steered[steered.size() - 1])) {
 805                                 for (auto n: steered)
 806                                         delete n;
 807                                 continue;
 808                         }
 809                         if (ch_cost < dnodes[i].c) {
 810                                 dnodes[i].c = ch_cost;
 811                                 dnodes[i].pi = tmp.ni;
 812                                 if (!dnodes[i].vi())
 813                                         pq.push(dnodes[i]);
 814                         }
 815                         for (auto n: steered)
 816                                 delete n;
 817                 }
 818         }
 819         unsigned int tmpi = 0;
 820         for (auto n: dnodes) {
 821                 if (n.v && n.ni > tmpi)
 822                         tmpi = n.ni;
 823         }
 824         while (tmpi > 0) {
 825                 npi.push_back(tmpi);
 826                 tmpi = dnodes[tmpi].pi;
 827         }
 828         npi.push_back(tmpi);
 829         std::reverse(npi.begin(), npi.end());
 830         return true;
 831 }
 832
 833 bool RRTBase::optp_rrp(
 834                 std::vector<RRTNode *> &cusps,
 835                 std::vector<int> &npi)
 836 {
 837         std::vector<RRTNode *> steered;
 838         std::vector<int> candidates;
 839         RRTNode *x_j = nullptr;
 840         RRTNode *x_i = nullptr;
 841         int j = cusps.size() - 1;
 842         int i_min = 0;
 843         float c_min = 0;
 844         float cost = 0;
 845         float dx = 0;
 846         float dy = 0;
 847         float ed = 0;
 848         float th_i = 0;
 849         float th_j = 0;
 850         while (j > 0) {
 851                 npi.push_back(j);
 852                 steered.clear();
 853                 candidates.clear();
 854                 x_j = cusps[j];
 855                 for (int i = 0; i < j; i++) {
 856                         steered = this->steer(cusps[i], x_j);
 857                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 858                                 steered[k]->add_child(steered[k + 1], 1);
 859                         if (!this->collide(
 860                                         steered[0],
 861                                         steered[steered.size() - 1]))
 862                                 candidates.push_back(i);
 863                 }
 864                 if (candidates.size() <= 0)
 865                         return false;
 866                 i_min = candidates[0];
 867                 x_i = cusps[i_min];
 868                 c_min = 9999;
 869                 for (auto c: candidates) {
 870                         x_i = cusps[c];
 871                         dx = x_j->x() - x_i->x();
 872                         dy = x_j->y() - x_i->y();
 873                         ed = EDIST(x_i, x_j);
 874                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 875                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 876                         cost = th_i + th_j;
 877                         if (cost < c_min) {
 878                                 i_min = c;
 879                                 c_min = cost;
 880                         }
 881                 }
 882                 j = i_min;
 883
 884         }
 885         npi.push_back(j);
 886         std::reverse(npi.begin(), npi.end());
 887         return true;
 888 }
 889
 890 bool RRTBase::optp_smart(
 891                 std::vector<RRTNode *> &cusps,
 892                 std::vector<int> &npi)
 893 {
 894         std::vector<RRTNode *> steered;
 895         int li = cusps.size() - 1;
 896         int ai = li - 1;
 897         npi.push_back(li);
 898         while (ai > 1) {
 899                 steered = this->steer(cusps[ai - 1], cusps[li]);
 900                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 901                         steered[j]->add_child(steered[j + 1], 1);
 902                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 903                         npi.push_back(ai);
 904                         li = ai;
 905                 }
 906                 ai--;
 907                 for (auto n: steered)
 908                         delete n;
 909         }
 910         npi.push_back(0);
 911         std::reverse(npi.begin(), npi.end());
 912         return true;
 913 }
 914
 915 bool RRTBase::opt_path()
 916 {
 917         if (this->tlog().size() == 0)
 918                 return false;
 919         float oc = this->tlog().back().front()->ccost();
 920         std::vector<RRTNode *> tmp_cusps;
 921         for (auto n: this->tlog().back()) {
 922                 if (sgn(n->s()) == 0) {
 923                         tmp_cusps.push_back(n);
 924                 } else if (n->parent() &&
 925                                 sgn(n->s()) != sgn(n->parent()->s())) {
 926                         tmp_cusps.push_back(n);
