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         if (this->log_path_cost_.size() == 0) {
  48                 this->log_path_cost_.push_back(this->goals().front().cc);
  49         } else {
  50                 auto lc = this->log_path_cost_.back();
  51                 auto gc = this->goals().front().cc;
  52                 auto goal_is_better = this->goals().front().cc > 0 && lc < gc;
  53                 if (
  54                         this->log_path_cost_.back() > 0
  55                         && (
  56                                 this->goals().front().cc == 0
  57                                 || (
  58                                         this->goals().front().cc > 0
  59                                         && goal_is_better
  60                                 )
  61                         )
  62                 ) {
  63                         this->log_path_cost_.push_back(
  64                                 this->log_path_cost_.back()
  65                         );
  66                 } else {
  67                         this->log_path_cost_.push_back(
  68                                 this->goals().front().cc
  69                         );
  70                 }
  71         }
  72         this->log_path_iter_ += 1;
  73 }
  74
  75 bool RRTS::should_stop()
  76 {
  77         // the following counters must be updated, do not comment
  78         this->icnt_++;
  79         this->elapsed();
  80         // current iteration stop conditions
  81         if (this->should_finish()) return true;
  82         if (this->should_break()) return true;
  83         // but continue by default
  84         return false;
  85 }
  86
  87 bool RRTS::should_finish()
  88 {
  89         // decide finish conditions (maybe comment some lines)
  90         if (this->icnt_ > 1000) return true;
  91         //if (this->scnt_ > 2) return true;
  92         if (this->finishit) return true;
  93         if (this->gf()) return true;
  94         // but continue by default
  95         return false;
  96 }
  97
  98 bool RRTS::should_break()
  99 {
 100         // decide break conditions (maybe comment some lines)
 101         //if (this->scnt_ - this->pcnt_ > 2) return true;
 102         // but continue by default
 103         return false;
 104 }
 105
 106 bool RRTS::should_continue()
 107 {
 108         // decide the stop conditions (maybe comment some lines)
 109         // it is exact opposite of `should_stop`
 110         //if (this->icnt_ > 999) return false;
 111         if (this->scnt_ > 10) return false;
 112         if (this->gf()) return false;
 113         // and reset pause counter if should continue
 114         this->pcnt_ = this->scnt_;
 115         return true;
 116 }
 117
 118 void RRTS::store_node(RRTNode n)
 119 {
 120         this->nodes().push_back(n);
 121 }
 122
 123 // RRT procedures
 124 std::tuple<bool, unsigned int, unsigned int>
 125 RRTS::collide(std::vector<std::tuple<double, double>> &poly)
 126 {
 127         for (auto &o: this->obstacles())
 128                 if (std::get<0>(::collide(poly, o.poly())))
 129                         return ::collide(poly, o.poly());
 130         return std::make_tuple(false, 0, 0);
 131 }
 132
 133 std::tuple<bool, unsigned int, unsigned int>
 134 RRTS::collide_steered_from(RRTNode &f)
 135 {
 136         auto fbc = BicycleCar();
 137         fbc.x(f.x());
 138         fbc.y(f.y());
 139         fbc.h(f.h());
 140         std::vector<std::tuple<double, double>> s;
 141         s.push_back(std::make_tuple(fbc.x(), fbc.y()));
 142         for (auto &n: this->steered()) {
 143                 auto nbc = BicycleCar();
 144                 nbc.x(n.x());
 145                 nbc.y(n.y());
 146                 nbc.h(n.h());
 147                 s.push_back(std::make_tuple(nbc.lfx(), nbc.lfy()));
 148                 s.push_back(std::make_tuple(nbc.lrx(), nbc.lry()));
 149                 s.push_back(std::make_tuple(nbc.rrx(), nbc.rry()));
 150                 s.push_back(std::make_tuple(nbc.rfx(), nbc.rfy()));
 151         }
