base/rrtbase.cc

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is free software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #include <algorithm>
  19 #include <cmath>
  20 #include <omp.h>
  21 #include <queue>
  22 #include "bcar.h"
  23 #include "rrtbase.h"
  24 // OpenGL
  25 #include <GL/gl.h>
  26 #include <GL/glu.h>
  27 #include <SDL2/SDL.h>
  28 // RRT
  29 #include "sample.h"
  30 #include "cost.h"
  31 #include "steer.h"
  32 #include "nn.h"
  33 #include "nv.h"
  34
  35 extern SDL_Window* gw;
  36 extern SDL_GLContext gc;
  37
  38 Cell::Cell()
  39 {}
  40
  41 bool Cell::changed()
  42 {
  43         pthread_mutex_lock(&this->m_);
  44         bool ret = this->changed_;
  45         pthread_mutex_unlock(&this->m_);
  46         return ret;
  47 }
  48
  49 std::vector<RRTNode *> Cell::nodes()
  50 {
  51         pthread_mutex_lock(&this->m_);
  52         std::vector<RRTNode *> ret(this->nodes_);
  53         pthread_mutex_unlock(&this->m_);
  54         return ret;
  55 }
  56
  57 void Cell::add_node(RRTNode *n)
  58 {
  59         pthread_mutex_lock(&this->m_);
  60         this->nodes_.push_back(n);
  61         this->changed_ = true;
  62         pthread_mutex_unlock(&this->m_);
  63 }
  64
  65 RRTBase::~RRTBase()
  66 {
  67 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  68 // please uncommend the following code:
  69 //
  70 //        for (auto n: this->nodes_)
  71 //                if (n != this->root_)
  72 //                        delete n;
  73 //        for (auto n: this->dnodes_)
  74 //                if (n != this->root_ && n != this->goal_)
  75 //                        delete n;
  76 //        for (auto s: this->samples_)
  77 //                if (s != this->goal_)
  78 //                        delete s;
  79 //        for (auto edges: this->rlog_)
  80 //                for (auto e: edges)
  81 //                        delete e;
  82 //        delete this->root_;
  83 //        delete this->goal_;
  84 }
  85
  86 RRTBase::RRTBase():
  87         root_(new RRTNode()),
  88         goal_(new RRTNode())
  89 {
  90         this->nodes_.reserve(20000);
  91         this->nodes_.push_back(this->root_);
  92         this->add_iy(this->root_);
  93 }
  94
  95 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  96         root_(init),
  97         goal_(goal)
  98 {
  99         this->nodes_.reserve(20000);
 100         this->nodes_.push_back(init);
 101         this->add_iy(init);
 102 }
 103
 104 // getter
 105 RRTNode *RRTBase::root()
 106 {
 107         return this->root_;
 108 }
 109
 110 RRTNode *RRTBase::goal()
 111 {
 112         return this->goal_;
 113 }
 114
 115 std::vector<RRTNode *> &RRTBase::nodes()
 116 {
 117         return this->nodes_;
 118 }
 119
 120 std::vector<RRTNode *> &RRTBase::dnodes()
 121 {
 122         return this->dnodes_;
 123 }
 124
 125 std::vector<RRTNode *> &RRTBase::samples()
 126 {
 127         return this->samples_;
 128 }
 129
 130 std::vector<CircleObstacle> *RRTBase::co()
 131 {
 132         return this->cobstacles_;
 133 }
 134
 135 std::vector<SegmentObstacle> *RRTBase::so()
 136 {
 137         return this->sobstacles_;
 138 }
 139
 140 std::vector<float> &RRTBase::clog()
 141 {
 142         return this->clog_;
 143 }
 144
 145 std::vector<float> &RRTBase::nlog()
 146 {
 147         return this->nlog_;
 148 }
 149
 150 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 151 {
 152         return this->rlog_;
 153 }
 154
 155 std::vector<float> &RRTBase::slog()
 156 {
 157         return this->slog_;
 158 }
 159
 160 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 161 {
 162         return this->tlog_;
 163 }
 164
 165 bool RRTBase::goal_found()
 166 {
 167         return this->goal_found_;
 168 }
 169
 170 float RRTBase::elapsed()
 171 {
 172         std::chrono::duration<float> dt;
 173         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 174                         this->tend_ - this->tstart_);
 175         return dt.count();
 176 }
 177
 178 // setter
 179 void RRTBase::root(RRTNode *node)
 180 {
 181         this->root_ = node;
 182 }
 183
 184 void RRTBase::goal(RRTNode *node)
 185 {
 186         this->goal_ = node;
 187 }
 188
 189 bool RRTBase::logr(RRTNode *root)
 190 {
 191         std::vector<RRTEdge *> e; // Edges to log
 192         std::vector<RRTNode *> s; // DFS stack
 193         std::vector<RRTNode *> r; // reset visited_
 194         RRTNode *tmp;
 195         s.push_back(root);
 196         while (s.size() > 0) {
 197                 tmp = s.back();
 198                 s.pop_back();
