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         pthread_mutex_init(&this->m_, NULL);
  41 }
  42
  43 bool Cell::changed()
  44 {
  45         pthread_mutex_lock(&this->m_);
  46         bool ret = this->changed_;
  47         pthread_mutex_unlock(&this->m_);
  48         return ret;
  49 }
  50
  51 std::vector<RRTNode *> Cell::nodes()
  52 {
  53         pthread_mutex_lock(&this->m_);
  54         std::vector<RRTNode *> ret(this->nodes_);
  55         pthread_mutex_unlock(&this->m_);
  56         return ret;
  57 }
  58
  59 void Cell::add_node(RRTNode *n)
  60 {
  61         pthread_mutex_lock(&this->m_);
  62         this->nodes_.push_back(n);
  63         this->changed_ = true;
  64         pthread_mutex_unlock(&this->m_);
  65 }
  66
  67 RRTBase::~RRTBase()
  68 {
  69 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  70 // please uncommend the following code:
  71 //
  72         for (auto n: this->nodes_)
  73                 if (n != this->root_)
  74                         delete n;
  75         for (auto n: this->dnodes_)
  76                 if (n != this->root_ && n != this->goal_)
  77                         delete n;
  78         for (auto s: this->samples_)
  79                 if (s != this->goal_)
  80                         delete s;
  81         for (auto edges: this->rlog_)
  82                 for (auto e: edges)
  83                         delete e;
  84         delete this->root_;
  85         delete this->goal_;
  86 }
  87
  88 RRTBase::RRTBase():
  89         root_(new RRTNode()),
  90         goal_(new RRTNode()),
  91         gen_(std::random_device{}())
  92 {
  93         this->nodes_.reserve(NOFNODES);
  94         this->nodes_.push_back(this->root_);
  95         this->add_iy(this->root_);
  96         this->add_ixy(this->root_);
  97 }
  98
  99 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
 100         root_(init),
 101         goal_(goal),
 102         gen_(std::random_device{}())
 103 {
 104         this->nodes_.reserve(NOFNODES);
 105         this->nodes_.push_back(init);
 106         this->add_iy(init);
 107         this->add_ixy(init);
 108 }
 109
 110 // getter
 111 RRTNode *RRTBase::root()
 112 {
 113         return this->root_;
 114 }
 115
 116 RRTNode *RRTBase::goal()
 117 {
 118         return this->goal_;
 119 }
 120
 121 std::vector<RRTNode *> &RRTBase::nodes()
 122 {
 123         return this->nodes_;
 124 }
 125
 126 std::vector<RRTNode *> &RRTBase::dnodes()
 127 {
 128         return this->dnodes_;
 129 }
 130
 131 PolygonObstacle &RRTBase::frame()
 132 {
 133         return this->frame_;
 134 }
 135
 136 std::vector<RRTNode *> &RRTBase::samples()
 137 {
 138         return this->samples_;
 139 }
 140
 141 std::vector<CircleObstacle> *RRTBase::co()
 142 {
 143         return this->cobstacles_;
 144 }
 145
 146 std::vector<SegmentObstacle> *RRTBase::so()
 147 {
 148         return this->sobstacles_;
 149 }
 150
 151 std::vector<float> &RRTBase::clog()
 152 {
 153         return this->clog_;
 154 }
 155
 156 std::vector<float> &RRTBase::nlog()
 157 {
 158         return this->nlog_;
 159 }
 160
 161 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 162 {
 163         return this->rlog_;
 164 }
 165
 166 std::vector<float> &RRTBase::slog()
 167 {
 168         return this->slog_;
 169 }
 170
 171 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 172 {
 173         return this->tlog_;
 174 }
 175
 176 std::vector<RRTNode *> &RRTBase::slot_cusp()
 177 {
 178         return this->slot_cusp_;
 179 }
 180
 181 bool RRTBase::goal_found()
 182 {
 183         return this->goal_found_;
 184 }
 185
 186 float RRTBase::elapsed()
 187 {
 188         std::chrono::duration<float> dt;
 189         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 190                         this->tend_ - this->tstart_);
 191         return dt.count();
 192 }
 193
 194 // setter
 195 void RRTBase::root(RRTNode *node)
 196 {
 197         this->root_ = node;
 198 }
 199
 200 void RRTBase::goal(RRTNode *node)
 201 {
 202         this->goal_ = node;
 203 }
 204
 205 bool RRTBase::logr(RRTNode *root)
 206 {
 207         std::vector<RRTEdge *> e; // Edges to log
 208         std::vector<RRTNode *> s; // DFS stack
 209         std::vector<RRTNode *> r; // reset visited_
 210         RRTNode *tmp;
 211         s.push_back(root);
 212         while (s.size() > 0) {
 213                 tmp = s.back();
 214                 s.pop_back();
 215                 if (!tmp->visit()) {
 216                         r.push_back(tmp);
 217                         for (auto ch: tmp->children()) {
 218                                 s.push_back(ch);
 219                                 e.push_back(new RRTEdge(tmp, ch));
 220                         }
 221                 }
