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 std::queue<RRTNode *> &RRTBase::firsts()
 143 {
 144         return this->firsts_;
 145 }
 146
 147 PolygonObstacle &RRTBase::frame()
 148 {
 149         return this->frame_;
 150 }
 151
 152 std::vector<RRTNode *> &RRTBase::samples()
 153 {
 154         return this->samples_;
 155 }
 156
 157 std::vector<CircleObstacle> *RRTBase::co()
 158 {
 159         return this->cobstacles_;
 160 }
 161
 162 std::vector<SegmentObstacle> *RRTBase::so()
 163 {
 164         return this->sobstacles_;
 165 }
 166
 167 std::vector<float> &RRTBase::clog()
 168 {
 169         return this->clog_;
 170 }
 171
 172 std::vector<float> &RRTBase::nlog()
 173 {
 174         return this->nlog_;
 175 }
 176
 177 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 178 {
 179         return this->rlog_;
 180 }
 181
 182 std::vector<float> &RRTBase::slog()
 183 {
 184         return this->slog_;
 185 }
 186
 187 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 188 {
 189         return this->tlog_;
 190 }
 191
 192 std::vector<RRTNode *> &RRTBase::slot_cusp()
 193 {
 194         return this->slot_cusp_;
 195 }
 196
 197 bool RRTBase::goal_found()
 198 {
 199         return this->goal_found_;
 200 }
 201
 202 float RRTBase::elapsed()
 203 {
 204         std::chrono::duration<float> dt;
 205         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 206                         this->tend_ - this->tstart_);
 207         return dt.count();
 208 }
 209
 210 std::vector<RRTNode *> RRTBase::traj_cusp()
 211 {
 212         std::vector<RRTNode *> tmp_cusps;
 213         for (auto n: this->tlog().back()) {
 214                 if (sgn(n->s()) == 0) {
 215                         tmp_cusps.push_back(n);
 216                 } else if (n->parent() &&
 217                                 sgn(n->s()) != sgn(n->parent()->s())) {
 218                         tmp_cusps.push_back(n);
 219                         tmp_cusps.push_back(n->parent());
 220                 }
 221         }
 222         std::vector<RRTNode *> cusps;
 223         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 224                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 225                         cusps.push_back(tmp_cusps[i]);
 226         }
 227         return cusps;
 228 }
 229
 230 // setter
 231 void RRTBase::root(RRTNode *node)
 232 {
 233         this->root_ = node;
 234 }
 235
 236 void RRTBase::goal(RRTNode *node)
 237 {
 238         this->goal_ = node;
 239 }
 240
 241 void RRTBase::goals(std::vector<RRTNode *> g)
 242 {
 243         this->goals_ = g;
 244         std::reverse(this->goals_.begin(), this->goals_.end());
 245         RRTNode *pn = this->goals_.front();
 246         for (auto n: this->goals_) {
 247                 if (n != pn) {
 248                         pn->add_child(n, this->cost(pn ,n));
 249                         pn = n;
 250                 }
 251         }
 252 }
 253
 254 bool RRTBase::logr(RRTNode *root)
 255 {
 256         std::vector<RRTEdge *> e; // Edges to log
 257         std::vector<RRTNode *> s; // DFS stack
 258         std::vector<RRTNode *> r; // reset visited_
 259         RRTNode *tmp;
 260         s.push_back(root);
 261         while (s.size() > 0) {
 262                 tmp = s.back();
 263                 s.pop_back();
 264                 if (!tmp->visit()) {
 265                         r.push_back(tmp);
 266                         for (auto ch: tmp->children()) {
 267                                 s.push_back(ch);
 268                                 e.push_back(new RRTEdge(tmp, ch));
 269                         }
 270                 }
 271         }
 272         for (auto n: r)
 273                 n->visit(false);
 274         this->rlog_.push_back(e);
 275         return true;
 276 }
 277
 278 float RRTBase::ocost(RRTNode *n)
 279 {
 280         float dist = 9999;
 281         for (auto o: *this->cobstacles_)
 282                 if (o.dist_to(n) < dist)
 283                         dist = o.dist_to(n);
 284         for (auto o: *this->sobstacles_)
 285                 if (o.dist_to(n) < dist)
 286                         dist = o.dist_to(n);
 287         return n->ocost(dist);
 288 }
 289
 290 bool RRTBase::tlog(std::vector<RRTNode *> t)
 291 {
 292         if (t.size() > 0) {
 293                 this->slog_.push_back(this->elapsed());
 294                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 295                 this->nlog_.push_back(this->nodes_.size());
 296                 this->tlog_.push_back(t);
 297                 return true;
 298         } else {
 299                 return false;
 300         }
 301 }
 302
 303 void RRTBase::tstart()
 304 {
 305         this->tstart_ = std::chrono::high_resolution_clock::now();
 306 }
 307
 308 void RRTBase::tend()
 309 {
 310         this->tend_ = std::chrono::high_resolution_clock::now();
 311 }
 312
 313 bool RRTBase::link_obstacles(
 314                 std::vector<CircleObstacle> *cobstacles,
 315                 std::vector<SegmentObstacle> *sobstacles)