 199                 if (!tmp->visit()) {
 200                         r.push_back(tmp);
 201                         for (auto ch: tmp->children()) {
 202                                 s.push_back(ch);
 203                                 e.push_back(new RRTEdge(tmp, ch));
 204                         }
 205                 }
 206         }
 207         for (auto n: r)
 208                 n->visit(false);
 209         this->rlog_.push_back(e);
 210         return true;
 211 }
 212
 213 float RRTBase::ocost(RRTNode *n)
 214 {
 215         float dist = 9999;
 216         for (auto o: *this->cobstacles_)
 217                 if (o.dist_to(n) < dist)
 218                         dist = o.dist_to(n);
 219         for (auto o: *this->sobstacles_)
 220                 if (o.dist_to(n) < dist)
 221                         dist = o.dist_to(n);
 222         return n->ocost(dist);
 223 }
 224
 225 bool RRTBase::tlog(std::vector<RRTNode *> t)
 226 {
 227         if (t.size() > 0) {
 228                 this->slog_.push_back(this->elapsed());
 229                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 230                 this->nlog_.push_back(this->nodes_.size());
 231                 this->tlog_.push_back(t);
 232                 return true;
 233         } else {
 234                 return false;
 235         }
 236 }
 237
 238 void RRTBase::tstart()
 239 {
 240         this->tstart_ = std::chrono::high_resolution_clock::now();
 241 }
 242
 243 void RRTBase::tend()
 244 {
 245         this->tend_ = std::chrono::high_resolution_clock::now();
 246 }
 247
 248 bool RRTBase::link_obstacles(
 249                 std::vector<CircleObstacle> *cobstacles,
 250                 std::vector<SegmentObstacle> *sobstacles)
 251 {
 252         this->cobstacles_ = cobstacles;
 253         this->sobstacles_ = sobstacles;
 254         if (!this->cobstacles_ || !this->sobstacles_) {
 255                 return false;
 256         }
 257         return true;
 258 }
 259
 260 bool RRTBase::add_iy(RRTNode *n)
 261 {
 262         int i = IYI(n->y());
 263         if (i < 0)
 264                 i = 0;
 265         if (i >= IYSIZE)
 266                 i = IYSIZE - 1;
 267         this->iy_[i].push_back(n);
 268         return true;
 269 }
 270
 271 bool RRTBase::add_ixy(RRTNode *n)
 272 {
 273         int ix = IXI(n->x());
 274         if (ix < 0)
 275                 ix = 0;
 276         if (ix >= IXSIZE)
 277                 ix = IXSIZE - 1;
 278         int iy = IYI(n->y());
 279         if (iy < 0)
 280                 iy = 0;
 281         if (iy >= IYSIZE)
 282                 iy = IYSIZE - 1;
 283         this->ixy_[ix][iy].add_node(n);
 284         return true;
 285 }
 286
 287 bool RRTBase::goal_found(bool f)
 288 {
 289         this->goal_found_ = f;
 290         return f;
 291 }
 292
 293 // other
 294 bool RRTBase::glplot()
 295 {
 296         glClear(GL_COLOR_BUFFER_BIT);
 297         glLineWidth(1);
 298         glPointSize(1);
 299         // Plot obstacles
 300         glBegin(GL_LINES);
 301         for (auto o: *this->sobstacles_) {
 302                 glColor3f(0, 0, 0);
 303                 glVertex2f(GLVERTEX(o.init()));
 304                 glVertex2f(GLVERTEX(o.goal()));
 305         }
 306         glEnd();
 307         // Plot root, goal
 308         glPointSize(8);
 309         glBegin(GL_POINTS);
 310         glColor3f(1, 0, 0);
 311         glVertex2f(GLVERTEX(this->root_));
 312         glVertex2f(GLVERTEX(this->goal_));
 313         glEnd();
 314         // Plot last sample
 315         if (this->samples_.size() > 0) {
 316                 glPointSize(8);
 317                 glBegin(GL_POINTS);
 318                 glColor3f(0, 1, 0);
 319                 glVertex2f(GLVERTEX(this->samples_.back()));
 320                 glEnd();
 321         }
 322         // Plot nodes
 323         std::vector<RRTNode *> s; // DFS stack
 324         std::vector<RRTNode *> r; // reset visited_
 325         RRTNode *tmp;
 326         glBegin(GL_LINES);
 327         s.push_back(this->root_);
 328         while (s.size() > 0) {
 329                 tmp = s.back();
 330                 s.pop_back();
 331                 if (!tmp->visit()) {
 332                         r.push_back(tmp);
 333                         for (auto ch: tmp->children()) {
 334                                 s.push_back(ch);
 335                                 glColor3f(0.5, 0.5, 0.5);
 336                                 glVertex2f(GLVERTEX(tmp));
 337                                 glVertex2f(GLVERTEX(ch));