 222         }
 223         for (auto n: r)
 224                 n->visit(false);
 225         this->rlog_.push_back(e);
 226         return true;
 227 }
 228
 229 float RRTBase::ocost(RRTNode *n)
 230 {
 231         float dist = 9999;
 232         for (auto o: *this->cobstacles_)
 233                 if (o.dist_to(n) < dist)
 234                         dist = o.dist_to(n);
 235         for (auto o: *this->sobstacles_)
 236                 if (o.dist_to(n) < dist)
 237                         dist = o.dist_to(n);
 238         return n->ocost(dist);
 239 }
 240
 241 bool RRTBase::tlog(std::vector<RRTNode *> t)
 242 {
 243         if (t.size() > 0) {
 244                 this->slog_.push_back(this->elapsed());
 245                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 246                 this->nlog_.push_back(this->nodes_.size());
 247                 this->tlog_.push_back(t);
 248                 return true;
 249         } else {
 250                 return false;
 251         }
 252 }
 253
 254 void RRTBase::tstart()
 255 {
 256         this->tstart_ = std::chrono::high_resolution_clock::now();
 257 }
 258
 259 void RRTBase::tend()
 260 {
 261         this->tend_ = std::chrono::high_resolution_clock::now();
 262 }
 263
 264 bool RRTBase::link_obstacles(
 265                 std::vector<CircleObstacle> *cobstacles,
 266                 std::vector<SegmentObstacle> *sobstacles)
 267 {
 268         this->cobstacles_ = cobstacles;
 269         this->sobstacles_ = sobstacles;
 270         if (!this->cobstacles_ || !this->sobstacles_) {
 271                 return false;
 272         }
 273         return true;
 274 }
 275
 276 bool RRTBase::add_iy(RRTNode *n)
 277 {
 278         int i = IYI(n->y());
 279         if (i < 0)
 280                 i = 0;
 281         if (i >= IYSIZE)
 282                 i = IYSIZE - 1;
 283         this->iy_[i].push_back(n);
 284         return true;
 285 }
 286
 287 bool RRTBase::add_ixy(RRTNode *n)
 288 {
 289         int ix = IXI(n->x());
 290         if (ix < 0)
 291                 ix = 0;
 292         if (ix >= IXSIZE)
 293                 ix = IXSIZE - 1;
 294         int iy = IYI(n->y());
 295         if (iy < 0)
 296                 iy = 0;
 297         if (iy >= IYSIZE)
 298                 iy = IYSIZE - 1;
 299         this->ixy_[ix][iy].add_node(n);
 300         return true;
 301 }
 302
 303 bool RRTBase::goal_found(bool f)
 304 {
 305         this->goal_found_ = f;
 306         return f;
 307 }
 308
 309 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 310 {
 311         for (unsigned int i = 0; i < sc.size() - 1; i++)
 312                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 313         sc[0]->parent(this->goal());
 314         this->slot_cusp_ = sc;
 315 }
 316
 317 // other
 318 bool RRTBase::glplot()
 319 {
 320 #if USE_GL > 0
 321         glClear(GL_COLOR_BUFFER_BIT);
 322         glLineWidth(1);
 323         glPointSize(1);
 324         // Plot obstacles
 325         glBegin(GL_LINES);
 326         for (auto o: *this->sobstacles_) {
 327                 glColor3f(0, 0, 0);
 328                 glVertex2f(GLVERTEX(o.init()));
 329                 glVertex2f(GLVERTEX(o.goal()));
 330         }
 331         glEnd();
 332         // Plot root, goal
 333         glPointSize(8);
 334         glBegin(GL_POINTS);
 335         glColor3f(1, 0, 0);
 336         glVertex2f(GLVERTEX(this->root_));
 337         glVertex2f(GLVERTEX(this->goal_));
 338         glEnd();
 339         // Plot last sample
 340         if (this->samples_.size() > 0) {
 341                 glPointSize(8);
 342                 glBegin(GL_POINTS);
 343                 glColor3f(0, 1, 0);
 344                 glVertex2f(GLVERTEX(this->samples_.back()));
 345                 glEnd();
 346         }
 347         // Plot nodes
 348         std::vector<RRTNode *> s; // DFS stack
 349         std::vector<RRTNode *> r; // reset visited_
 350         RRTNode *tmp;
 351         glBegin(GL_LINES);
 352         s.push_back(this->root_);
 353         while (s.size() > 0) {
 354                 tmp = s.back();
 355                 s.pop_back();
 356                 if (!tmp->visit()) {
 357                         r.push_back(tmp);
 358                         for (auto ch: tmp->children()) {
 359                                 s.push_back(ch);
 360                                 glColor3f(0.5, 0.5, 0.5);
 361                                 glVertex2f(GLVERTEX(tmp));
 362                                 glVertex2f(GLVERTEX(ch));
 363                         }
 364                 }
 365         }
 366         glEnd();
 367         // Plot nodes (from goal)
 368         glBegin(GL_LINES);
 369         s.push_back(this->goal_);
 370         while (s.size() > 0) {