 152         auto col = this->collide(s);
 153         auto strip_from = this->steered().size() - std::get<1>(col) / 4;
 154         if (std::get<0>(col) && strip_from > 0) {
 155                 while (strip_from-- > 0) {
 156                         this->steered().pop_back();
 157                 }
 158                 return this->collide_steered_from(f);
 159         }
 160         return col;
 161 }
 162 std::tuple<bool, unsigned int, unsigned int>
 163 RRTS::collide_tmp_steered_from(RRTNode &f)
 164 {
 165         return std::make_tuple(false, 0, 0);
 166 }
 167
 168 std::tuple<bool, unsigned int, unsigned int>
 169 RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
 170 {
 171         auto fbc = BicycleCar();
 172         fbc.x(f.x());
 173         fbc.y(f.y());
 174         fbc.h(f.h());
 175         auto tbc = BicycleCar();
 176         tbc.x(f.x());
 177         tbc.y(f.y());
 178         tbc.h(f.h());
 179         std::vector<std::tuple<double, double>> p;
 180         p.push_back(std::make_tuple(fbc.lfx(), fbc.lfy()));
 181         p.push_back(std::make_tuple(fbc.lrx(), fbc.lry()));
 182         p.push_back(std::make_tuple(fbc.rrx(), fbc.rry()));
 183         p.push_back(std::make_tuple(fbc.rfx(), fbc.rfy()));
 184         p.push_back(std::make_tuple(tbc.lfx(), tbc.lfy()));
 185         p.push_back(std::make_tuple(tbc.lrx(), tbc.lry()));
 186         p.push_back(std::make_tuple(tbc.rrx(), tbc.rry()));
 187         p.push_back(std::make_tuple(tbc.rfx(), tbc.rfy()));
 188         return this->collide(p);
 189 }
 190
 191 double RRTS::cost_build(RRTNode &f, RRTNode &t)
 192 {
 193         double cost = 0;
 194         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 195         return cost;
 196 }
 197
 198 double RRTS::cost_search(RRTNode &f, RRTNode &t)
 199 {
 200         double cost = 0;
 201         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 202         return cost;
 203 }
 204
 205 void RRTS::sample()
 206 {
 207         double x = 0;
 208         double y = 0;
 209         double h = 0;
 210         switch (this->sample_dist_type()) {
 211         case 1: // uniform
 212                 x = this->udx_(this->gen_);
 213                 y = this->udy_(this->gen_);
 214                 h = this->udh_(this->gen_);
 215                 break;
 216         case 2: // uniform circle
 217         {
 218                 // see https://stackoverflow.com/questions/5837572/generate-a-random-point-within-a-circle-uniformly/50746409#50746409
 219                 double R = sqrt(
 220                         pow(
 221                                 this->nodes().front().x()
 222                                 - this->goals().front().x(),
 223                                 2
 224                         )
 225                         + pow(
 226                                 this->nodes().front().y()
 227                                 - this->goals().front().y(),
 228                                 2
 229                         )
 230                 );
 231                 double a = atan2(
 232                         this->goals().front().y() - this->nodes().front().y(),
 233                         this->goals().front().x() - this->nodes().front().x()
 234                 );
 235                 double cx = this->goals().front().x() - R/2 * cos(a);
 236                 double cy = this->goals().front().y() - R/2 * sin(a);
 237                 double r = R * sqrt(this->udx_(this->gen_));
 238                 double theta = this->udy_(this->gen_) * 2 * M_PI;
 239                 x = cx + r * cos(theta);
 240                 y = cy + r * sin(theta);
 241                 h = this->udh_(this->gen_);
 242         }
 243                 break;
 244         case 3: {
 245                 if (
 246                         this->steered1_.size() == 0
 247                         && this->steered2_.size() == 0
 248                 ) {
 249                         x = this->nodes().front().x();
 250                         y = this->nodes().front().y();
 251                         h = this->nodes().front().h();
