src/rrts.cc

   1 #include <algorithm>
   2 #include "rrts.h"
   3
   4 #include "reeds_shepp.h"
   5
   6 template <typename T> int sgn(T val) {
   7         return (T(0) < val) - (val < T(0));
   8 }
   9
  10 RRTNode::RRTNode()
  11 {
  12 }
  13
  14 RRTNode::RRTNode(const BicycleCar &bc)
  15 {
  16     this->x(bc.x());
  17     this->y(bc.y());
  18     this->h(bc.h());
  19     this->sp(bc.sp());
  20     this->st(bc.st());
  21 }
  22
  23 bool RRTNode::operator==(const RRTNode& n)
  24 {
  25         if (this == &n)
  26                 return true;
  27         return false;
  28 }
  29
  30 Obstacle::Obstacle()
  31 {
  32 }
  33
  34 double RRTS::elapsed()
  35 {
  36         std::chrono::duration<double> dt;
  37         dt = std::chrono::duration_cast<std::chrono::duration<double>>(
  38                 std::chrono::high_resolution_clock::now()
  39                 - this->tstart_
  40         );
  41         this->scnt_ = dt.count();
  42         return this->scnt_;
  43 }
  44
  45 void RRTS::log_path_cost()
  46 {
  47         this->log_path_cost_.push_back(cc(this->goals().front()));
  48         this->log_path_time_ += 0.1;
  49 }
  50
  51 bool RRTS::should_stop()
  52 {
  53         // the following counters must be updated, do not comment
  54         this->icnt_++;
  55         this->elapsed();
  56         // current iteration stop conditions
  57         if (this->should_finish()) return true;
  58         if (this->should_break()) return true;
  59         // but continue by default
  60         return false;
  61 }
  62
  63 bool RRTS::should_finish()
  64 {
  65         // decide finish conditions (maybe comment some lines)
  66         //if (this->icnt_ > 999) return true;
  67         if (this->scnt_ > 2) return true;
  68         if (this->finishit) return true;
  69         //if (this->gf()) return true;
  70         // but continue by default
  71         return false;
  72 }
  73
  74 bool RRTS::should_break()
  75 {
  76         // decide break conditions (maybe comment some lines)
  77         //if (this->scnt_ - this->pcnt_ > 2) return true;
  78         // but continue by default
  79         return false;
  80 }
  81
  82 bool RRTS::should_continue()
  83 {
  84         // decide the stop conditions (maybe comment some lines)
  85         // it is exact opposite of `should_stop`
  86         //if (this->icnt_ > 999) return false;
  87         if (this->scnt_ > 10) return false;
  88         if (this->gf()) return false;
  89         // and reset pause counter if should continue
  90         this->pcnt_ = this->scnt_;
  91         return true;
  92 }
  93
  94 void RRTS::store_node(RRTNode n)
  95 {
  96         this->nodes().push_back(n);
  97 }
  98
  99 // RRT procedures
 100 std::tuple<bool, unsigned int, unsigned int>
 101 RRTS::collide(std::vector<std::tuple<double, double>> &poly)
 102 {
 103         for (auto &o: this->obstacles())
 104                 if (std::get<0>(::collide(poly, o.poly())))
 105                         return ::collide(poly, o.poly());
 106         return std::make_tuple(false, 0, 0);
 107 }
 108
 109 std::tuple<bool, unsigned int, unsigned int>
 110 RRTS::collide_steered_from(RRTNode &f)
 111 {
 112         auto fbc = BicycleCar();
 113         fbc.x(f.x());
 114         fbc.y(f.y());
 115         fbc.h(f.h());
 116         std::vector<std::tuple<double, double>> s;
 117         s.push_back(std::make_tuple(fbc.x(), fbc.y()));
 118         for (auto &n: this->steered()) {
 119                 auto nbc = BicycleCar();
 120                 nbc.x(n.x());
 121                 nbc.y(n.y());
 122                 nbc.h(n.h());
 123                 s.push_back(std::make_tuple(nbc.lfx(), nbc.lfy()));
 124                 s.push_back(std::make_tuple(nbc.lrx(), nbc.lry()));
 125                 s.push_back(std::make_tuple(nbc.rrx(), nbc.rry()));
 126                 s.push_back(std::make_tuple(nbc.rfx(), nbc.rfy()));
 127         }
 128         auto col = this->collide(s);
 129         auto strip_from = this->steered().size() - std::get<1>(col) / 4;
 130         if (std::get<0>(col) && strip_from > 0) {
 131                 while (strip_from-- > 0) {
 132                         this->steered().pop_back();
 133                 }
 134                 return this->collide_steered_from(f);
 135         }
 136         return col;
 137 }
 138
 139 std::tuple<bool, unsigned int, unsigned int>
 140 RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
 141 {
 142         auto fbc = BicycleCar();
 143         fbc.x(f.x());
 144         fbc.y(f.y());
 145         fbc.h(f.h());
 146         auto tbc = BicycleCar();
 147         tbc.x(f.x());
 148         tbc.y(f.y());
 149         tbc.h(f.h());
 150         std::vector<std::tuple<double, double>> p;