 371                 tmp = s.back();
 372                 s.pop_back();
 373                 if (!tmp->visit()) {
 374                         r.push_back(tmp);
 375                         for (auto ch: tmp->children()) {
 376                                 s.push_back(ch);
 377                                 glColor3f(0.5, 0.5, 0.5);
 378                                 glVertex2f(GLVERTEX(tmp));
 379                                 glVertex2f(GLVERTEX(ch));
 380                         }
 381                 }
 382         }
 383         glEnd();
 384         std::vector<RRTNode *> cusps;
 385         // Plot last trajectory
 386         if (this->tlog().size() > 0) {
 387                 glLineWidth(2);
 388                 glBegin(GL_LINES);
 389                 for (auto n: this->tlog().back()) {
 390                         if (n->parent()) {
 391                                 glColor3f(0, 0, 1);
 392                                 glVertex2f(GLVERTEX(n));
 393                                 glVertex2f(GLVERTEX(n->parent()));
 394                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 395                                         cusps.push_back(n);
 396                         }
 397                 }
 398                 glEnd();
 399         }
 400         // Plot cusps
 401         glPointSize(8);
 402         glBegin(GL_POINTS);
 403         for (auto n: cusps) {
 404                 glColor3f(0, 0, 1);
 405                 glVertex2f(GLVERTEX(n));
 406         }
 407         glEnd();
 408         SDL_GL_SwapWindow(gw);
 409         for (auto n: r)
 410                 n->visit(false);
 411 #endif
 412         return true;
 413 }
 414
 415 bool RRTBase::goal_found(
 416                 RRTNode *node,
 417                 float (*cost)(RRTNode *, RRTNode* ))
 418 {
 419         if (IS_NEAR(node, this->goal_)) {
 420                 if (this->goal_found_) {
 421                         if (node->ccost() + this->cost(node, this->goal_) <
 422                                         this->goal_->ccost()) {
 423                                 RRTNode *op; // old parent
 424                                 float oc; // old cumulative cost
 425                                 float od; // old direct cost
 426                                 op = this->goal_->parent();
 427                                 oc = this->goal_->ccost();
 428                                 od = this->goal_->dcost();
 429                                 node->add_child(this->goal_,
 430                                                 this->cost(node, this->goal_));
 431                                 if (this->collide(node, this->goal_)) {
 432                                         node->children().pop_back();
 433                                         this->goal_->parent(op);
 434                                         this->goal_->ccost(oc);
 435                                         this->goal_->dcost(od);
 436                                 } else {
 437                                         op->rem_child(this->goal_);
 438                                         return true;
 439                                 }
 440                         } else {
 441                                 return false;
 442                         }
 443                 } else {
 444                         node->add_child(
 445                                         this->goal_,
 446                                         this->cost(node, this->goal_));
 447                         if (this->collide(node, this->goal_)) {
 448                                 node->children().pop_back();
 449                                 this->goal_->remove_parent();
 450                                 return false;
 451                         }
 452                         this->goal_found_ = true;
 453                         return true;
 454                 }
 455         }
 456         return false;
 457 }
 458
 459 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 460 {
 461         std::vector<RRTEdge *> edges;
 462         RRTNode *tmp = goal;
 463         volatile bool col = false;
 464         unsigned int i;
 465         while (tmp != init) {
 466                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 467                 std::vector<RRTEdge *> bcframe = bc.frame();
 468                 #pragma omp parallel for reduction(|: col)
 469                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 470                         if ((*this->cobstacles_)[i].collide(tmp)) {
 471                                 col = true;
 472                         }
 473                         for (auto &e: bcframe) {
 474                                 if ((*this->cobstacles_)[i].collide(e)) {