 338                         }
 339                 }
 340         }
 341         glEnd();
 342         // Plot nodes (from goal)
 343         glBegin(GL_LINES);
 344         s.push_back(this->goal_);
 345         while (s.size() > 0) {
 346                 tmp = s.back();
 347                 s.pop_back();
 348                 if (!tmp->visit()) {
 349                         r.push_back(tmp);
 350                         for (auto ch: tmp->children()) {
 351                                 s.push_back(ch);
 352                                 glColor3f(0.5, 0.5, 0.5);
 353                                 glVertex2f(GLVERTEX(tmp));
 354                                 glVertex2f(GLVERTEX(ch));
 355                         }
 356                 }
 357         }
 358         glEnd();
 359         std::vector<RRTNode *> cusps;
 360         // Plot last trajectory
 361         if (this->tlog().size() > 0) {
 362                 glLineWidth(2);
 363                 glBegin(GL_LINES);
 364                 for (auto n: this->tlog().back()) {
 365                         if (n->parent()) {
 366                                 glColor3f(0, 0, 1);
 367                                 glVertex2f(GLVERTEX(n));
 368                                 glVertex2f(GLVERTEX(n->parent()));
 369                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 370                                         cusps.push_back(n);
 371                         }
 372                 }
 373                 glEnd();
 374         }
 375         // Plot cusps
 376         glPointSize(8);
 377         glBegin(GL_POINTS);
 378         for (auto n: cusps) {
 379                 glColor3f(0, 0, 1);
 380                 glVertex2f(GLVERTEX(n));
 381         }
 382         glEnd();
 383         SDL_GL_SwapWindow(gw);
 384         for (auto n: r)
 385                 n->visit(false);
 386         return true;
 387 }
 388
 389 bool RRTBase::goal_found(
 390                 RRTNode *node,
 391                 float (*cost)(RRTNode *, RRTNode* ))
 392 {
 393         if (IS_NEAR(node, this->goal_)) {
 394                 if (this->goal_found_) {
 395                         if (node->ccost() + this->cost(node, this->goal_) <
 396                                         this->goal_->ccost()) {
 397                                 RRTNode *op; // old parent
 398                                 float oc; // old cumulative cost
 399                                 float od; // old direct cost
 400                                 op = this->goal_->parent();
 401                                 oc = this->goal_->ccost();
 402                                 od = this->goal_->dcost();
 403                                 node->add_child(this->goal_,
 404                                                 this->cost(node, this->goal_));
 405                                 if (this->collide(node, this->goal_)) {
 406                                         node->children().pop_back();
 407                                         this->goal_->parent(op);
 408                                         this->goal_->ccost(oc);
 409                                         this->goal_->dcost(od);
 410                                 } else {
 411                                         op->rem_child(this->goal_);
 412                                         return true;
 413                                 }
 414                         } else {
 415                                 return false;
 416                         }
 417                 } else {
 418                         node->add_child(
 419                                         this->goal_,
 420                                         this->cost(node, this->goal_));
 421                         if (this->collide(node, this->goal_)) {
 422                                 node->children().pop_back();
 423                                 this->goal_->remove_parent();
 424                                 return false;
 425                         }
 426                         this->goal_found_ = true;
 427                         return true;
 428                 }
 429         }
 430         return false;
 431 }
 432
 433 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 434 {
 435         std::vector<RRTEdge *> edges;
 436         RRTNode *tmp = goal;
 437         volatile bool col = false;
 438         unsigned int i;
 439         while (tmp != init) {
 440                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 441                 std::vector<RRTEdge *> bcframe = bc.frame();