 151         p.push_back(std::make_tuple(fbc.lfx(), fbc.lfy()));
 152         p.push_back(std::make_tuple(fbc.lrx(), fbc.lry()));
 153         p.push_back(std::make_tuple(fbc.rrx(), fbc.rry()));
 154         p.push_back(std::make_tuple(fbc.rfx(), fbc.rfy()));
 155         p.push_back(std::make_tuple(tbc.lfx(), tbc.lfy()));
 156         p.push_back(std::make_tuple(tbc.lrx(), tbc.lry()));
 157         p.push_back(std::make_tuple(tbc.rrx(), tbc.rry()));
 158         p.push_back(std::make_tuple(tbc.rfx(), tbc.rfy()));
 159         return this->collide(p);
 160 }
 161
 162 double RRTS::cost_build(RRTNode &f, RRTNode &t)
 163 {
 164         double cost = 0;
 165         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 166         return cost;
 167 }
 168
 169 double RRTS::cost_search(RRTNode &f, RRTNode &t)
 170 {
 171         double cost = 0;
 172         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 173         return cost;
 174 }
 175
 176 void RRTS::sample()
 177 {
 178         double x = 0;
 179         double y = 0;
 180         double h = 0;
 181         switch (this->sample_dist_type()) {
 182         case 1: // uniform
 183                 x = this->udx_(this->gen_);
 184                 y = this->udy_(this->gen_);
 185                 h = this->udh_(this->gen_);
 186                 break;
 187         case 2: // uniform circle
 188         {
 189                 // see https://stackoverflow.com/questions/5837572/generate-a-random-point-within-a-circle-uniformly/50746409#50746409
 190                 double R = sqrt(
 191                         pow(
 192                                 this->nodes().front().x()
 193                                 - this->goals().front().x(),
 194                                 2
 195                         )
 196                         + pow(
 197                                 this->nodes().front().y()
 198                                 - this->goals().front().y(),
 199                                 2
 200                         )
 201                 );
 202                 double a = atan2(
 203                         this->goals().front().y() - this->nodes().front().y(),
 204                         this->goals().front().x() - this->nodes().front().x()
 205                 );
 206                 double cx = this->goals().front().x() - R/2 * cos(a);
 207                 double cy = this->goals().front().y() - R/2 * sin(a);
 208                 double r = R * sqrt(this->udx_(this->gen_));
 209                 double theta = this->udy_(this->gen_) * 2 * M_PI;
 210                 x = cx + r * cos(theta);
 211                 y = cy + r * sin(theta);
 212                 h = this->udh_(this->gen_);
 213         }
 214                 break;
 215         case 3: {
 216                 if (
 217                         this->steered1_.size() == 0
 218                         && this->steered2_.size() == 0
 219                 ) {
 220                         x = this->nodes().front().x();
 221                         y = this->nodes().front().y();
 222                         h = this->nodes().front().h();
 223                 } else {
 224                         this->udi1_ = std::uniform_int_distribution<unsigned int>(
 225                                 0,
 226                                 this->steered1_.size() - 1
 227                         );
 228                         this->udi2_ = std::uniform_int_distribution<unsigned int>(
 229                                 0,
 230                                 this->steered2_.size() - 1
 231                         );
 232                         auto ind1 = this->udi1_(this->gen_);
 233                         auto ind2 = this->udi2_(this->gen_);
 234                         if (
 235                                 this->steered2_.size() == 0
 236                         ) {
 237                                 auto n1 = this->steered1_[ind1];
 238                                 x = n1->x();
 239                                 y = n1->y();
 240                                 h = n1->h();
 241                         } else if (
 242                                 this->steered1_.size() == 0
 243                         ) {
 244                                 auto n2 = this->steered2_[ind2];
 245                                 x = n2->x();
 246                                 y = n2->y();
 247                                 h = n2->h();
 248                         } else {
 249                                 auto n1 = this->steered1_[ind1];
 250                                 auto n2 = this->steered2_[ind2];
 251                                 auto which = this->udx_(this->gen_);
 252                                 if (which > 0.5) {
 253                                         x = n1->x();