 475                                         col = true;
 476                                 }
 477                         }
 478                 }
 479                 if (col) {
 480                         for (auto e: bcframe) {
 481                                 delete e->init();
 482                                 delete e->goal();
 483                                 delete e;
 484                         }
 485                         for (auto e: edges) {
 486                                 delete e;
 487                         }
 488                         return true;
 489                 }
 490                 #pragma omp parallel for reduction(|: col)
 491                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 492                         for (auto &e: bcframe) {
 493                                 if ((*this->sobstacles_)[i].collide(e)) {
 494                                         col = true;
 495                                 }
 496                         }
 497                 }
 498                 if (col) {
 499                         for (auto e: bcframe) {
 500                                 delete e->init();
 501                                 delete e->goal();
 502                                 delete e;
 503                         }
 504                         for (auto e: edges) {
 505                                 delete e;
 506                         }
 507                         return true;
 508                 }
 509                 if (!tmp->parent()) {
 510                         break;
 511                 }
 512                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 513                 tmp = tmp->parent();
 514                 for (auto e: bcframe) {
 515                         delete e->init();
 516                         delete e->goal();
 517                         delete e;
 518                 }
 519         }
 520         for (auto &e: edges) {
 521                 #pragma omp parallel for reduction(|: col)
 522                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 523                         if ((*this->cobstacles_)[i].collide(e)) {
 524                                 col = true;
 525                         }
 526                 }
 527                 if (col) {
 528                         for (auto e: edges) {
 529                                 delete e;
 530                         }
 531                         return true;
 532                 }
 533                 #pragma omp parallel for reduction(|: col)
 534                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 535                         if ((*this->sobstacles_)[i].collide(e)) {
 536                                 col = true;
 537                         }
 538                 }
 539                 if (col) {
 540                         for (auto e: edges) {
 541                                 delete e;
 542                         }
 543                         return true;
 544                 }
 545         }
 546         for (auto e: edges) {
 547                 delete e;
 548         }
 549         return false;
 550 }
 551
 552 class RRTNodeDijkstra {
 553         public:
 554                 RRTNodeDijkstra(int i):
 555                         ni(i),
 556                         pi(0),
 557                         c(9999),
 558                         v(false)
 559                 {};
 560                 RRTNodeDijkstra(int i, float c):
 561                         ni(i),
 562                         pi(0),
 563                         c(c),
 564                         v(false)
 565                 {};
 566                 RRTNodeDijkstra(int i, int p, float c):
 567                         ni(i),
 568                         pi(p),
 569                         c(c),
 570                         v(false)
 571                 {};
 572                 unsigned int ni;
 573                 unsigned int pi;
 574                 float c;
 575                 bool v;
 576                 bool vi()
 577                 {
 578                         if (this->v)
 579                                 return true;
 580                         this->v = true;
 581                         return false;
 582                 };
 583 };
 584
 585 class RRTNodeDijkstraComparator {
 586         public:
 587                 int operator() (
 588                                 const RRTNodeDijkstra& n1,
 589                                 const RRTNodeDijkstra& n2)
 590                 {
 591                         return n1.c > n2.c;
 592                 }
 593 };
 594
 595 bool RRTBase::optp_dijkstra(
 596                 std::vector<RRTNode *> &cusps,
 597                 std::vector<int> &npi)
 598 {