 316 {
 317         this->cobstacles_ = cobstacles;
 318         this->sobstacles_ = sobstacles;
 319         if (!this->cobstacles_ || !this->sobstacles_) {
 320                 return false;
 321         }
 322         return true;
 323 }
 324
 325 bool RRTBase::add_iy(RRTNode *n)
 326 {
 327         int i = IYI(n->y());
 328         if (i < 0)
 329                 i = 0;
 330         if (i >= IYSIZE)
 331                 i = IYSIZE - 1;
 332         this->iy_[i].push_back(n);
 333         return true;
 334 }
 335
 336 bool RRTBase::add_ixy(RRTNode *n)
 337 {
 338         int ix = IXI(n->x());
 339         if (ix < 0)
 340                 ix = 0;
 341         if (ix >= IXSIZE)
 342                 ix = IXSIZE - 1;
 343         int iy = IYI(n->y());
 344         if (iy < 0)
 345                 iy = 0;
 346         if (iy >= IYSIZE)
 347                 iy = IYSIZE - 1;
 348         this->ixy_[ix][iy].add_node(n);
 349         return true;
 350 }
 351
 352 bool RRTBase::goal_found(bool f)
 353 {
 354         this->goal_found_ = f;
 355         return f;
 356 }
 357
 358 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 359 {
 360         for (unsigned int i = 0; i < sc.size() - 1; i++)
 361                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 362         sc[0]->parent(this->goal());
 363         this->slot_cusp_ = sc;
 364 }
 365
 366 // other
 367 bool RRTBase::glplot()
 368 {
 369 #if USE_GL > 0
 370         glClear(GL_COLOR_BUFFER_BIT);
 371         glLineWidth(1);
 372         glPointSize(1);
 373         // Plot obstacles
 374         glBegin(GL_LINES);
 375         for (auto o: *this->sobstacles_) {
 376                 glColor3f(0, 0, 0);
 377                 glVertex2f(GLVERTEX(o.init()));
 378                 glVertex2f(GLVERTEX(o.goal()));
 379         }
 380         glEnd();
 381         // Plot root, goal
 382         glPointSize(8);
 383         glBegin(GL_POINTS);
 384         glColor3f(1, 0, 0);
 385         glVertex2f(GLVERTEX(this->root_));
 386         glVertex2f(GLVERTEX(this->goal_));
 387         glEnd();
 388         // Plot last sample
 389         if (this->samples_.size() > 0) {
 390                 glPointSize(8);
 391                 glBegin(GL_POINTS);
 392                 glColor3f(0, 1, 0);
 393                 glVertex2f(GLVERTEX(this->samples_.back()));
 394                 glEnd();
 395         }
 396         // Plot nodes
 397         std::vector<RRTNode *> s; // DFS stack
 398         std::vector<RRTNode *> r; // reset visited_
 399         RRTNode *tmp;
 400         glBegin(GL_LINES);
 401         s.push_back(this->root_);
 402         while (s.size() > 0) {
 403                 tmp = s.back();
 404                 s.pop_back();
 405                 if (!tmp->visit()) {
 406                         r.push_back(tmp);
 407                         for (auto ch: tmp->children()) {
 408                                 s.push_back(ch);
 409                                 glColor3f(0.5, 0.5, 0.5);
 410                                 glVertex2f(GLVERTEX(tmp));
 411                                 glVertex2f(GLVERTEX(ch));
 412                         }
 413                 }
 414         }
 415         glEnd();
 416         // Plot nodes (from goal)
 417         glBegin(GL_LINES);
 418         s.push_back(this->goal_);
 419         while (s.size() > 0) {
 420                 tmp = s.back();
 421                 s.pop_back();
 422                 if (!tmp->visit()) {
 423                         r.push_back(tmp);
 424                         for (auto ch: tmp->children()) {
 425                                 s.push_back(ch);
 426                                 glColor3f(0.5, 0.5, 0.5);
 427                                 glVertex2f(GLVERTEX(tmp));
 428                                 glVertex2f(GLVERTEX(ch));
 429                         }
 430                 }
 431         }
 432         glEnd();
 433         std::vector<RRTNode *> cusps;
 434         // Plot last trajectory
 435         if (this->tlog().size() > 0) {
 436                 glLineWidth(2);
 437                 glBegin(GL_LINES);
 438                 for (auto n: this->tlog().back()) {
 439                         if (n->parent()) {
 440                                 glColor3f(0, 0, 1);
 441                                 glVertex2f(GLVERTEX(n));
 442                                 glVertex2f(GLVERTEX(n->parent()));
 443                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 444                                         cusps.push_back(n);
 445                         }
 446                 }
 447                 glEnd();
 448         }
 449         // Plot cusps
 450         glPointSize(8);
 451         glBegin(GL_POINTS);
 452         for (auto n: cusps) {
 453                 glColor3f(0, 0, 1);
 454                 glVertex2f(GLVERTEX(n));
 455         }
 456         glEnd();
 457         SDL_GL_SwapWindow(gw);
 458         for (auto n: r)
 459                 n->visit(false);
 460 #endif
 461         return true;
 462 }
 463
 464 bool RRTBase::goal_found(