 254                                         y = n1->y();
 255                                         h = n1->h();
 256                                 } else {
 257                                         x = n2->x();
 258                                         y = n2->y();
 259                                         h = n2->h();
 260                                 }
 261                         }
 262                 }
 263                 break;
 264                 }
 265         default: // normal
 266                 x = this->ndx_(this->gen_);
 267                 y = this->ndy_(this->gen_);
 268                 h = this->ndh_(this->gen_);
 269         }
 270         this->samples().push_back(RRTNode());
 271         this->samples().back().x(x);
 272         this->samples().back().y(y);
 273         this->samples().back().h(h);
 274 }
 275
 276 RRTNode *RRTS::nn(RRTNode &t)
 277 {
 278         RRTNode *nn = &this->nodes().front();
 279         double cost = this->cost_search(*nn, t);
 280         for (auto &f: this->nodes()) {
 281                 if (this->cost_search(f, t) < cost) {
 282                         nn = &f;
 283                         cost = this->cost_search(f, t);
 284                 }
 285         }
 286         return nn;
 287 }
 288
 289 std::vector<RRTNode *> RRTS::nv(RRTNode &t)
 290 {
 291         std::vector<RRTNode *> nv;
 292         double cost = std::min(GAMMA(this->nodes().size()), ETA);
 293         for (auto &f: this->nodes())
 294                 if (this->cost_search(f, t) < cost)
 295                         nv.push_back(&f);
 296         return nv;
 297 }
 298
 299 int cb_rs_steer(double q[4], void *user_data)
 300 {
 301         std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
 302         nodes->push_back(RRTNode());
 303         nodes->back().x(q[0]);
 304         nodes->back().y(q[1]);
 305         nodes->back().h(q[2]);
 306         nodes->back().sp(q[3]);
 307         if (nodes->back().sp() == 0) {
 308                 nodes->back().set_t(RRTNodeType::cusp);
 309         } else if (nodes->size() >= 2) {
 310                 RRTNode* lln = nodes->back().p();
 311                 RRTNode* ln = &nodes->back();
 312                 if (lln != nullptr && ln != nullptr && sgn(lln->sp()) != sgn(ln->sp()))
 313                         ln->set_t(RRTNodeType::cusp);
 314         }
 315         return 0;
 316 }
 317
 318 void RRTS::steer(RRTNode &f, RRTNode &t)
 319 {
 320         this->steered().clear();
 321         double q0[] = {f.x(), f.y(), f.h()};
 322         double q1[] = {t.x(), t.y(), t.h()};
 323         ReedsSheppStateSpace rsss(this->bc.mtr());
 324         rsss.sample(q0, q1, 0.2, cb_rs_steer, &this->steered());
 325 }
 326
 327 void RRTS::steer1(RRTNode &f, RRTNode &t)
 328 {
 329     return this->steer(f, t);
 330 }
 331
 332 void RRTS::steer2(RRTNode &f, RRTNode &t)
 333 {
 334     return this->steer(f, t);
 335 }
 336
 337 void RRTS::join_steered(RRTNode *f)
 338 {
 339         while (this->steered().size() > 0) {
 340                 this->store_node(this->steered().front());
 341                 RRTNode *t = &this->nodes().back();
 342                 t->p(f);
 343                 t->c(this->cost_build(*f, *t));
 344                 this->steered().erase(this->steered().begin());
 345                 f = t;
 346         }
 347 }
 348
 349 bool RRTS::goal_found(RRTNode &f)
 350 {
 351         auto &g = this->goals().front();
 352         double cost = this->cost_build(f, g);
 353         double edist = sqrt(
 354                 pow(f.x() - g.x(), 2)
 355                 + pow(f.y() - g.y(), 2)
 356         );
 357         double adist = std::abs(f.h() - g.h());
 358         if (edist < 0.05 && adist < M_PI / 32) {
 359                 if (g.p() == nullptr || cc(f) + cost < cc(g)) {
 360                         g.p(&f);
 361                         g.c(cost);
 362                 }
 363                 return true;
 364         }
 365         return false;
 366 }
 367
 368 // RRT* procedures
 369 bool RRTS::connect()
 370 {
 371         RRTNode *t = &this->steered().front();
 372         RRTNode *f = this->nn(this->samples().back());
 373         double cost = this->cost_search(*f, *t);
 374         for (auto n: this->nv(*t)) {
 375                 if (
 376                         !std::get<0>(this->collide_two_nodes(*n, *t))
 377                         && this->cost_search(*n, *t) < cost
 378                 ) {
 379                         f = n;
 380                         cost = this->cost_search(*n, *t);
 381                 }
 382         }
 383         this->store_node(this->steered().front());
 384         t = &this->nodes().back();
 385         t->p(f);
 386         t->c(this->cost_build(*f, *t));
 387         t->set_t(RRTNodeType::connected);