 599         std::vector<RRTNodeDijkstra> dnodes;
 600         for (unsigned int i = 0; i < cusps.size(); i++)
 601                 if (i > 0)
 602                         dnodes.push_back(RRTNodeDijkstra(
 603                                                 i,
 604                                                 i - 1,
 605                                                 cusps[i]->ccost()));
 606                 else
 607                         dnodes.push_back(RRTNodeDijkstra(
 608                                                 i,
 609                                                 cusps[i]->ccost()));
 610         dnodes[0].vi();
 611         std::priority_queue<
 612                 RRTNodeDijkstra,
 613                 std::vector<RRTNodeDijkstra>,
 614                 RRTNodeDijkstraComparator> pq;
 615         RRTNodeDijkstra tmp = dnodes[0];
 616         pq.push(tmp);
 617         float ch_cost = 9999;
 618         std::vector<RRTNode *> steered;
 619         while (!pq.empty()) {
 620                 tmp = pq.top();
 621                 pq.pop();
 622                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 623                         ch_cost = dnodes[tmp.ni].c +
 624                                 this->cost(cusps[tmp.ni], cusps[i]);
 625                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 626                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 627                                 steered[j]->add_child(steered[j + 1], 1);
 628                         if (this->collide(
 629                                         steered[0],
 630                                         steered[steered.size() - 1])) {
 631                                 for (auto n: steered)
 632                                         delete n;
 633                                 continue;
 634                         }
 635                         if (ch_cost < dnodes[i].c) {
 636                                 dnodes[i].c = ch_cost;
 637                                 dnodes[i].pi = tmp.ni;
 638                                 if (!dnodes[i].vi())
 639                                         pq.push(dnodes[i]);
 640                         }
 641                         for (auto n: steered)
 642                                 delete n;
 643                 }
 644         }
 645         unsigned int tmpi = 0;
 646         for (auto n: dnodes) {
 647                 if (n.v && n.ni > tmpi)
 648                         tmpi = n.ni;
 649         }
 650         while (tmpi > 0) {
 651                 npi.push_back(tmpi);
 652                 tmpi = dnodes[tmpi].pi;
 653         }
 654         npi.push_back(tmpi);
 655         std::reverse(npi.begin(), npi.end());
 656         return true;
 657 }
 658
 659 bool RRTBase::optp_rrp(
 660                 std::vector<RRTNode *> &cusps,
 661                 std::vector<int> &npi)
 662 {
 663         std::vector<RRTNode *> steered;
 664         std::vector<int> candidates;
 665         RRTNode *x_j = nullptr;
 666         RRTNode *x_i = nullptr;
 667         int j = cusps.size() - 1;
 668         int i_min = 0;
 669         float c_min = 0;
 670         float cost = 0;
 671         float dx = 0;
 672         float dy = 0;
 673         float ed = 0;
 674         float th_i = 0;
 675         float th_j = 0;
 676         while (j > 0) {
 677                 npi.push_back(j);
 678                 steered.clear();
 679                 candidates.clear();
 680                 x_j = cusps[j];
 681                 for (int i = 0; i < j; i++) {
 682                         steered = this->steer(cusps[i], x_j);
 683                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 684                                 steered[k]->add_child(steered[k + 1], 1);
 685                         if (!this->collide(
 686                                         steered[0],
 687                                         steered[steered.size() - 1]))
 688                                 candidates.push_back(i);
 689                 }
 690                 if (candidates.size() <= 0)
 691                         return false;
 692                 i_min = candidates[0];
 693                 x_i = cusps[i_min];
 694                 c_min = 9999;
 695                 for (auto c: candidates) {
 696                         x_i = cusps[c];
 697                         dx = x_j->x() - x_i->x();
 698                         dy = x_j->y() - x_i->y();
 699                         ed = EDIST(x_i, x_j);
 700                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 701                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 702                         cost = th_i + th_j;
 703                         if (cost < c_min) {
 704                                 i_min = c;
