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_iter_ += 20;
  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_ > 1000) 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 std::tuple<bool, unsigned int, unsigned int>
 139 RRTS::collide_tmp_steered_from(RRTNode &f)
 140 {
 141         return std::make_tuple(false, 0, 0);
 142 }
 143
 144 std::tuple<bool, unsigned int, unsigned int>
 145 RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
 146 {
 147         auto fbc = BicycleCar();
 148         fbc.x(f.x());
 149         fbc.y(f.y());
 150         fbc.h(f.h());
 151         auto tbc = BicycleCar();
 152         tbc.x(f.x());
 153         tbc.y(f.y());
 154         tbc.h(f.h());
 155         std::vector<std::tuple<double, double>> p;
 156         p.push_back(std::make_tuple(fbc.lfx(), fbc.lfy()));
 157         p.push_back(std::make_tuple(fbc.lrx(), fbc.lry()));
 158         p.push_back(std::make_tuple(fbc.rrx(), fbc.rry()));
 159         p.push_back(std::make_tuple(fbc.rfx(), fbc.rfy()));
 160         p.push_back(std::make_tuple(tbc.lfx(), tbc.lfy()));
 161         p.push_back(std::make_tuple(tbc.lrx(), tbc.lry()));
 162         p.push_back(std::make_tuple(tbc.rrx(), tbc.rry()));
 163         p.push_back(std::make_tuple(tbc.rfx(), tbc.rfy()));
 164         return this->collide(p);
 165 }
 166
 167 double RRTS::cost_build(RRTNode &f, RRTNode &t)
 168 {
 169         double cost = 0;
 170         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 171         return cost;
 172 }
 173
 174 double RRTS::cost_search(RRTNode &f, RRTNode &t)
 175 {
 176         double cost = 0;
 177         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 178         return cost;
 179 }
 180
 181 void RRTS::sample()
 182 {
 183         double x = 0;
 184         double y = 0;
 185         double h = 0;
 186         switch (this->sample_dist_type()) {
 187         case 1: // uniform
 188                 x = this->udx_(this->gen_);
 189                 y = this->udy_(this->gen_);
 190                 h = this->udh_(this->gen_);
 191                 break;
 192         case 2: // uniform circle
 193         {
 194                 // see https://stackoverflow.com/questions/5837572/generate-a-random-point-within-a-circle-uniformly/50746409#50746409
 195                 double R = sqrt(
 196                         pow(
 197                                 this->nodes().front().x()
 198                                 - this->goals().front().x(),
 199                                 2
 200                         )
 201                         + pow(
 202                                 this->nodes().front().y()
 203                                 - this->goals().front().y(),
 204                                 2
 205                         )
 206                 );
 207                 double a = atan2(
 208                         this->goals().front().y() - this->nodes().front().y(),
 209                         this->goals().front().x() - this->nodes().front().x()
 210                 );
 211                 double cx = this->goals().front().x() - R/2 * cos(a);
 212                 double cy = this->goals().front().y() - R/2 * sin(a);
 213                 double r = R * sqrt(this->udx_(this->gen_));
 214                 double theta = this->udy_(this->gen_) * 2 * M_PI;
 215                 x = cx + r * cos(theta);
 216                 y = cy + r * sin(theta);
 217                 h = this->udh_(this->gen_);
 218         }
 219                 break;
 220         case 3: {
 221                 if (
 222                         this->steered1_.size() == 0
 223                         && this->steered2_.size() == 0
 224                 ) {
 225                         x = this->nodes().front().x();
 226                         y = this->nodes().front().y();
 227                         h = this->nodes().front().h();
 228                         this->use_nn = &this->nodes().front();
 229                 } else {
 230                         this->udi1_ = std::uniform_int_distribution<unsigned int>(
 231                                 0,
 232                                 this->steered1_.size() - 1
 233                         );
 234                         this->udi2_ = std::uniform_int_distribution<unsigned int>(
 235                                 0,
 236                                 this->steered2_.size() - 1
 237                         );
 238                         auto ind1 = this->udi1_(this->gen_);
 239                         auto ind2 = this->udi2_(this->gen_);
 240                         if (
 241                                 this->steered2_.size() == 0