 442                 #pragma omp parallel for reduction(|: col)
 443                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 444                         if ((*this->cobstacles_)[i].collide(tmp)) {
 445                                 col = true;
 446                         }
 447                         for (auto &e: bcframe) {
 448                                 if ((*this->cobstacles_)[i].collide(e)) {
 449                                         col = true;
 450                                 }
 451                         }
 452                 }
 453                 if (col) {
 454                         for (auto e: bcframe) {
 455                                 delete e->init();
 456                                 delete e->goal();
 457                                 delete e;
 458                         }
 459                         for (auto e: edges) {
 460                                 delete e;
 461                         }
 462                         return true;
 463                 }
 464                 #pragma omp parallel for reduction(|: col)
 465                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 466                         for (auto &e: bcframe) {
 467                                 if ((*this->sobstacles_)[i].collide(e)) {
 468                                         col = true;
 469                                 }
 470                         }
 471                 }
 472                 if (col) {
 473                         for (auto e: bcframe) {
 474                                 delete e->init();
 475                                 delete e->goal();
 476                                 delete e;
 477                         }
 478                         for (auto e: edges) {
 479                                 delete e;
 480                         }
 481                         return true;
 482                 }
 483                 if (!tmp->parent()) {
 484                         break;
 485                 }
 486                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 487                 tmp = tmp->parent();
 488                 for (auto e: bcframe) {
 489                         delete e->init();
 490                         delete e->goal();
 491                         delete e;
 492                 }
 493         }
 494         for (auto &e: edges) {
 495                 #pragma omp parallel for reduction(|: col)
 496                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 497                         if ((*this->cobstacles_)[i].collide(e)) {
 498                                 col = true;
 499                         }
 500                 }
 501                 if (col) {
 502                         for (auto e: edges) {
 503                                 delete e;
 504                         }
 505                         return true;
 506                 }
 507                 #pragma omp parallel for reduction(|: col)
 508                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 509                         if ((*this->sobstacles_)[i].collide(e)) {
 510                                 col = true;
 511                         }
 512                 }
 513                 if (col) {
 514                         for (auto e: edges) {
 515                                 delete e;
 516                         }
 517                         return true;
 518                 }
 519         }
 520         for (auto e: edges) {
 521                 delete e;
 522         }
 523         return false;
 524 }
 525
 526 class RRTNodeDijkstra {
 527         public:
 528                 RRTNodeDijkstra(int i):
 529                         ni(i),
 530                         pi(0),
 531                         c(9999),
 532                         v(false)
 533                 {};
 534                 RRTNodeDijkstra(int i, float c):
 535                         ni(i),
 536                         pi(0),
 537                         c(c),
 538                         v(false)
 539                 {};
 540                 RRTNodeDijkstra(int i, int p, float c):
 541                         ni(i),
 542                         pi(p),
 543                         c(c),
 544                         v(false)
 545                 {};
 546                 unsigned int ni;
 547                 unsigned int pi;
 548                 float c;
 549                 bool v;
 550                 bool vi()
 551                 {
 552                         if (this->v)
 553                                 return true;