 705                                 c_min = cost;
 706                         }
 707                 }
 708                 j = i_min;
 709
 710         }
 711         npi.push_back(j);
 712         std::reverse(npi.begin(), npi.end());
 713         return true;
 714 }
 715
 716 bool RRTBase::optp_smart(
 717                 std::vector<RRTNode *> &cusps,
 718                 std::vector<int> &npi)
 719 {
 720         std::vector<RRTNode *> steered;
 721         int li = cusps.size() - 1;
 722         int ai = li - 1;
 723         npi.push_back(li);
 724         while (ai > 1) {
 725                 steered = this->steer(cusps[ai - 1], cusps[li]);
 726                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 727                         steered[j]->add_child(steered[j + 1], 1);
 728                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 729                         npi.push_back(ai);
 730                         li = ai;
 731                 }
 732                 ai--;
 733                 for (auto n: steered)
 734                         delete n;
 735         }
 736         npi.push_back(0);
 737         std::reverse(npi.begin(), npi.end());
 738         return true;
 739 }
 740
 741 bool RRTBase::opt_path()
 742 {
 743         if (this->tlog().size() == 0)
 744                 return false;
 745         float oc = this->tlog().back().front()->ccost();
 746         std::vector<RRTNode *> tmp_cusps;
 747         for (auto n: this->tlog().back()) {
 748                 if (sgn(n->s()) == 0) {
 749                         tmp_cusps.push_back(n);
 750                 } else if (n->parent() &&
 751                                 sgn(n->s()) != sgn(n->parent()->s())) {
 752                         tmp_cusps.push_back(n);
 753                         tmp_cusps.push_back(n->parent());
 754                 }
 755                 //tmp_cusps.push_back(n);
 756         }
 757         if (tmp_cusps.size() < 2)
 758                 return false;
 759         std::vector<RRTNode *> cusps;
 760         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 761                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 762                         cusps.push_back(tmp_cusps[i]);
 763         }
 764         std::reverse(cusps.begin(), cusps.end());
 765         std::vector<int> npi; // new path indexes
 766         if (!this->optp_dijkstra(cusps, npi))
 767                 return false;
 768         RRTNode *pn = cusps[npi[0]];
 769         RRTNode *tmp = nullptr;
 770         bool en_add = true;
 771         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 772                 pn = cusps[npi[i]];
 773                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 774                         if (!en_add) {
 775                                 delete ns;
 776                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 777                                 tmp = ns;
 778                                 while (tmp && tmp != cusps[npi[i]]) {
 779                                         pn = tmp->parent();
 780                                         delete tmp;
 781                                         tmp = pn;
 782                                 }
 783                                 pn = cusps[npi[i]];
 784                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 785                                 delete ns;
 786                                 cusps[npi[i + 1]]->parent()->rem_child(
 787                                                 cusps[npi[i + 1]]);
 788                                 pn->add_child(
 789                                         cusps[npi[i + 1]],
 790                                         this->cost(pn, cusps[npi[i + 1]]));
 791                                 en_add = false;
 792                         } else if (IS_NEAR(pn, ns)) {
 793                                 delete ns;
 794                         } else {
 795                                 this->nodes().push_back(ns);
 796                                 this->add_iy(ns);
 797                                 this->add_ixy(ns);
 798                                 pn->add_child(ns, this->cost(pn, ns));
 799                                 pn = ns;
 800                         }
 801                 }
 802         }
 803         this->root()->update_ccost();
 804         if (this->tlog().back().front()->ccost() < oc)
 805                 return true;
 806         return false;
 807 }
 808
 809 bool RRTBase::rebase(RRTNode *nr)
 810 {
 811         if (!nr || this->goal_ == nr || this->root_ == nr)
 812                 return false;
 813         std::vector<RRTNode *> s; // DFS stack
 814         RRTNode *tmp;
 815         unsigned int i = 0;