 242                         ) {
 243                                 auto n1 = this->steered1_[ind1];
 244                                 x = n1->x();
 245                                 y = n1->y();
 246                                 h = n1->h();
 247                                 this->use_nn = this->steered1_[ind1];
 248                         } else if (
 249                                 this->steered1_.size() == 0
 250                         ) {
 251                                 auto n2 = this->steered2_[ind2];
 252                                 x = n2->x();
 253                                 y = n2->y();
 254                                 h = n2->h();
 255                                 this->use_nn = this->steered2_[ind2];
 256                         } else {
 257                                 auto n1 = this->steered1_[ind1];
 258                                 auto n2 = this->steered2_[ind2];
 259                                 auto which = this->udx_(this->gen_);
 260                                 if (which > 0.5) {
 261                                         x = n1->x();
 262                                         y = n1->y();
 263                                         h = n1->h();
 264                                         this->use_nn = this->steered1_[ind1];
 265                                 } else {
 266                                         x = n2->x();
 267                                         y = n2->y();
 268                                         h = n2->h();
 269                                         this->use_nn = this->steered2_[ind2];
 270                                 }
 271                         }
 272                 }
 273                 break;
 274                 }
 275         default: // normal
 276                 x = this->ndx_(this->gen_);
 277                 y = this->ndy_(this->gen_);
 278                 h = this->ndh_(this->gen_);
 279         }
 280         this->samples().push_back(RRTNode());
 281         this->samples().back().x(x);
 282         this->samples().back().y(y);
 283         this->samples().back().h(h);
 284 }
 285
 286 RRTNode *RRTS::nn(RRTNode &t)
 287 {
 288         RRTNode *nn = &this->nodes().front();
 289         double cost = this->cost_search(*nn, t);
 290         for (auto &f: this->nodes()) {
 291                 if (this->cost_search(f, t) < cost) {
 292                         nn = &f;
 293                         cost = this->cost_search(f, t);
 294                 }
 295         }
 296         return nn;
 297 }
 298
 299 std::vector<RRTNode *> RRTS::nv(RRTNode &t)
 300 {
 301         std::vector<RRTNode *> nv;
 302         double cost = std::min(GAMMA(this->nodes().size()), ETA);
 303         for (auto &f: this->nodes())
 304                 if (this->cost_search(f, t) < cost)
 305                         nv.push_back(&f);
 306         return nv;
 307 }
 308
 309 int cb_rs_steer(double q[4], void *user_data)
 310 {
 311         std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
 312         nodes->push_back(RRTNode());
 313         nodes->back().x(q[0]);
 314         nodes->back().y(q[1]);
 315         nodes->back().h(q[2]);
 316         nodes->back().sp(q[3]);
 317         if (nodes->back().sp() == 0) {
 318                 nodes->back().set_t(RRTNodeType::cusp);
 319         } else if (nodes->size() >= 2) {
 320                 RRTNode* lln = nodes->back().p();
 321                 RRTNode* ln = &nodes->back();
 322                 if (lln != nullptr && ln != nullptr && sgn(lln->sp()) != sgn(ln->sp()))
 323                         ln->set_t(RRTNodeType::cusp);
 324         }
 325         return 0;
 326 }
 327
 328 void RRTS::steer(RRTNode &f, RRTNode &t)
 329 {
 330         this->steered().clear();
 331         double q0[] = {f.x(), f.y(), f.h()};
 332         double q1[] = {t.x(), t.y(), t.h()};
 333         ReedsSheppStateSpace rsss(this->bc.mtr());
 334         rsss.sample(q0, q1, 0.2, cb_rs_steer, &this->steered());
 335 }
 336 void RRTS::tmp_steer(RRTNode &f, RRTNode &t)
 337 {
 338     this->tmp_steered_.clear();
 339     double q0[] = {f.x(), f.y(), f.h()};
 340     double q1[] = {t.x(), t.y(), t.h()};
 341     ReedsSheppStateSpace rsss(this->bc.mtr());
 342     rsss.sample(q0, q1, 0.2, cb_rs_steer, &this->tmp_steered_);
 343 }
 344
 345 void RRTS::steer1(RRTNode &f, RRTNode &t)
 346 {
 347     return this->steer(f, t);
 348 }
 349
 350 void RRTS::steer2(RRTNode &f, RRTNode &t)
 351 {
 352     return this->steer(f, t);
 353 }
 354
 355 void RRTS::join_steered(RRTNode *f)
 356 {
 357         while (this->steered().size() > 0) {