 465                 RRTNode *node,
 466                 float (*cost)(RRTNode *, RRTNode* ))
 467 {
 468         if (IS_NEAR(node, this->goal_)) {
 469                 if (this->goal_found_) {
 470                         if (node->ccost() + this->cost(node, this->goal_) <
 471                                         this->goal_->ccost()) {
 472                                 RRTNode *op; // old parent
 473                                 float oc; // old cumulative cost
 474                                 float od; // old direct cost
 475                                 op = this->goal_->parent();
 476                                 oc = this->goal_->ccost();
 477                                 od = this->goal_->dcost();
 478                                 node->add_child(this->goal_,
 479                                                 this->cost(node, this->goal_));
 480                                 if (this->collide(node, this->goal_)) {
 481                                         node->children().pop_back();
 482                                         this->goal_->parent(op);
 483                                         this->goal_->ccost(oc);
 484                                         this->goal_->dcost(od);
 485                                 } else {
 486                                         op->rem_child(this->goal_);
 487                                         return true;
 488                                 }
 489                         } else {
 490                                 return false;
 491                         }
 492                 } else {
 493                         node->add_child(
 494                                         this->goal_,
 495                                         this->cost(node, this->goal_));
 496                         if (this->collide(node, this->goal_)) {
 497                                 node->children().pop_back();
 498                                 this->goal_->remove_parent();
 499                                 return false;
 500                         }
 501                         this->goal_found_ = true;
 502                         // Update ccost of goal's parents
 503                         if (this->goals().size() > 0) {
 504                                 RRTNode *ch = this->goals().back();
 505                                 RRTNode *pn = this->goals().back()->parent();
 506                                 while (pn) {
 507                                         pn->ccost(
 508                                                 ch->ccost()
 509                                                 - this->cost(pn, ch)
 510                                         );
 511                                         ch = pn;
 512                                         pn = pn->parent();
 513                                 }
 514                         }
 515                         return true;
 516                 }
 517         }
 518         return false;
 519 }
 520
 521 bool RRTBase::goal_found(
 522         RRTNode *node,
 523         RRTNode *goal
 524 )
 525 {
 526         if (IS_NEAR(node, goal)) {
 527                 if (this->goal_found_) {
 528                         if (
 529                                 goal->ccost() != -1
 530                                 && node->ccost() + this->cost(node, goal)
 531                                 < goal->ccost()
 532                         ) {
 533                                 RRTNode *op; // old parent
 534                                 float oc; // old cumulative cost
 535                                 float od; // old direct cost
 536                                 op = goal->parent();
 537                                 oc = goal->ccost();
 538                                 od = goal->dcost();
 539                                 node->add_child(goal,
 540                                                 this->cost(node, goal));
 541                                 if (this->collide(node, goal)) {
 542                                         node->children().pop_back();
 543                                         goal->parent(op);
 544                                         goal->ccost(oc);
 545                                         goal->dcost(od);
 546                                 } else {
 547                                         op->rem_child(goal);
 548                                         return true;
 549                                 }
 550                         } else {
 551                                 return false;
 552                         }
 553                 } else {
 554                         node->add_child(
 555                                 goal,
 556                                 this->cost(node, goal)
 557                         );
 558                         if (this->collide(node, goal)) {
 559                                 node->children().pop_back();
 560                                 goal->remove_parent();
 561                                 return false;