 252                         this->use_nn = &this->nodes().front();
 253                 } else {
 254                         this->udi1_ = std::uniform_int_distribution<unsigned int>(
 255                                 0,
 256                                 this->steered1_.size() - 1
 257                         );
 258                         this->udi2_ = std::uniform_int_distribution<unsigned int>(
 259                                 0,
 260                                 this->steered2_.size() - 1
 261                         );
 262                         auto ind1 = this->udi1_(this->gen_);
 263                         auto ind2 = this->udi2_(this->gen_);
 264                         if (
 265                                 this->steered2_.size() == 0
 266                         ) {
 267                                 auto n1 = this->steered1_[ind1];
 268                                 x = n1->x();
 269                                 y = n1->y();
 270                                 h = n1->h();
 271                                 this->use_nn = this->steered1_[ind1];
 272                         } else if (
 273                                 this->steered1_.size() == 0
 274                         ) {
 275                                 auto n2 = this->steered2_[ind2];
 276                                 x = n2->x();
 277                                 y = n2->y();
 278                                 h = n2->h();
 279                                 this->use_nn = this->steered2_[ind2];
 280                         } else {
 281                                 auto n1 = this->steered1_[ind1];
 282                                 auto n2 = this->steered2_[ind2];
 283                                 auto which = this->udx_(this->gen_);
 284                                 if (which > 0.5) {
 285                                         x = n1->x();
 286                                         y = n1->y();
 287                                         h = n1->h();
 288                                         this->use_nn = this->steered1_[ind1];
 289                                 } else {
 290                                         x = n2->x();
 291                                         y = n2->y();
 292                                         h = n2->h();
 293                                         this->use_nn = this->steered2_[ind2];
 294                                 }
 295                         }
 296                 }
 297                 break;
 298                 }
 299         default: // normal
 300                 x = this->ndx_(this->gen_);
 301                 y = this->ndy_(this->gen_);
 302                 h = this->ndh_(this->gen_);
 303         }
 304         this->samples().push_back(RRTNode());
 305         this->samples().back().x(x);
 306         this->samples().back().y(y);
 307         this->samples().back().h(h);
 308 }
 309
 310 RRTNode *RRTS::nn(RRTNode &t)
 311 {
 312         RRTNode *nn = &this->nodes().front();
 313         double cost = this->cost_search(*nn, t);
 314         for (auto &f: this->nodes()) {
 315                 if (this->cost_search(f, t) < cost) {
 316                         nn = &f;
 317                         cost = this->cost_search(f, t);
 318                 }
 319         }
 320         return nn;
 321 }
 322
 323 std::vector<RRTNode *> RRTS::nv(RRTNode &t)
 324 {
 325         std::vector<RRTNode *> nv;
 326         double cost = std::min(GAMMA(this->nodes().size()), ETA);
 327         for (auto &f: this->nodes())
 328                 if (this->cost_search(f, t) < cost)
 329                         nv.push_back(&f);
 330         return nv;
 331 }
 332
 333 int cb_rs_steer(double q[4], void *user_data)
 334 {
 335         std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
 336         nodes->push_back(RRTNode());
 337         nodes->back().x(q[0]);
 338         nodes->back().y(q[1]);
 339         nodes->back().h(q[2]);
 340         nodes->back().sp(q[3]);
 341         if (nodes->back().sp() == 0) {
 342                 nodes->back().set_t(RRTNodeType::cusp);