 358                 this->store_node(this->steered().front());
 359                 RRTNode *t = &this->nodes().back();
 360                 t->p(f);
 361                 t->c(this->cost_build(*f, *t));
 362                 this->steered().erase(this->steered().begin());
 363                 f = t;
 364         }
 365 }
 366 void RRTS::join_tmp_steered(RRTNode *f)
 367 {
 368         while (this->tmp_steered_.size() > 0) {
 369                 this->store_node(this->tmp_steered_.front());
 370                 RRTNode *t = &this->nodes().back();
 371                 t->p(f);
 372                 t->c(this->cost_build(*f, *t));
 373                 this->tmp_steered_.erase(this->tmp_steered_.begin());
 374                 f = t;
 375         }
 376 }
 377
 378 bool RRTS::goal_found(RRTNode &f)
 379 {
 380         auto &g = this->goals().front();
 381         double cost = this->cost_build(f, g);
 382         double edist = sqrt(
 383                 pow(f.x() - g.x(), 2)
 384                 + pow(f.y() - g.y(), 2)
 385         );
 386         double adist = std::abs(f.h() - g.h());
 387         if (edist < 0.05 && adist < M_PI / 32) {
 388                 if (g.p() == nullptr || cc(f) + cost < cc(g)) {
 389                         g.p(&f);
 390                         g.c(cost);
 391                 }
 392                 return true;
 393         }
 394         return false;
 395 }
 396
 397 // RRT* procedures
 398 bool RRTS::connect()
 399 {
 400         RRTNode *t = &this->steered().front();
 401         RRTNode *f = this->nn(this->samples().back());
 402         double cost = this->cost_search(*f, *t);
 403         for (auto n: this->nv(*t)) {
 404                 if (
 405                         !std::get<0>(this->collide_two_nodes(*n, *t))
 406                         && this->cost_search(*n, *t) < cost
 407                 ) {
 408                         f = n;
 409                         cost = this->cost_search(*n, *t);
 410                 }
 411         }
 412         // steer from f->t and then continue with the steered.
 413         this->tmp_steer(*f, *t);
 414         if (this->tmp_steered_.size() > 0) {
 415                 auto col = this->collide_tmp_steered_from(*f);
 416                 if (std::get<0>(col))
 417                         return false;
 418                 this->join_tmp_steered(f);
 419                 f = &this->nodes().back();
 420         }
 421         if (sqrt(
 422                 pow(f->x() - t->x(), 2)
 423                 + pow(f->y() - t->y(), 2)
 424         ) > 0.2)
 425                 return false;
 426         // cont.
 427         this->store_node(this->steered().front());
 428         t = &this->nodes().back();
 429         t->p(f);
 430         t->c(this->cost_build(*f, *t));
 431         t->set_t(RRTNodeType::connected);
 432         return true;
 433 }
 434
 435 void RRTS::rewire()
 436 {
 437         RRTNode *f = &this->nodes().back();
 438         for (auto n: this->nv(*f)) {
 439                 if (
 440                         !std::get<0>(this->collide_two_nodes(*f, *n))
 441                         && cc(*f) + this->cost_search(*f, *n) < cc(*n)
 442                 ) {
 443                         n->p(f);
 444                         n->c(this->cost_build(*f, *n));
 445                 }
 446         }
 447 }
 448
 449 // API
 450 void RRTS::init()
 451 {
 452 }
 453
 454 void RRTS::deinit()
 455 {
 456         this->nodes().clear();
 457         this->samples().clear();
 458         this->steered().clear();
 459         this->store_node(RRTNode()); // root
 460         this->icnt_ = 0;
 461         this->scnt_ = 0;
 462         this->pcnt_ = 0;
 463         this->gf_ = false;
 464 }
 465
 466 std::vector<RRTNode *> RRTS::path()
 467 {
 468         std::vector<RRTNode *> path;
 469         if (this->goals().size() == 0)
 470                 return path;
 471         RRTNode *goal = &this->goals().back();
 472         if (goal->p() == nullptr)
 473                 return path;
 474         while (goal != nullptr) {
 475                 path.push_back(goal);
 476                 goal = goal->p();
 477         }
 478         std::reverse(path.begin(), path.end());
 479         return path;
 480 }
 481
 482 bool RRTS::next()
 483 {
 484         if (this->icnt_ == 0)
 485                 this->tstart_ = std::chrono::high_resolution_clock::now();
 486         bool next = true;
 487         if (this->icnt_ > this->log_path_iter_)
 488             this->log_path_cost();
 489         if (this->should_stop())
 490                 return false;
 491         if (this->samples().size() == 0) {