 562                         }
 563                         this->goal_found_ = true;
 564                         // Update ccost of goal's children
 565                         goal->update_ccost();
 566                         // Update ccost of goals
 567                         for (auto g: this->goals()) {
 568                                 if (g == goal)
 569                                         break;
 570                                 g->ccost(-1);
 571                         }
 572                         return true;
 573                 }
 574         }
 575         return false;
 576 }
 577
 578 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 579 {
 580         std::vector<RRTEdge *> edges;
 581         RRTNode *tmp = goal;
 582         volatile bool col = false;
 583         unsigned int i;
 584         while (tmp != init) {
 585                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 586                 std::vector<RRTEdge *> bcframe = bc.frame();
 587                 #pragma omp parallel for reduction(|: col)
 588                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 589                         if ((*this->cobstacles_)[i].collide(tmp)) {
 590                                 col = true;
 591                         }
 592                         for (auto &e: bcframe) {
 593                                 if ((*this->cobstacles_)[i].collide(e)) {
 594                                         col = true;
 595                                 }
 596                         }
 597                 }
 598                 if (col) {
 599                         for (auto e: bcframe) {
 600                                 delete e->init();
 601                                 delete e->goal();
 602                                 delete e;
 603                         }
 604                         for (auto e: edges) {
 605                                 delete e;
 606                         }
 607                         return true;
 608                 }
 609                 #pragma omp parallel for reduction(|: col)
 610                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 611                         for (auto &e: bcframe) {
 612                                 if ((*this->sobstacles_)[i].collide(e)) {
 613                                         col = true;
 614                                 }
 615                         }
 616                 }
 617                 if (col) {
 618                         for (auto e: bcframe) {
 619                                 delete e->init();
 620                                 delete e->goal();
 621                                 delete e;
 622                         }
 623                         for (auto e: edges) {
 624                                 delete e;
 625                         }
 626                         return true;
 627                 }
 628                 if (!tmp->parent()) {
 629                         break;
 630                 }
 631                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 632                 tmp = tmp->parent();
 633                 for (auto e: bcframe) {
 634                         delete e->init();
 635                         delete e->goal();
 636                         delete e;
 637                 }
 638         }
 639         for (auto &e: edges) {
 640                 #pragma omp parallel for reduction(|: col)
 641                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 642                         if ((*this->cobstacles_)[i].collide(e)) {
 643                                 col = true;
 644                         }
 645                 }
 646                 if (col) {
 647                         for (auto e: edges) {
 648                                 delete e;
 649                         }
 650                         return true;
 651                 }
 652                 #pragma omp parallel for reduction(|: col)
 653                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 654                         if ((*this->sobstacles_)[i].collide(e)) {
 655                                 col = true;
 656                         }
 657                 }
 658                 if (col) {
 659                         for (auto e: edges) {
 660                                 delete e;
 661                         }
 662                         return true;
 663                 }
 664         }
 665         for (auto e: edges) {
 666                 delete e;
 667         }
 668         return false;
 669 }
 670
 671 class RRTNodeDijkstra {
 672         public:
 673                 RRTNodeDijkstra(int i):
 674                         ni(i),
 675                         pi(0),
 676                         c(9999),
 677                         v(false)
 678                 {};
 679                 RRTNodeDijkstra(int i, float c):
 680                         ni(i),
 681                         pi(0),
 682                         c(c),
 683                         v(false)