 343         } else if (nodes->size() >= 2) {
 344                 RRTNode* lln = nodes->back().p();
 345                 RRTNode* ln = &nodes->back();
 346                 if (lln != nullptr && ln != nullptr && sgn(lln->sp()) != sgn(ln->sp()))
 347                         ln->set_t(RRTNodeType::cusp);
 348         }
 349         return 0;
 350 }
 351
 352 void RRTS::steer(RRTNode &f, RRTNode &t)
 353 {
 354         this->steered().clear();
 355         double q0[] = {f.x(), f.y(), f.h()};
 356         double q1[] = {t.x(), t.y(), t.h()};
 357         ReedsSheppStateSpace rsss(this->bc.mtr());
 358         rsss.sample(q0, q1, 0.2, cb_rs_steer, &this->steered());
 359 }
 360 void RRTS::tmp_steer(RRTNode &f, RRTNode &t)
 361 {
 362     this->tmp_steered_.clear();
 363     double q0[] = {f.x(), f.y(), f.h()};
 364     double q1[] = {t.x(), t.y(), t.h()};
 365     ReedsSheppStateSpace rsss(this->bc.mtr());
 366     rsss.sample(q0, q1, 0.2, cb_rs_steer, &this->tmp_steered_);
 367 }
 368
 369 void RRTS::steer1(RRTNode &f, RRTNode &t)
 370 {
 371     return this->steer(f, t);
 372 }
 373
 374 void RRTS::steer2(RRTNode &f, RRTNode &t)
 375 {
 376     return this->steer(f, t);
 377 }
 378
 379 void RRTS::join_steered(RRTNode *f)
 380 {
 381         while (this->steered().size() > 0) {
 382                 this->store_node(this->steered().front());
 383                 RRTNode *t = &this->nodes().back();
 384                 t->p(f);
 385                 t->c(this->cost_build(*f, *t));
 386                 this->steered().erase(this->steered().begin());
 387                 f = t;
 388         }
 389 }
 390 void RRTS::join_tmp_steered(RRTNode *f)
 391 {
 392         while (this->tmp_steered_.size() > 0) {
 393                 this->store_node(this->tmp_steered_.front());
 394                 RRTNode *t = &this->nodes().back();
 395                 t->p(f);
 396                 t->c(this->cost_build(*f, *t));
 397                 this->tmp_steered_.erase(this->tmp_steered_.begin());
 398                 f = t;
 399         }
 400 }
 401
 402 bool RRTS::goal_found(RRTNode &f)
 403 {
 404         auto &g = this->goals().front();
 405         double cost = this->cost_build(f, g);
 406         double edist = sqrt(
 407                 pow(f.x() - g.x(), 2)
 408                 + pow(f.y() - g.y(), 2)
 409         );
 410         double adist = std::abs(f.h() - g.h());
 411         if (edist < 0.05 && adist < M_PI / 32) {
 412                 if (g.p() == nullptr || f.cc + cost < g.cc) {
 413                         g.p(&f);
 414                         g.c(cost);
 415                 }
 416                 return true;
 417         }
 418         return false;
 419 }
 420
 421 // RRT* procedures
 422 bool RRTS::connect()
 423 {
 424         RRTNode *t = &this->steered().front();
 425         RRTNode *f = this->nn(this->samples().back());
 426         double cost = f->cc + this->cost_build(*f, *t);
 427         for (auto n: this->nv(*t)) {
 428                 if (
 429                         !std::get<0>(this->collide_two_nodes(*n, *t))
 430                         && n->cc + this->cost_build(*n, *t) < cost
 431                 ) {
 432                         f = n;
 433                         cost = n->cc + this->cost_build(*n, *t);
 434                 }
 435         }
 436         // steer from f->t and then continue with the steered.
 437         this->tmp_steer(*f, *t);
 438         if (this->tmp_steered_.size() > 0) {
 439                 auto col = this->collide_tmp_steered_from(*f);
 440                 if (std::get<0>(col))
 441                         return false;
 442                 this->join_tmp_steered(f);
 443                 f = &this->nodes().back();
 444         }
 445         auto fbc = BicycleCar();
 446         fbc.x(f->x());
 447         fbc.y(f->y());
 448         fbc.h(f->h());
 449         auto tbc = BicycleCar();
 450         tbc.x(t->x());
 451         tbc.y(t->y());
 452         tbc.h(t->h());
 453         if (!tbc.drivable(fbc))
 454             return false;
 455         // cont.