 492                 this->samples().push_back(RRTNode());
 493                 this->samples().back().x(this->goals().front().x());
 494                 this->samples().back().y(this->goals().front().y());
 495                 this->samples().back().h(this->goals().front().h());
 496         } else {
 497                 this->sample();
 498         }
 499         this->steer1(
 500                 *this->nn(this->samples().back()),
 501                 this->samples().back()
 502         );
 503         if (this->steered().size() == 0)
 504                 return next;
 505         auto col = this->collide_steered_from(
 506                 *this->nn(this->samples().back())
 507         );
 508         if (std::get<0>(col)) {
 509                 auto rcnt = this->steered().size() - std::get<1>(col);
 510                 while (rcnt-- > 0) {
 511                         this->steered().pop_back();
 512                 }
 513         }
 514         if (!this->connect())
 515                 return next;
 516         this->rewire();
 517         unsigned scnt = this->steered().size();
 518         this->join_steered(&this->nodes().back());
 519         RRTNode *just_added = &this->nodes().back();
 520         while (scnt > 0) {
 521                 // store all the steered1 nodes
 522                 this->steered1_.push_back(just_added);
 523                 scnt--;
 524                 auto &g = this->goals().front();
 525                 this->steer2(*just_added, g);
 526                 auto col = this->collide_steered_from(*just_added);
 527                 if (std::get<0>(col)) {
 528                         auto rcnt = this->steered().size() - std::get<1>(col);
 529                         while (rcnt-- > 0) {
 530                                 this->steered().pop_back();
 531                         }
 532                 }
 533                 this->join_steered(just_added);
 534                 // store all the steered2 nodes
 535                 RRTNode* jap = &this->nodes().back();
 536                 while (jap != just_added) {
 537                         this->steered2_.push_back(jap);
 538                         jap = jap->p();
 539                 }
 540                 this->gf(this->goal_found(this->nodes().back()));
 541                 just_added = just_added->p();
 542         }
 543         return next;
 544 }
 545
 546 void RRTS::set_sample_normal(
 547         double mx, double dx,
 548         double my, double dy,
 549         double mh, double dh
 550 )
 551 {
 552         this->ndx_ = std::normal_distribution<double>(mx, dx);
 553         this->ndy_ = std::normal_distribution<double>(my, dy);
 554         this->ndh_ = std::normal_distribution<double>(mh, dh);
 555 }
 556 void RRTS::set_sample_uniform(
 557         double xmin, double xmax,
 558         double ymin, double ymax,
 559         double hmin, double hmax
 560 )
 561 {
 562         this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
 563         this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
 564         this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
 565 }
 566 void RRTS::set_sample_uniform_circle()
 567 {
 568         this->udx_ = std::uniform_real_distribution<double>(0, 1);
 569         this->udy_ = std::uniform_real_distribution<double>(0, 1);
 570         this->udh_ = std::uniform_real_distribution<double>(0, 2 * M_PI);
 571 }
 572 void RRTS::set_sample(
 573         double x1, double x2,
 574         double y1, double y2,
 575         double h1, double h2
 576 )
 577 {
 578         switch (this->sample_dist_type()) {
 579         case 1: // uniform
 580                 x1 += this->nodes().front().x();
 581                 x2 += this->nodes().front().x();
 582                 y1 += this->nodes().front().y();
 583                 y2 += this->nodes().front().y();
 584                 this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
 585                 break;
 586         case 2: // uniform circle
 587                 this->set_sample_uniform_circle();
 588                 break;
 589         case 3: // uniform index of node in nodes
 590                 this->set_sample_uniform_circle();
 591                 break;
 592         default: // normal
 593                 this->set_sample_normal(x1, x2, y1, y2, h1, h2);
 594         }
 595 }
 596
 597 Json::Value RRTS::json()
 598 {
 599         Json::Value jvo;
 600         {
 601                 jvo["time"] = this->scnt();
 602         }
 603         {
 604                 jvo["iterations"] = this->icnt();
 605         }
 606         {
 607                 jvo["init"][0] = this->nodes().front().x();