 684                 {};
 685                 RRTNodeDijkstra(int i, int p, float c):
 686                         ni(i),
 687                         pi(p),
 688                         c(c),
 689                         v(false)
 690                 {};
 691                 unsigned int ni;
 692                 unsigned int pi;
 693                 float c;
 694                 bool v;
 695                 bool vi()
 696                 {
 697                         if (this->v)
 698                                 return true;
 699                         this->v = true;
 700                         return false;
 701                 };
 702 };
 703
 704 class RRTNodeDijkstraComparator {
 705         public:
 706                 int operator() (
 707                                 const RRTNodeDijkstra& n1,
 708                                 const RRTNodeDijkstra& n2)
 709                 {
 710                         return n1.c > n2.c;
 711                 }
 712 };
 713
 714 bool RRTBase::optp_dijkstra(
 715                 std::vector<RRTNode *> &cusps,
 716                 std::vector<int> &npi)
 717 {
 718         std::vector<RRTNodeDijkstra> dnodes;
 719         for (unsigned int i = 0; i < cusps.size(); i++)
 720                 if (i > 0)
 721                         dnodes.push_back(RRTNodeDijkstra(
 722                                                 i,
 723                                                 i - 1,
 724                                                 cusps[i]->ccost()));
 725                 else
 726                         dnodes.push_back(RRTNodeDijkstra(
 727                                                 i,
 728                                                 cusps[i]->ccost()));
 729         dnodes[0].vi();
 730         std::priority_queue<
 731                 RRTNodeDijkstra,
 732                 std::vector<RRTNodeDijkstra>,
 733                 RRTNodeDijkstraComparator> pq;
 734         RRTNodeDijkstra tmp = dnodes[0];
 735         pq.push(tmp);
 736         float ch_cost = 9999;
 737         std::vector<RRTNode *> steered;
 738         while (!pq.empty()) {
 739                 tmp = pq.top();
 740                 pq.pop();
 741                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 742                         ch_cost = dnodes[tmp.ni].c +
 743                                 this->cost(cusps[tmp.ni], cusps[i]);
 744                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 745                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 746                                 steered[j]->add_child(steered[j + 1], 1);
 747                         if (this->collide(
 748                                         steered[0],
 749                                         steered[steered.size() - 1])) {
 750                                 for (auto n: steered)
 751                                         delete n;
 752                                 continue;
 753                         }
 754                         if (ch_cost < dnodes[i].c) {
 755                                 dnodes[i].c = ch_cost;
 756                                 dnodes[i].pi = tmp.ni;
 757                                 if (!dnodes[i].vi())
 758                                         pq.push(dnodes[i]);
 759                         }
 760                         for (auto n: steered)
 761                                 delete n;
 762                 }
 763         }
 764         unsigned int tmpi = 0;
 765         for (auto n: dnodes) {
 766                 if (n.v && n.ni > tmpi)
 767                         tmpi = n.ni;
 768         }
 769         while (tmpi > 0) {
 770                 npi.push_back(tmpi);
 771                 tmpi = dnodes[tmpi].pi;
 772         }
 773         npi.push_back(tmpi);
 774         std::reverse(npi.begin(), npi.end());
 775         return true;
 776 }
 777
 778 bool RRTBase::optp_rrp(
 779                 std::vector<RRTNode *> &cusps,
 780                 std::vector<int> &npi)
 781 {
 782         std::vector<RRTNode *> steered;
 783         std::vector<int> candidates;
 784         RRTNode *x_j = nullptr;
 785         RRTNode *x_i = nullptr;
 786         int j = cusps.size() - 1;
 787         int i_min = 0;
 788         float c_min = 0;
 789         float cost = 0;
 790         float dx = 0;
 791         float dy = 0;
 792         float ed = 0;
 793         float th_i = 0;
 794         float th_j = 0;
 795         while (j > 0) {
 796                 npi.push_back(j);
 797                 steered.clear();
 798                 candidates.clear();
 799                 x_j = cusps[j];
 800                 for (int i = 0; i < j; i++) {
 801                         steered = this->steer(cusps[i], x_j);
 802                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 803                                 steered[k]->add_child(steered[k + 1], 1);
 804                         if (!this->collide(
 805                                         steered[0],
 806                                         steered[steered.size() - 1]))