 456         this->store_node(this->steered().front());
 457         t = &this->nodes().back();
 458         t->p(f);
 459         t->c(this->cost_build(*f, *t));
 460         t->set_t(RRTNodeType::connected);
 461         return true;
 462 }
 463
 464 void RRTS::rewire()
 465 {
 466         RRTNode *f = &this->nodes().back();
 467         for (auto n: this->nv(*f)) {
 468                 if (
 469                         !std::get<0>(this->collide_two_nodes(*f, *n))
 470                         && f->cc + this->cost_build(*f, *n) < n->cc
 471                 ) {
 472                         this->tmp_steer(*f, *n);
 473                         if (this->tmp_steered_.size() > 0) {
 474                                 auto col = this->collide_tmp_steered_from(*f);
 475                                 if (std::get<0>(col))
 476                                         continue;
 477                                 this->join_tmp_steered(f);
 478                                 f = &this->nodes().back();
 479                         }
 480                         n->p(f);
 481                         n->c(this->cost_build(*f, *n));
 482                 }
 483         }
 484 }
 485
 486 // API
 487 void RRTS::init()
 488 {
 489 }
 490
 491 void RRTS::reset()
 492 {
 493         RRTNode init = RRTNode();
 494         init.x(this->nodes().front().x());
 495         init.y(this->nodes().front().y());
 496         init.h(this->nodes().front().h());
 497         this->nodes().clear();
 498         this->store_node(RRTNode());
 499         this->nodes().front().x(init.x());
 500         this->nodes().front().y(init.y());
 501         this->nodes().front().h(init.h());
 502         this->samples().clear();
 503         this->steered().clear();
 504         this->path().clear();
 505         this->gf(false);
 506         for (auto& g: this->goals()) {
 507                 g.p(nullptr);
 508                 g.c_ = 0.0;
 509                 g.cc = 0.0;
 510         }
 511 }
 512
 513 void RRTS::deinit()
 514 {
 515         this->nodes().clear();
 516         this->samples().clear();
 517         this->steered().clear();
 518         this->store_node(RRTNode()); // root
 519         this->icnt_ = 0;
 520         this->scnt_ = 0;
 521         this->pcnt_ = 0;
 522         this->gf_ = false;
 523 }
 524
 525 void RRTS::compute_path()
 526 {
 527         if (this->goals().size() == 0)
 528                 return;
 529         RRTNode *goal = &this->goals().front();
 530         if (goal->p() == nullptr)
 531                 return;
 532         this->path_.clear();
 533         while (goal != nullptr) {
 534                 this->path_.push_back(goal);
 535                 goal = goal->p();
 536         }
 537         std::reverse(this->path_.begin(), this->path_.end());
 538 }
 539
 540 bool RRTS::next()
 541 {
 542         if (this->icnt_ == 0)
 543                 this->tstart_ = std::chrono::high_resolution_clock::now();
 544         bool next = true;
 545         if (this->should_stop()) {
 546                 this->log_path_cost();
 547                 return false;
 548         }
 549         if (this->samples().size() == 0) {
 550                 this->samples().push_back(RRTNode());
 551                 this->samples().back().x(this->goals().front().x());
 552                 this->samples().back().y(this->goals().front().y());
 553                 this->samples().back().h(this->goals().front().h());
 554         } else {
 555                 this->sample();
 556         }
 557         this->steer1(
 558                 *this->nn(this->samples().back()),
 559                 this->samples().back()
 560         );
 561         if (this->steered().size() == 0) {
 562                 this->log_path_cost();
 563                 return next;
 564         }
 565         auto col = this->collide_steered_from(
 566                 *this->nn(this->samples().back())
 567         );
 568         if (std::get<0>(col)) {
 569                 auto rcnt = this->steered().size() - std::get<1>(col);
 570                 while (rcnt-- > 0) {
 571                         this->steered().pop_back();
 572                 }
 573         }
 574         if (!this->connect()) {
 575                 this->log_path_cost();
 576                 return next;
 577         }
 578         this->rewire();