 388         return true;
 389 }
 390
 391 void RRTS::rewire()
 392 {
 393         RRTNode *f = &this->nodes().back();
 394         for (auto n: this->nv(*f)) {
 395                 if (
 396                         !std::get<0>(this->collide_two_nodes(*f, *n))
 397                         && cc(*f) + this->cost_search(*f, *n) < cc(*n)
 398                 ) {
 399                         n->p(f);
 400                         n->c(this->cost_build(*f, *n));
 401                 }
 402         }
 403 }
 404
 405 // API
 406 void RRTS::init()
 407 {
 408 }
 409
 410 void RRTS::deinit()
 411 {
 412         this->nodes().clear();
 413         this->samples().clear();
 414         this->steered().clear();
 415         this->store_node(RRTNode()); // root
 416         this->icnt_ = 0;
 417         this->scnt_ = 0;
 418         this->pcnt_ = 0;
 419         this->gf_ = false;
 420 }
 421
 422 std::vector<RRTNode *> RRTS::path()
 423 {
 424         std::vector<RRTNode *> path;
 425         if (this->goals().size() == 0)
 426                 return path;
 427         RRTNode *goal = &this->goals().back();
 428         if (goal->p() == nullptr)
 429                 return path;
 430         while (goal != nullptr) {
 431                 path.push_back(goal);
 432                 goal = goal->p();
 433         }
 434         std::reverse(path.begin(), path.end());
 435         return path;
 436 }
 437
 438 bool RRTS::next()
 439 {
 440         if (this->icnt_ == 0)
 441                 this->tstart_ = std::chrono::high_resolution_clock::now();
 442         bool next = true;
 443         if (this->scnt_ > this->log_path_time_)
 444             this->log_path_cost();
 445         if (this->should_stop())
 446                 return false;
 447         if (this->samples().size() == 0) {
 448                 this->samples().push_back(RRTNode());
 449                 this->samples().back().x(this->goals().front().x());
 450                 this->samples().back().y(this->goals().front().y());
 451                 this->samples().back().h(this->goals().front().h());
 452         } else {
 453                 this->sample();
 454         }
 455         this->steer1(
 456                 *this->nn(this->samples().back()),
 457                 this->samples().back()
 458         );
 459         if (this->steered().size() == 0)
 460                 return next;
 461         auto col = this->collide_steered_from(
 462                 *this->nn(this->samples().back())
 463         );
 464         if (std::get<0>(col)) {
 465                 auto rcnt = this->steered().size() - std::get<1>(col);
 466                 while (rcnt-- > 0) {
 467                         this->steered().pop_back();
 468                 }
 469         }
 470         if (!this->connect())
 471                 return next;
 472         this->rewire();
 473         unsigned scnt = this->steered().size();
 474         this->join_steered(&this->nodes().back());
 475         RRTNode *just_added = &this->nodes().back();
 476         while (scnt > 0) {
 477                 // store all the steered1 nodes
 478                 this->steered1_.push_back(just_added);
 479                 scnt--;
 480                 auto &g = this->goals().front();
 481                 this->steer2(*just_added, g);
 482                 auto col = this->collide_steered_from(*just_added);
 483                 if (std::get<0>(col)) {
 484                         auto rcnt = this->steered().size() - std::get<1>(col);
 485                         while (rcnt-- > 0) {
 486                                 this->steered().pop_back();
 487                         }
 488                 }
 489                 this->join_steered(just_added);
 490                 // store all the steered2 nodes
 491                 RRTNode* jap = &this->nodes().back();
 492                 while (jap != just_added) {
 493                         this->steered2_.push_back(jap);
 494                         jap = jap->p();
 495                 }
 496                 this->gf(this->goal_found(this->nodes().back()));
 497                 just_added = just_added->p();
 498         }
 499         return next;
 500 }
 501
 502 void RRTS::set_sample_normal(
 503         double mx, double dx,
 504         double my, double dy,
 505         double mh, double dh
 506 )
 507 {
 508         this->ndx_ = std::normal_distribution<double>(mx, dx);
 509         this->ndy_ = std::normal_distribution<double>(my, dy);
 510         this->ndh_ = std::normal_distribution<double>(mh, dh);
 511 }
 512 void RRTS::set_sample_uniform(
 513         double xmin, double xmax,
 514         double ymin, double ymax,
 515         double hmin, double hmax
 516 )
 517 {
 518         this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