 554                         this->v = true;
 555                         return false;
 556                 };
 557 };
 558
 559 class RRTNodeDijkstraComparator {
 560         public:
 561                 int operator() (
 562                                 const RRTNodeDijkstra& n1,
 563                                 const RRTNodeDijkstra& n2)
 564                 {
 565                         return n1.c > n2.c;
 566                 }
 567 };
 568
 569 bool RRTBase::optp_dijkstra(
 570                 std::vector<RRTNode *> &cusps,
 571                 std::vector<int> &npi)
 572 {
 573         std::vector<RRTNodeDijkstra> dnodes;
 574         for (unsigned int i = 0; i < cusps.size(); i++)
 575                 if (i > 0)
 576                         dnodes.push_back(RRTNodeDijkstra(
 577                                                 i,
 578                                                 i - 1,
 579                                                 cusps[i]->ccost()));
 580                 else
 581                         dnodes.push_back(RRTNodeDijkstra(
 582                                                 i,
 583                                                 cusps[i]->ccost()));
 584         dnodes[0].vi();
 585         std::priority_queue<
 586                 RRTNodeDijkstra,
 587                 std::vector<RRTNodeDijkstra>,
 588                 RRTNodeDijkstraComparator> pq;
 589         RRTNodeDijkstra tmp = dnodes[0];
 590         pq.push(tmp);
 591         float ch_cost = 9999;
 592         std::vector<RRTNode *> steered;
 593         while (!pq.empty()) {
 594                 tmp = pq.top();
 595                 pq.pop();
 596                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 597                         ch_cost = dnodes[tmp.ni].c +
 598                                 this->cost(cusps[tmp.ni], cusps[i]);
 599                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 600                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 601                                 steered[j]->add_child(steered[j + 1], 1);
 602                         if (this->collide(
 603                                         steered[0],
 604                                         steered[steered.size() - 1])) {
 605                                 for (auto n: steered)
 606                                         delete n;
 607                                 continue;
 608                         }
 609                         if (ch_cost < dnodes[i].c) {
 610                                 dnodes[i].c = ch_cost;
 611                                 dnodes[i].pi = tmp.ni;
 612                                 if (!dnodes[i].vi())
 613                                         pq.push(dnodes[i]);
 614                         }
 615                         for (auto n: steered)
 616                                 delete n;
 617                 }
 618         }
 619         unsigned int tmpi = 0;
 620         for (auto n: dnodes) {
 621                 if (n.v && n.ni > tmpi)
 622                         tmpi = n.ni;
 623         }
 624         while (tmpi > 0) {
 625                 npi.push_back(tmpi);
 626                 tmpi = dnodes[tmpi].pi;
 627         }
 628         npi.push_back(tmpi);
 629         std::reverse(npi.begin(), npi.end());
 630         return true;
 631 }
 632
 633 bool RRTBase::optp_rrp(
 634                 std::vector<RRTNode *> &cusps,
 635                 std::vector<int> &npi)
 636 {
 637         std::vector<RRTNode *> steered;
 638         std::vector<int> candidates;
 639         RRTNode *x_j = nullptr;
 640         RRTNode *x_i = nullptr;
 641         int j = cusps.size() - 1;
 642         int i_min = 0;
 643         float c_min = 0;
 644         float cost = 0;
 645         float dx = 0;
 646         float dy = 0;
 647         float ed = 0;
 648         float th_i = 0;
 649         float th_j = 0;
 650         while (j > 0) {
 651                 npi.push_back(j);
 652                 steered.clear();
 653                 candidates.clear();
 654                 x_j = cusps[j];
 655                 for (int i = 0; i < j; i++) {
 656                         steered = this->steer(cusps[i], x_j);
 657                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 658                                 steered[k]->add_child(steered[k + 1], 1);
 659                         if (!this->collide(
 660                                         steered[0],
 661                                         steered[steered.size() - 1]))