 816         unsigned int to_del = 0;
 817         int iy = 0;
 818         s.push_back(this->root_);
 819         while (s.size() > 0) {
 820                 tmp = s.back();
 821                 s.pop_back();
 822                 for (auto ch: tmp->children()) {
 823                         if (ch != nr)
 824                                 s.push_back(ch);
 825                 }
 826                 to_del = this->nodes_.size();
 827                 #pragma omp parallel for reduction(min: to_del)
 828                 for (i = 0; i < this->nodes_.size(); i++) {
 829                         if (this->nodes_[i] == tmp)
 830                                 to_del = i;
 831                 }
 832                 if (to_del < this->nodes_.size())
 833                         this->nodes_.erase(this->nodes_.begin() + to_del);
 834                 iy = IYI(tmp->y());
 835                 to_del = this->iy_[iy].size();
 836                 #pragma omp parallel  for reduction(min: to_del)
 837                 for (i = 0; i < this->iy_[iy].size(); i++) {
 838                         if (this->iy_[iy][i] == tmp)
 839                                 to_del = i;
 840                 }
 841                 if (to_del < this->iy_[iy].size())
 842                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 843                 this->dnodes().push_back(tmp);
 844         }
 845         this->root_ = nr;
 846         this->root_->remove_parent();
 847         return true;
 848 }
 849
 850 std::vector<RRTNode *> RRTBase::findt()
 851 {
 852         return this->findt(this->goal_);
 853 }
 854
 855 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 856 {
 857         std::vector<RRTNode *> nodes;
 858         if (!n || !n->parent())
 859                 return nodes;
 860         while (n) {
 861                 nodes.push_back(n);
 862                 n = n->parent();
 863         }
 864         return nodes;
 865 }
 866
 867 // RRT Framework
 868 RRTNode *RRTBase::sample()
 869 {
 870         float x = this->samplingInfo_.x;
 871         float y = this->samplingInfo_.y;
 872         std::normal_distribution<float> xdist(
 873                 0,
 874                 BCAR_WIDTH / 3
 875         );
 876         x += this->samplingInfo_.dx
 877                 * (BCAR_WIDTH / 2 + std::abs(xdist(this->gen_)))
 878                 * cos(this->samplingInfo_.sh + M_PI / 2);
 879         y += this->samplingInfo_.dx
 880                 * (BCAR_WIDTH / 2 + std::abs(xdist(this->gen_)))
 881                 * sin(this->samplingInfo_.sh + M_PI / 2);
 882         std::normal_distribution<float> ydist(
 883                 0,
 884                 BCAR_LENGTH / 3
 885         );
 886         x += ydist(this->gen_) * cos(this->samplingInfo_.sh);
 887         y += ydist(this->gen_) * sin(this->samplingInfo_.sh);
 888         std::normal_distribution<float> hdist(
 889                 0,
 890                 this->samplingInfo_.h / 3
 891         );
 892         float h = std::abs(hdist(this->gen_));
 893         return new RRTNode(
 894                 x,
 895                 y,
 896                 this->samplingInfo_.sh + this->samplingInfo_.dh * h
 897         );
 898 }
 899
 900 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 901 {
 902         return co2(init, goal);
 903 }
 904
 905 RRTNode *RRTBase::nn(RRTNode *rs)
 906 {
 907         return nn4(this->iy_, rs, nullptr);
 908         //return nn3(this->iy_, rs, nullptr);
 909 }
 910
 911 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 912 {
 913         std::vector<RRTNode *> nvs;
 914         unsigned int iy = IYI(node->y());
 915         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 916         unsigned int i = 0; // vector index
 917         unsigned int j = 0; // array index
 918         unsigned int jmin = 0; // minimal j index
 919         unsigned int jmax = 0; // maximal j index
 920         jmin = iy - iy_dist;
 921         jmin = (jmin > 0) ? jmin : 0;
 922         jmax = iy + iy_dist + 1;
 923         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 924         #pragma omp parallel for reduction(merge: nvs)
 925         for (j = jmin; j < jmax; j++) {
 926                 #pragma omp parallel for reduction(merge: nvs)
 927                 for (i = 0; i < this->iy_[j].size(); i++) {
 928                         if (this->cost(this->iy_[j][i], node) < dist) {
 929                                 nvs.push_back(this->iy_[j][i]);
 930                         }
 931                 }
 932         }
 933         return nvs;
 934 }
 935
 936 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 937 {
 938         return st3(init, goal);
 939 }
 940
 941 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 942 {
 943         return st3(init, goal, step);
 944 }