 519         this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
 520         this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
 521 }
 522 void RRTS::set_sample_uniform_circle()
 523 {
 524         this->udx_ = std::uniform_real_distribution<double>(0, 1);
 525         this->udy_ = std::uniform_real_distribution<double>(0, 1);
 526         this->udh_ = std::uniform_real_distribution<double>(0, 2 * M_PI);
 527 }
 528 void RRTS::set_sample(
 529         double x1, double x2,
 530         double y1, double y2,
 531         double h1, double h2
 532 )
 533 {
 534         switch (this->sample_dist_type()) {
 535         case 1: // uniform
 536                 x1 += this->nodes().front().x();
 537                 x2 += this->nodes().front().x();
 538                 y1 += this->nodes().front().y();
 539                 y2 += this->nodes().front().y();
 540                 this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
 541                 break;
 542         case 2: // uniform circle
 543                 this->set_sample_uniform_circle();
 544                 break;
 545         case 3: // uniform index of node in nodes
 546                 this->set_sample_uniform_circle();
 547                 break;
 548         default: // normal
 549                 this->set_sample_normal(x1, x2, y1, y2, h1, h2);
 550         }
 551 }
 552
 553 Json::Value RRTS::json()
 554 {
 555         Json::Value jvo;
 556         {
 557                 jvo["time"] = this->scnt();
 558         }
 559         {
 560                 jvo["iterations"] = this->icnt();
 561         }
 562         {
 563                 jvo["init"][0] = this->nodes().front().x();
 564                 jvo["init"][1] = this->nodes().front().y();
 565                 jvo["init"][2] = this->nodes().front().h();
 566         }
 567         {
 568                 jvo["path_cost_before_opt"] = this->path_cost_before_opt_;
 569         }
 570         {
 571                 if (this->path().size() > 0) {
 572                         jvo["cost"] = cc(*this->path().back());
 573                         jvo["entry"][0] = this->goals().front().x();
 574                         jvo["entry"][1] = this->goals().front().y();
 575                         jvo["entry"][2] = this->goals().front().h();
 576                         jvo["goal"][0] = this->goals().back().x();
 577                         jvo["goal"][1] = this->goals().back().y();
 578                         jvo["goal"][2] = this->goals().back().h();
 579                 }
 580         }
 581         {
 582                 unsigned int cu = 0;
 583                 unsigned int co = 0;
 584                 unsigned int pcnt = 0;
 585                 for (auto n: this->path()) {
 586                         jvo["path"][pcnt][0] = n->x();
 587                         jvo["path"][pcnt][1] = n->y();
 588                         jvo["path"][pcnt][2] = n->h();
 589                         if (n->t(RRTNodeType::cusp))
 590                                 cu++;
 591                         if (n->t(RRTNodeType::connected))
 592                                 co++;
 593                         pcnt++;
 594                 }
 595                 jvo["cusps-in-path"] = cu;
 596                 jvo["connecteds-in-path"] = co;
 597         }
 598         {
 599                 unsigned int gcnt = 0;
 600                 for (auto g: this->goals()) {
 601                         jvo["goals"][gcnt][0] = g.x();
 602                         jvo["goals"][gcnt][1] = g.y();
 603                         jvo["goals"][gcnt][2] = g.h();
 604                         gcnt++;
 605                 }
 606         }
 607         {
 608                 unsigned int ocnt = 0;
 609                 for (auto o: this->obstacles()) {
 610                         unsigned int ccnt = 0;
 611                         for (auto c: o.poly()) {
 612                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 613                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 614                                 ccnt++;
 615                         }
 616                         ocnt++;
 617                 }
 618         }
 619         {
 620                 jvo["nodes"] = (unsigned int) this->nodes().size();
 621         }
 622         {
 623                 unsigned int cnt = 0;
 624                 for (auto i: this->log_path_cost_)
 625                         jvo["log_path_cost"][cnt++] = i;
 626         }
 627         //{
 628         //        unsigned int ncnt = 0;
 629         //        for (auto n: this->nodes()) {
 630         //                jvo["nodes_x"][ncnt] = n.x();
 631         //                jvo["nodes_y"][ncnt] = n.y();
 632         //                //jvo["nodes_h"][ncnt] = n.h();
 633         //                ncnt++;