 662                                 candidates.push_back(i);
 663                 }
 664                 if (candidates.size() <= 0)
 665                         return false;
 666                 i_min = candidates[0];
 667                 x_i = cusps[i_min];
 668                 c_min = 9999;
 669                 for (auto c: candidates) {
 670                         x_i = cusps[c];
 671                         dx = x_j->x() - x_i->x();
 672                         dy = x_j->y() - x_i->y();
 673                         ed = EDIST(x_i, x_j);
 674                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 675                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 676                         cost = th_i + th_j;
 677                         if (cost < c_min) {
 678                                 i_min = c;
 679                                 c_min = cost;
 680                         }
 681                 }
 682                 j = i_min;
 683
 684         }
 685         npi.push_back(j);
 686         std::reverse(npi.begin(), npi.end());
 687         return true;
 688 }
 689
 690 bool RRTBase::optp_smart(
 691                 std::vector<RRTNode *> &cusps,
 692                 std::vector<int> &npi)
 693 {
 694         std::vector<RRTNode *> steered;
 695         int li = cusps.size() - 1;
 696         int ai = li - 1;
 697         npi.push_back(li);
 698         while (ai > 1) {
 699                 steered = this->steer(cusps[ai - 1], cusps[li]);
 700                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 701                         steered[j]->add_child(steered[j + 1], 1);
 702                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 703                         npi.push_back(ai);
 704                         li = ai;
 705                 }
 706                 ai--;
 707                 for (auto n: steered)
 708                         delete n;
 709         }
 710         npi.push_back(0);
 711         std::reverse(npi.begin(), npi.end());
 712         return true;
 713 }
 714
 715 bool RRTBase::opt_path()
 716 {
 717         if (this->tlog().size() == 0)
 718                 return false;
 719         float oc = this->tlog().back().front()->ccost();
 720         std::vector<RRTNode *> tmp_cusps;
 721         for (auto n: this->tlog().back()) {
 722                 if (sgn(n->s()) == 0) {
 723                         tmp_cusps.push_back(n);
 724                 } else if (n->parent() &&
 725                                 sgn(n->s()) != sgn(n->parent()->s())) {
 726                         tmp_cusps.push_back(n);
 727                         tmp_cusps.push_back(n->parent());
 728                 }
 729                 //tmp_cusps.push_back(n);
 730         }
 731         if (tmp_cusps.size() < 2)
 732                 return false;
 733         std::vector<RRTNode *> cusps;
 734         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 735                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 736                         cusps.push_back(tmp_cusps[i]);
 737         }
 738         std::reverse(cusps.begin(), cusps.end());
 739         std::vector<int> npi; // new path indexes
 740         if (!this->optp_dijkstra(cusps, npi))
 741                 return false;
 742         RRTNode *pn = cusps[npi[0]];
 743         RRTNode *tmp = nullptr;
 744         bool en_add = true;
 745         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 746                 pn = cusps[npi[i]];
 747                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 748                         if (!en_add) {
 749                                 delete ns;
 750                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 751                                 tmp = ns;
 752                                 while (tmp && tmp != cusps[npi[i]]) {
 753                                         pn = tmp->parent();
 754                                         delete tmp;
 755                                         tmp = pn;
 756                                 }
 757                                 pn = cusps[npi[i]];
 758                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 759                                 delete ns;
 760                                 cusps[npi[i + 1]]->parent()->rem_child(
 761                                                 cusps[npi[i + 1]]);
 762                                 pn->add_child(
 763                                         cusps[npi[i + 1]],
 764                                         this->cost(pn, cusps[npi[i + 1]]));