 579         unsigned scnt = this->steered().size();
 580         this->join_steered(&this->nodes().back());
 581         RRTNode *just_added = &this->nodes().back();
 582         while (scnt > 0) {
 583                 // store all the steered1 nodes
 584                 this->steered1_.push_back(just_added);
 585                 scnt--;
 586                 auto &g = this->goals().front();
 587                 this->steer2(*just_added, g);
 588                 auto col = this->collide_steered_from(*just_added);
 589                 if (std::get<0>(col)) {
 590                         auto rcnt = this->steered().size() - std::get<1>(col);
 591                         while (rcnt-- > 0) {
 592                                 this->steered().pop_back();
 593                         }
 594                 }
 595                 this->join_steered(just_added);
 596                 // store all the steered2 nodes
 597                 RRTNode* jap = &this->nodes().back();
 598                 while (jap != just_added) {
 599                         this->steered2_.push_back(jap);
 600                         jap = jap->p();
 601                 }
 602                 auto gf = this->goal_found(this->nodes().back());
 603                 this->gf(gf);
 604                 just_added = just_added->p();
 605         }
 606         if (
 607                 this->gf()
 608                 && (
 609                         this->path().size() == 0
 610                         || this->goals().front().cc < this->path().back()->cc
 611                 )
 612         ) {
 613                 this->compute_path();
 614         }
 615         this->log_path_cost();
 616         return next;
 617 }
 618
 619 void RRTS::set_sample_normal(
 620         double mx, double dx,
 621         double my, double dy,
 622         double mh, double dh
 623 )
 624 {
 625         this->ndx_ = std::normal_distribution<double>(mx, dx);
 626         this->ndy_ = std::normal_distribution<double>(my, dy);
 627         this->ndh_ = std::normal_distribution<double>(mh, dh);
 628 }
 629 void RRTS::set_sample_uniform(
 630         double xmin, double xmax,
 631         double ymin, double ymax,
 632         double hmin, double hmax
 633 )
 634 {
 635         this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
 636         this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
 637         this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
 638 }
 639 void RRTS::set_sample_uniform_circle()
 640 {
 641         this->udx_ = std::uniform_real_distribution<double>(0, 1);
 642         this->udy_ = std::uniform_real_distribution<double>(0, 1);
 643         this->udh_ = std::uniform_real_distribution<double>(0, 2 * M_PI);
 644 }
 645 void RRTS::set_sample(
 646         double x1, double x2,
 647         double y1, double y2,
 648         double h1, double h2
 649 )
 650 {
 651         switch (this->sample_dist_type()) {
 652         case 1: // uniform
 653                 x1 += this->nodes().front().x();
 654                 x2 += this->nodes().front().x();
 655                 y1 += this->nodes().front().y();
 656                 y2 += this->nodes().front().y();
 657                 this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
 658                 break;
 659         case 2: // uniform circle
 660                 this->set_sample_uniform_circle();
 661                 break;
 662         case 3: // uniform index of node in nodes
 663                 this->set_sample_uniform_circle();
 664                 break;
 665         default: // normal
 666                 this->set_sample_normal(x1, x2, y1, y2, h1, h2);
 667         }
 668 }
 669
 670 Json::Value RRTS::json()
 671 {
 672         Json::Value jvo;
 673         {
 674                 jvo["time"] = this->scnt();
 675         }
 676         {
 677                 jvo["iterations"] = this->icnt();
 678         }
 679         {
 680                 jvo["init"][0] = this->nodes().front().x();
 681                 jvo["init"][1] = this->nodes().front().y();
 682                 jvo["init"][2] = this->nodes().front().h();
 683         }
 684         {
 685                 jvo["path_cost_before_opt"] = this->path_cost_before_opt_;
 686         }
 687         {
 688                 if (this->path().size() > 0) {
 689                         jvo["cost"] = this->path().back()->cc;