 634         //        }
 635         //}
 636         //{
 637         //        unsigned int ncnt = 0;
 638         //        for (auto n: this->steered1_) {
 639         //                jvo["steered1_x"][ncnt] = n->x();
 640         //                jvo["steered1_y"][ncnt] = n->y();
 641         //                //jvo["nodes_h"][ncnt] = n.h();
 642         //                ncnt++;
 643         //        }
 644         //        ncnt = 0;
 645         //        for (auto n: this->steered2_) {
 646         //                jvo["steered2_x"][ncnt] = n->x();
 647         //                jvo["steered2_y"][ncnt] = n->y();
 648         //                //jvo["nodes_h"][ncnt] = n.h();
 649         //                ncnt++;
 650         //        }
 651         //}
 652         return jvo;
 653 }
 654
 655 void RRTS::json(Json::Value jvi)
 656 {
 657         assert(jvi["init"] != Json::nullValue);
 658         assert(jvi["goals"] != Json::nullValue);
 659         assert(jvi["obst"] != Json::nullValue);
 660
 661         this->nodes().front().x(jvi["init"][0].asDouble());
 662         this->nodes().front().y(jvi["init"][1].asDouble());
 663         this->nodes().front().h(jvi["init"][2].asDouble());
 664         {
 665                 RRTNode* gp = nullptr;
 666                 if (jvi["entry"] != Json::nullValue) {
 667                         this->entry_set = true;
 668                         this->entry.x = jvi["entry"][0].asDouble();
 669                         this->entry.y = jvi["entry"][1].asDouble();
 670                         this->entry.b = jvi["entry"][2].asDouble();
 671                         this->entry.e = jvi["entry"][3].asDouble();
 672                         RRTNode tmp_node;
 673                         tmp_node.x(this->entry.x);
 674                         tmp_node.y(this->entry.y);
 675                         tmp_node.h((this->entry.b + this->entry.e) / 2.0);
 676                         this->goals().push_back(tmp_node);
 677                         this->goals().back().p(gp);
 678                         gp = &this->goals().back();
 679                 }
 680                 for (auto g: jvi["goals"]) {
 681                         RRTNode tmp_node;
 682                         tmp_node.x(g[0].asDouble());
 683                         tmp_node.y(g[1].asDouble());
 684                         tmp_node.h(g[2].asDouble());
 685                         this->goals().push_back(tmp_node);
 686                         this->goals().back().p(gp);
 687                         gp = &this->goals().back();
 688                 }
 689                 this->goals().front().set_t(RRTNodeType::cusp);
 690                 this->goals().back().set_t(RRTNodeType::cusp);
 691         }
 692         {
 693                 Obstacle tmp_obstacle;
 694                 for (auto o: jvi["obst"]) {
 695                         tmp_obstacle.poly().clear();
 696                         for (auto c: o) {
 697                                 double tmp_x = c[0].asDouble();
 698                                 double tmp_y = c[1].asDouble();
 699                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
 700                                 tmp_obstacle.poly().push_back(tmp_tuple);
 701                         }
 702                         this->obstacles().push_back(tmp_obstacle);
 703                 }
 704         }
 705         {
 706                 double edist_init_goal = sqrt(
 707                         pow(
 708                                 this->nodes().front().x()
 709                                 - this->goals().front().x(),
 710                                 2
 711                         )
 712                         + pow(
 713                                 this->nodes().front().y()
 714                                 - this->goals().front().y(),
 715                                 2
 716                         )
 717                 );
 718                 this->set_sample(
 719                         this->nodes().front().x(), edist_init_goal,
 720                         this->nodes().front().y(), edist_init_goal,
 721                         0, 2 * M_PI
 722                 );
 723         }
 724 }
 725
 726 RRTS::RRTS()
 727         : gen_(std::random_device{}())
 728 {
 729         this->goals().reserve(100);
 730         this->nodes().reserve(4000000);
 731         this->samples().reserve(1000);
 732         this->steered().reserve(20000);
 733         this->store_node(RRTNode()); // root
 734 }
 735
 736 double cc(RRTNode &t)
 737 {
 738         RRTNode *n = &t;
 739         double cost = 0;
 740         while (n != nullptr) {
 741                 cost += n->c();
 742                 n = n->p();
 743         }
 744         return cost;
 745 }