 927                         tmp_cusps.push_back(n->parent());
 928                 }
 929                 //tmp_cusps.push_back(n);
 930         }
 931         if (tmp_cusps.size() < 2)
 932                 return false;
 933         std::vector<RRTNode *> cusps;
 934         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 935                 if (!IS_NEAR(
 936                         tmp_cusps[i],
 937                         tmp_cusps[(i + 1) % tmp_cusps.size()]
 938                 ))
 939                         cusps.push_back(tmp_cusps[i]);
 940         }
 941         std::reverse(cusps.begin(), cusps.end());
 942         std::vector<int> npi; // new path indexes
 943         if (!this->optp_dijkstra(cusps, npi))
 944                 return false;
 945         RRTNode *pn = cusps[npi[0]];
 946         RRTNode *tmp = nullptr;
 947         bool en_add = true;
 948         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 949                 pn = cusps[npi[i]];
 950                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 951                         if (!en_add) {
 952                                 delete ns;
 953                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 954                                 tmp = ns;
 955                                 while (tmp && tmp != cusps[npi[i]]) {
 956                                         pn = tmp->parent();
 957                                         delete tmp;
 958                                         tmp = pn;
 959                                 }
 960                                 pn = cusps[npi[i]];
 961                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 962                                 delete ns;
 963                                 cusps[npi[i + 1]]->parent()->rem_child(
 964                                                 cusps[npi[i + 1]]);
 965                                 pn->add_child(
 966                                         cusps[npi[i + 1]],
 967                                         this->cost(pn, cusps[npi[i + 1]]));
 968                                 en_add = false;
 969                         } else if (IS_NEAR(pn, ns)) {
 970                                 delete ns;
 971                         } else {
 972                                 this->nodes().push_back(ns);
 973                                 this->add_iy(ns);
 974                                 this->add_ixy(ns);
 975                                 pn->add_child(ns, this->cost(pn, ns));
 976                                 pn = ns;
 977                         }
 978                 }
 979         }
 980         this->root()->update_ccost();
 981         if (this->tlog().back().front()->ccost() < oc)
 982                 return true;
 983         return false;
 984 }
 985
 986 bool RRTBase::rebase(RRTNode *nr)
 987 {
 988         if (!nr || this->goal_ == nr || this->root_ == nr)
 989                 return false;
 990         std::vector<RRTNode *> s; // DFS stack
 991         RRTNode *tmp;
 992         unsigned int i = 0;
 993         unsigned int to_del = 0;
 994         int iy = 0;
 995         s.push_back(this->root_);
 996         while (s.size() > 0) {
 997                 tmp = s.back();
 998                 s.pop_back();
 999                 for (auto ch: tmp->children()) {
1000                         if (ch != nr)
1001                                 s.push_back(ch);
1002                 }
1003                 to_del = this->nodes_.size();
1004                 #pragma omp parallel for reduction(min: to_del)
1005                 for (i = 0; i < this->nodes_.size(); i++) {
1006                         if (this->nodes_[i] == tmp)
1007                                 to_del = i;
1008                 }
1009                 if (to_del < this->nodes_.size())
1010                         this->nodes_.erase(this->nodes_.begin() + to_del);
1011                 iy = this->YI(tmp);
1012                 to_del = this->iy_[iy].size();
1013                 #pragma omp parallel  for reduction(min: to_del)
1014                 for (i = 0; i < this->iy_[iy].size(); i++) {
1015                         if (this->iy_[iy][i] == tmp)
1016                                 to_del = i;
1017                 }
1018                 if (to_del < this->iy_[iy].size())
1019                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
1020                 this->dnodes().push_back(tmp);
1021         }
1022         this->root_ = nr;
1023         this->root_->remove_parent();
1024         return true;
1025 }
1026
1027 std::vector<RRTNode *> RRTBase::findt()
1028 {
1029         return this->findt(this->goal_);
1030 }
1031
1032 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
1033 {
1034         std::vector<RRTNode *> nodes;
1035         if (!n || !n->parent())
1036                 return nodes;
1037         while (n) {
1038                 nodes.push_back(n);