 807                                 candidates.push_back(i);
 808                 }
 809                 if (candidates.size() <= 0)
 810                         return false;
 811                 i_min = candidates[0];
 812                 x_i = cusps[i_min];
 813                 c_min = 9999;
 814                 for (auto c: candidates) {
 815                         x_i = cusps[c];
 816                         dx = x_j->x() - x_i->x();
 817                         dy = x_j->y() - x_i->y();
 818                         ed = EDIST(x_i, x_j);
 819                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 820                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 821                         cost = th_i + th_j;
 822                         if (cost < c_min) {
 823                                 i_min = c;
 824                                 c_min = cost;
 825                         }
 826                 }
 827                 j = i_min;
 828
 829         }
 830         npi.push_back(j);
 831         std::reverse(npi.begin(), npi.end());
 832         return true;
 833 }
 834
 835 bool RRTBase::optp_smart(
 836                 std::vector<RRTNode *> &cusps,
 837                 std::vector<int> &npi)
 838 {
 839         std::vector<RRTNode *> steered;
 840         int li = cusps.size() - 1;
 841         int ai = li - 1;
 842         npi.push_back(li);
 843         while (ai > 1) {
 844                 steered = this->steer(cusps[ai - 1], cusps[li]);
 845                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 846                         steered[j]->add_child(steered[j + 1], 1);
 847                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 848                         npi.push_back(ai);
 849                         li = ai;
 850                 }
 851                 ai--;
 852                 for (auto n: steered)
 853                         delete n;
 854         }
 855         npi.push_back(0);
 856         std::reverse(npi.begin(), npi.end());
 857         return true;
 858 }
 859
 860 bool RRTBase::opt_path()
 861 {
 862         if (this->tlog().size() == 0)
 863                 return false;
 864         float oc = this->tlog().back().front()->ccost();
 865         std::vector<RRTNode *> tmp_cusps;
 866         for (auto n: this->tlog().back()) {
 867                 if (sgn(n->s()) == 0) {
 868                         tmp_cusps.push_back(n);
 869                 } else if (n->parent() &&
 870                                 sgn(n->s()) != sgn(n->parent()->s())) {
 871                         tmp_cusps.push_back(n);
 872                         tmp_cusps.push_back(n->parent());
 873                 }
 874                 //tmp_cusps.push_back(n);
 875         }
 876         if (tmp_cusps.size() < 2)
 877                 return false;
 878         std::vector<RRTNode *> cusps;
 879         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 880                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 881                         cusps.push_back(tmp_cusps[i]);
 882         }
 883         std::reverse(cusps.begin(), cusps.end());
 884         std::vector<int> npi; // new path indexes
 885         if (!this->optp_dijkstra(cusps, npi))
 886                 return false;
 887         RRTNode *pn = cusps[npi[0]];
 888         RRTNode *tmp = nullptr;
 889         bool en_add = true;
 890         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 891                 pn = cusps[npi[i]];
 892                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 893                         if (!en_add) {
 894                                 delete ns;
 895                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 896                                 tmp = ns;
 897                                 while (tmp && tmp != cusps[npi[i]]) {
 898                                         pn = tmp->parent();
 899                                         delete tmp;
 900                                         tmp = pn;
 901                                 }
 902                                 pn = cusps[npi[i]];
 903                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 904                                 delete ns;
 905                                 cusps[npi[i + 1]]->parent()->rem_child(
 906                                                 cusps[npi[i + 1]]);
 907                                 pn->add_child(
 908                                         cusps[npi[i + 1]],
 909                                         this->cost(pn, cusps[npi[i + 1]]));
 910                                 en_add = false;
 911                         } else if (IS_NEAR(pn, ns)) {
 912                                 delete ns;
 913                         } else {
 914                                 this->nodes().push_back(ns);
 915                                 this->add_iy(ns);
 916                                 this->add_ixy(ns);
 917                                 pn->add_child(ns, this->cost(pn, ns));