 608                 jvo["init"][1] = this->nodes().front().y();
 609                 jvo["init"][2] = this->nodes().front().h();
 610         }
 611         {
 612                 jvo["path_cost_before_opt"] = this->path_cost_before_opt_;
 613         }
 614         {
 615                 if (this->path().size() > 0) {
 616                         jvo["cost"] = cc(*this->path().back());
 617                         jvo["entry"][0] = this->goals().front().x();
 618                         jvo["entry"][1] = this->goals().front().y();
 619                         jvo["entry"][2] = this->goals().front().h();
 620                         if (this->entry_set) {
 621                             jvo["entry"][2] = this->entry.b;
 622                             jvo["entry"][3] = this->entry.e;
 623                         }
 624                         if (this->entries_set) {
 625                                 jvo["entries"][0][0] = this->entry1.x;
 626                                 jvo["entries"][0][1] = this->entry1.y;
 627                                 jvo["entries"][0][2] = this->entry1.h;
 628                                 jvo["entries"][1][0] = this->entry2.x;
 629                                 jvo["entries"][1][1] = this->entry2.y;
 630                                 jvo["entries"][1][2] = this->entry2.h;
 631                         }
 632                         jvo["goal"][0] = this->goals().back().x();
 633                         jvo["goal"][1] = this->goals().back().y();
 634                         jvo["goal"][2] = this->goals().back().h();
 635                 }
 636         }
 637         {
 638                 unsigned int cu = 0;
 639                 unsigned int co = 0;
 640                 unsigned int pcnt = 0;
 641                 for (auto n: this->path()) {
 642                         jvo["path"][pcnt][0] = n->x();
 643                         jvo["path"][pcnt][1] = n->y();
 644                         jvo["path"][pcnt][2] = n->h();
 645                         if (n->t(RRTNodeType::cusp))
 646                                 cu++;
 647                         if (n->t(RRTNodeType::connected))
 648                                 co++;
 649                         pcnt++;
 650                 }
 651                 jvo["cusps-in-path"] = cu;
 652                 jvo["connecteds-in-path"] = co;
 653         }
 654         {
 655                 unsigned int gcnt = 0;
 656                 for (auto g: this->goals()) {
 657                         jvo["goals"][gcnt][0] = g.x();
 658                         jvo["goals"][gcnt][1] = g.y();
 659                         jvo["goals"][gcnt][2] = g.h();
 660                         gcnt++;
 661                 }
 662         }
 663         {
 664                 unsigned int ocnt = 0;
 665                 for (auto o: this->obstacles()) {
 666                         unsigned int ccnt = 0;
 667                         for (auto c: o.poly()) {
 668                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 669                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 670                                 ccnt++;
 671                         }
 672                         ocnt++;
 673                 }
 674         }
 675         {
 676                 jvo["nodes"] = (unsigned int) this->nodes().size();
 677         }
 678         {
 679                 unsigned int cnt = 0;
 680                 for (auto i: this->log_path_cost_)
 681                         jvo["log_path_cost"][cnt++] = i;
 682         }
 683         //{
 684         //        unsigned int ncnt = 0;
 685         //        for (auto n: this->nodes()) {
 686         //                jvo["nodes_x"][ncnt] = n.x();
 687         //                jvo["nodes_y"][ncnt] = n.y();
 688         //                //jvo["nodes_h"][ncnt] = n.h();
 689         //                ncnt++;
 690         //        }
 691         //}
 692         //{
 693         //        unsigned int ncnt = 0;
 694         //        for (auto n: this->steered1_) {
 695         //                jvo["steered1_x"][ncnt] = n->x();
 696         //                jvo["steered1_y"][ncnt] = n->y();
 697         //                //jvo["nodes_h"][ncnt] = n.h();
 698         //                ncnt++;
 699         //        }
 700         //        ncnt = 0;
 701         //        for (auto n: this->steered2_) {
 702         //                jvo["steered2_x"][ncnt] = n->x();
 703         //                jvo["steered2_y"][ncnt] = n->y();
 704         //                //jvo["nodes_h"][ncnt] = n.h();
 705         //                ncnt++;