1039                 n = n->parent();
1040         }
1041         return nodes;
1042 }
1043
1044 int RRTBase::XI(RRTNode *n)
1045 {
1046         float step = (this->HMAX - this->HMIN) / IXSIZE;
1047         float index = (int) (floor(n->x() - this->HMIN) / step);
1048         if (index < 0) index = 0;
1049         if (index >= IXSIZE) index = IXSIZE - 1;
1050         return index;
1051 }
1052
1053 int RRTBase::YI(RRTNode *n)
1054 {
1055         float step = (this->VMAX - this->VMIN) / IYSIZE;
1056         float index = (int) (floor(n->y() - this->VMIN) / step);
1057         if (index < 0) index = 0;
1058         if (index >= IYSIZE) index = IYSIZE - 1;
1059         return index;
1060 }
1061
1062 // RRT Framework
1063 void RRTBase::defaultSamplingInfo()
1064 {
1065         float hcenter = (this->HMAX - this->HMIN) / 2 + this->HMIN;
1066         float hrange = (this->HMAX - this->HMIN) / 2;
1067         float vcenter = (this->VMAX - this->VMIN) / 2 + this->VMIN;
1068         float vrange = (this->VMAX - this->VMIN) / 2;
1069         this->ndx_ = std::normal_distribution<float>(hcenter, hrange);
1070         this->ndy_ = std::normal_distribution<float>(vcenter, vrange);
1071         this->ndh_ = std::normal_distribution<float>(0, 2 * M_PI);
1072 }
1073
1074 void RRTBase::setSamplingInfo(SamplingInfo si)
1075 {
1076         this->ndx_ = std::normal_distribution<float>(si.x0, si.x);
1077         this->ndy_ = std::normal_distribution<float>(si.y0, si.y);
1078         this->ndh_ = std::normal_distribution<float>(si.h0, si.h);
1079 }
1080
1081 RRTNode *RRTBase::sample()
1082 {
1083         float x = this->ndx_(this->gen_);
1084         float y = this->ndy_(this->gen_);
1085         float h = this->ndh_(this->gen_);
1086         return new RRTNode(x, y, h);
1087 }
1088
1089 float RRTBase::cost(RRTNode *init, RRTNode *goal)
1090 {
1091         return co2(init, goal);
1092 }
1093
1094 RRTNode *RRTBase::nn(RRTNode *rs)
1095 {
1096         int iy = this->YI(rs);
1097         float iy_step = (this->VMAX - this->VMIN) / IYSIZE;
1098         struct mcnn nn;
1099         nn.nn = nullptr;
1100         nn.mc = 9999;
1101         unsigned int i = 0; // vector step
1102         unsigned int j = 0; // array step
1103         int iyj = 0;
1104         while (nn.mc > j * iy_step) {
1105                 iyj = (int) (iy + j);
1106                 if (iyj >= IYSIZE)
1107                         iyj = IYSIZE - 1;
1108                 #pragma omp parallel for reduction(minn: nn)
1109                 for (i = 0; i < this->iy_[iyj].size(); i++) {
1110                         if (EDIST(this->iy_[iyj][i], rs) < nn.mc) {
1111                                 nn.mc = EDIST(this->iy_[iyj][i], rs);
1112                                 nn.nn = this->iy_[iyj][i];
1113                         }
1114                 }
1115                 if (j > 0) {
1116                         iyj = (int) (iy - j);
1117                         if (iyj < 0)
1118                                 iyj = 0;
1119                         #pragma omp parallel for reduction(minn: nn)
1120                         for (i = 0; i < this->iy_[iyj].size(); i++) {
1121                                 if (EDIST(this->iy_[iyj][i], rs) < nn.mc) {
1122                                         nn.mc = EDIST(this->iy_[iyj][i], rs);
1123                                         nn.nn = this->iy_[iyj][i];
1124                                 }
1125                         }
1126                 }
1127                 j++;
1128         }
1129         return nn.nn;
1130 }
1131
1132 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
1133 {
1134         std::vector<RRTNode *> nvs;
1135         unsigned int iy = this->YI(node);
1136         float iy_step = (this->VMAX - this->VMIN) / IYSIZE;
1137         unsigned int iy_dist = floor(dist / iy_step) + 1;
1138         unsigned int i = 0; // vector index
1139         unsigned int j = 0; // array index
1140         unsigned int jmin = 0; // minimal j index
1141         unsigned int jmax = 0; // maximal j index
1142         jmin = iy - iy_dist;
1143         jmin = (jmin > 0) ? jmin : 0;
1144         jmax = iy + iy_dist + 1;
1145         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
1146         #pragma omp parallel for reduction(merge: nvs)
1147         for (j = jmin; j < jmax; j++) {
1148                 #pragma omp parallel for reduction(merge: nvs)
1149                 for (i = 0; i < this->iy_[j].size(); i++) {
1150                         if (this->cost(this->iy_[j][i], node) < dist) {
1151                                 nvs.push_back(this->iy_[j][i]);
1152                         }
1153                 }
1154         }
1155         return nvs;
1156 }
1157
1158 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
1159 {
1160         return st3(init, goal);
1161 }
1162
1163 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
1164 {
1165         return st3(init, goal, step);
1166 }