 765                                 en_add = false;
 766                         } else if (IS_NEAR(pn, ns)) {
 767                                 delete ns;
 768                         } else {
 769                                 this->nodes().push_back(ns);
 770                                 this->add_iy(ns);
 771                                 pn->add_child(ns, this->cost(pn, ns));
 772                                 pn = ns;
 773                         }
 774                 }
 775         }
 776         this->root()->update_ccost();
 777         if (this->tlog().back().front()->ccost() < oc)
 778                 return true;
 779         return false;
 780 }
 781
 782 bool RRTBase::rebase(RRTNode *nr)
 783 {
 784         if (!nr || this->goal_ == nr || this->root_ == nr)
 785                 return false;
 786         std::vector<RRTNode *> s; // DFS stack
 787         RRTNode *tmp;
 788         unsigned int i = 0;
 789         unsigned int to_del = 0;
 790         int iy = 0;
 791         s.push_back(this->root_);
 792         while (s.size() > 0) {
 793                 tmp = s.back();
 794                 s.pop_back();
 795                 for (auto ch: tmp->children()) {
 796                         if (ch != nr)
 797                                 s.push_back(ch);
 798                 }
 799                 to_del = this->nodes_.size();
 800                 #pragma omp parallel for reduction(min: to_del)
 801                 for (i = 0; i < this->nodes_.size(); i++) {
 802                         if (this->nodes_[i] == tmp)
 803                                 to_del = i;
 804                 }
 805                 if (to_del < this->nodes_.size())
 806                         this->nodes_.erase(this->nodes_.begin() + to_del);
 807                 iy = IYI(tmp->y());
 808                 to_del = this->iy_[iy].size();
 809                 #pragma omp parallel  for reduction(min: to_del)
 810                 for (i = 0; i < this->iy_[iy].size(); i++) {
 811                         if (this->iy_[iy][i] == tmp)
 812                                 to_del = i;
 813                 }
 814                 if (to_del < this->iy_[iy].size())
 815                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 816                 this->dnodes().push_back(tmp);
 817         }
 818         this->root_ = nr;
 819         this->root_->remove_parent();
 820         return true;
 821 }
 822
 823 std::vector<RRTNode *> RRTBase::findt()
 824 {
 825         return this->findt(this->goal_);
 826 }
 827
 828 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 829 {
 830         std::vector<RRTNode *> nodes;
 831         if (!n || !n->parent())
 832                 return nodes;
 833         while (n) {
 834                 nodes.push_back(n);
 835                 n = n->parent();
 836         }
 837         return nodes;
 838 }
 839
 840 // RRT Framework
 841 RRTNode *RRTBase::sample()
 842 {
 843         return sa1();
 844 }
 845
 846 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 847 {
 848         return co2(init, goal);
 849 }
 850
 851 RRTNode *RRTBase::nn(RRTNode *rs)
 852 {
 853         return nn4(this->iy_, rs, nullptr);
 854         //return nn3(this->iy_, rs, nullptr);
 855 }
 856
 857 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 858 {
 859         std::vector<RRTNode *> nvs;
 860         unsigned int iy = IYI(node->y());
 861         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 862         unsigned int i = 0; // vector index
 863         unsigned int j = 0; // array index
 864         unsigned int jmin = 0; // minimal j index
 865         unsigned int jmax = 0; // maximal j index
 866         jmin = iy - iy_dist;
 867         jmin = (jmin > 0) ? jmin : 0;
 868         jmax = iy + iy_dist + 1;
 869         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 870         #pragma omp parallel for reduction(merge: nvs)
 871         for (j = jmin; j < jmax; j++) {
 872                 #pragma omp parallel for reduction(merge: nvs)
 873                 for (i = 0; i < this->iy_[j].size(); i++) {
 874                         if (this->cost(this->iy_[j][i], node) < dist) {
 875                                 nvs.push_back(this->iy_[j][i]);
 876                         }
 877                 }
 878         }
 879         return nvs;
 880 }
 881
 882 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 883 {
 884         return st3(init, goal);
 885 }
 886
 887 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 888 {
 889         return st3(init, goal, step);
 890 }