 706         //        }
 707         //}
 708         return jvo;
 709 }
 710
 711 void RRTS::json(Json::Value jvi)
 712 {
 713         assert(jvi["init"] != Json::nullValue);
 714         assert(jvi["goals"] != Json::nullValue);
 715         assert(jvi["obst"] != Json::nullValue);
 716
 717         this->nodes().front().x(jvi["init"][0].asDouble());
 718         this->nodes().front().y(jvi["init"][1].asDouble());
 719         this->nodes().front().h(jvi["init"][2].asDouble());
 720         {
 721                 RRTNode* gp = nullptr;
 722                 if (jvi["entry"] != Json::nullValue) {
 723                         this->entry_set = true;
 724                         this->entry.x = jvi["entry"][0].asDouble();
 725                         this->entry.y = jvi["entry"][1].asDouble();
 726                         this->entry.b = jvi["entry"][2].asDouble();
 727                         this->entry.e = jvi["entry"][3].asDouble();
 728                         RRTNode tmp_node;
 729                         tmp_node.x(this->entry.x);
 730                         tmp_node.y(this->entry.y);
 731                         tmp_node.h((this->entry.b + this->entry.e) / 2.0);
 732                         this->goals().push_back(tmp_node);
 733                         this->goals().back().p(gp);
 734                         gp = &this->goals().back();
 735                 }
 736                 if (jvi["entries"] != Json::nullValue) {
 737                         this->entries_set = true;
 738                         this->entry1.x = jvi["entries"][0][0].asDouble();
 739                         this->entry1.y = jvi["entries"][0][1].asDouble();
 740                         this->entry1.h = jvi["entries"][0][2].asDouble();
 741                         this->entry2.x = jvi["entries"][1][0].asDouble();
 742                         this->entry2.y = jvi["entries"][1][1].asDouble();
 743                         this->entry2.h = jvi["entries"][1][2].asDouble();
 744                 }
 745                 for (auto g: jvi["goals"]) {
 746                         RRTNode tmp_node;
 747                         tmp_node.x(g[0].asDouble());
 748                         tmp_node.y(g[1].asDouble());
 749                         tmp_node.h(g[2].asDouble());
 750                         this->goals().push_back(tmp_node);
 751                         this->goals().back().p(gp);
 752                         gp = &this->goals().back();
 753                 }
 754                 this->goals().front().set_t(RRTNodeType::cusp);
 755                 this->goals().back().set_t(RRTNodeType::cusp);
 756         }
 757         {
 758                 Obstacle tmp_obstacle;
 759                 for (auto o: jvi["obst"]) {
 760                         tmp_obstacle.poly().clear();
 761                         for (auto c: o) {
 762                                 double tmp_x = c[0].asDouble();
 763                                 double tmp_y = c[1].asDouble();
 764                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
 765                                 tmp_obstacle.poly().push_back(tmp_tuple);
 766                         }
 767                         this->obstacles().push_back(tmp_obstacle);
 768                 }
 769         }
 770         {
 771                 double edist_init_goal = sqrt(
 772                         pow(
 773                                 this->nodes().front().x()
 774                                 - this->goals().front().x(),
 775                                 2
 776                         )
 777                         + pow(
 778                                 this->nodes().front().y()
 779                                 - this->goals().front().y(),
 780                                 2
 781                         )
 782                 );
 783                 this->set_sample(
 784                         this->nodes().front().x(), edist_init_goal,
 785                         this->nodes().front().y(), edist_init_goal,
 786                         0, 2 * M_PI
 787                 );
 788         }
 789 }
 790
 791 RRTS::RRTS()
 792         : gen_(std::random_device{}())
 793 {
 794         this->goals().reserve(100);
 795         this->nodes().reserve(4000000);
 796         this->samples().reserve(1000);
 797         this->steered().reserve(20000);
 798         this->store_node(RRTNode()); // root
 799 }
 800
 801 double cc(RRTNode &t)
 802 {
 803         RRTNode *n = &t;
 804         double cost = 0;
 805         while (n != nullptr) {
 806                 cost += n->c();
 807                 n = n->p();
 808         }
 809         return cost;
 810 }