 918                                 pn = ns;
 919                         }
 920                 }
 921         }
 922         this->root()->update_ccost();
 923         if (this->tlog().back().front()->ccost() < oc)
 924                 return true;
 925         return false;
 926 }
 927
 928 bool RRTBase::rebase(RRTNode *nr)
 929 {
 930         if (!nr || this->goal_ == nr || this->root_ == nr)
 931                 return false;
 932         std::vector<RRTNode *> s; // DFS stack
 933         RRTNode *tmp;
 934         unsigned int i = 0;
 935         unsigned int to_del = 0;
 936         int iy = 0;
 937         s.push_back(this->root_);
 938         while (s.size() > 0) {
 939                 tmp = s.back();
 940                 s.pop_back();
 941                 for (auto ch: tmp->children()) {
 942                         if (ch != nr)
 943                                 s.push_back(ch);
 944                 }
 945                 to_del = this->nodes_.size();
 946                 #pragma omp parallel for reduction(min: to_del)
 947                 for (i = 0; i < this->nodes_.size(); i++) {
 948                         if (this->nodes_[i] == tmp)
 949                                 to_del = i;
 950                 }
 951                 if (to_del < this->nodes_.size())
 952                         this->nodes_.erase(this->nodes_.begin() + to_del);
 953                 iy = IYI(tmp->y());
 954                 to_del = this->iy_[iy].size();
 955                 #pragma omp parallel  for reduction(min: to_del)
 956                 for (i = 0; i < this->iy_[iy].size(); i++) {
 957                         if (this->iy_[iy][i] == tmp)
 958                                 to_del = i;
 959                 }
 960                 if (to_del < this->iy_[iy].size())
 961                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 962                 this->dnodes().push_back(tmp);
 963         }
 964         this->root_ = nr;
 965         this->root_->remove_parent();
 966         return true;
 967 }
 968
 969 std::vector<RRTNode *> RRTBase::findt()
 970 {
 971         return this->findt(this->goal_);
 972 }
 973
 974 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 975 {
 976         std::vector<RRTNode *> nodes;
 977         if (!n || !n->parent())
 978                 return nodes;
 979         while (n) {
 980                 nodes.push_back(n);
 981                 n = n->parent();
 982         }
 983         return nodes;
 984 }
 985
 986 // RRT Framework
 987 RRTNode *RRTBase::sample()
 988 {
 989         if (this->useSamplingInfo_ && this->nodes().size() % 2 == 0) {
 990                 float x = static_cast<float>(rand());
 991                 x /= static_cast<float>(RAND_MAX / this->samplingInfo_.x);
 992                 x -= this->samplingInfo_.x / 2;
 993                 x += this->samplingInfo_.x0;
 994                 float y = static_cast<float>(rand());
 995                 y /= static_cast<float>(RAND_MAX / this->samplingInfo_.y);
 996                 y -= this->samplingInfo_.y / 2;
 997                 y += this->samplingInfo_.y0;
 998                 float h = static_cast<float>(rand());
 999                 h /= static_cast<float>(RAND_MAX / this->samplingInfo_.h);
1000                 h -= this->samplingInfo_.h / 2;
1001                 h += this->samplingInfo_.h0;
1002                 return new RRTNode(x, y, h);
1003         } else {
1004                 return sa1();
1005         }
1006 }
1007
1008 float RRTBase::cost(RRTNode *init, RRTNode *goal)
1009 {
1010         return co2(init, goal);
1011 }
1012
1013 RRTNode *RRTBase::nn(RRTNode *rs)
1014 {
1015         return nn4(this->iy_, rs, nullptr);
1016         //return nn3(this->iy_, rs, nullptr);
1017 }
1018
1019 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
1020 {
1021         std::vector<RRTNode *> nvs;
1022         unsigned int iy = IYI(node->y());
1023         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
1024         unsigned int i = 0; // vector index
1025         unsigned int j = 0; // array index
1026         unsigned int jmin = 0; // minimal j index
1027         unsigned int jmax = 0; // maximal j index
1028         jmin = iy - iy_dist;
1029         jmin = (jmin > 0) ? jmin : 0;
1030         jmax = iy + iy_dist + 1;
1031         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
1032         #pragma omp parallel for reduction(merge: nvs)
1033         for (j = jmin; j < jmax; j++) {
1034                 #pragma omp parallel for reduction(merge: nvs)
1035                 for (i = 0; i < this->iy_[j].size(); i++) {
1036                         if (this->cost(this->iy_[j][i], node) < dist) {
1037                                 nvs.push_back(this->iy_[j][i]);
1038                         }
1039                 }
1040         }
1041         return nvs;
1042 }
1043
1044 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
1045 {
1046         return st3(init, goal);
1047 }
1048
1049 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
1050 {
1051         return st3(init, goal, step);
1052 }