 690                         jvo["entry"][0] = this->goals().front().x();
 691                         jvo["entry"][1] = this->goals().front().y();
 692                         jvo["entry"][2] = this->goals().front().h();
 693                         if (this->entry_set) {
 694                             jvo["entry"][2] = this->entry.b;
 695                             jvo["entry"][3] = this->entry.e;
 696                         }
 697                         if (this->entries_set) {
 698                                 jvo["entries"][0][0] = this->entry1.x;
 699                                 jvo["entries"][0][1] = this->entry1.y;
 700                                 jvo["entries"][0][2] = this->entry1.h;
 701                                 jvo["entries"][1][0] = this->entry2.x;
 702                                 jvo["entries"][1][1] = this->entry2.y;
 703                                 jvo["entries"][1][2] = this->entry2.h;
 704                         }
 705                         jvo["goal"][0] = this->goals().back().x();
 706                         jvo["goal"][1] = this->goals().back().y();
 707                         jvo["goal"][2] = this->goals().back().h();
 708                 }
 709         }
 710         {
 711                 unsigned int cu = 0;
 712                 unsigned int co = 0;
 713                 unsigned int pcnt = 0;
 714                 for (auto n: this->path()) {
 715                         jvo["path"][pcnt][0] = n->x();
 716                         jvo["path"][pcnt][1] = n->y();
 717                         jvo["path"][pcnt][2] = n->h();
 718                         if (n->t(RRTNodeType::cusp))
 719                                 cu++;
 720                         if (n->t(RRTNodeType::connected))
 721                                 co++;
 722                         pcnt++;
 723                 }
 724                 jvo["cusps-in-path"] = cu;
 725                 jvo["connecteds-in-path"] = co;
 726         }
 727         {
 728                 unsigned int gcnt = 0;
 729                 for (auto g: this->goals()) {
 730                         jvo["goals"][gcnt][0] = g.x();
 731                         jvo["goals"][gcnt][1] = g.y();
 732                         jvo["goals"][gcnt][2] = g.h();
 733                         gcnt++;
 734                 }
 735         }
 736         {
 737                 unsigned int ocnt = 0;
 738                 for (auto o: this->obstacles()) {
 739                         unsigned int ccnt = 0;
 740                         for (auto c: o.poly()) {
 741                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 742                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 743                                 ccnt++;
 744                         }
 745                         ocnt++;
 746                 }
 747         }
 748         {
 749                 jvo["nodes"] = (unsigned int) this->nodes().size();
 750         }
 751         {
 752                 unsigned int cnt = 0;
 753                 for (auto i: this->log_path_cost_)
 754                         jvo["log_path_cost"][cnt++] = i;
 755         }
 756         {
 757                 unsigned int cnt = 0;
 758                 for (auto i: this->log_opt_time_)
 759                         jvo["log_opt_time"][cnt++] = i;
 760         }
 761         //{
 762         //        unsigned int ncnt = 0;
 763         //        for (auto n: this->nodes()) {
 764         //                jvo["nodes_x"][ncnt] = n.x();
 765         //                jvo["nodes_y"][ncnt] = n.y();
 766         //                //jvo["nodes_h"][ncnt] = n.h();
 767         //                ncnt++;
 768         //        }
 769         //}
 770         //{
 771         //        unsigned int ncnt = 0;
 772         //        for (auto n: this->steered1_) {
 773         //                jvo["steered1_x"][ncnt] = n->x();
 774         //                jvo["steered1_y"][ncnt] = n->y();
 775         //                //jvo["nodes_h"][ncnt] = n.h();
 776         //                ncnt++;
 777         //        }
 778         //        ncnt = 0;
 779         //        for (auto n: this->steered2_) {
 780         //                jvo["steered2_x"][ncnt] = n->x();
 781         //                jvo["steered2_y"][ncnt] = n->y();
 782         //                //jvo["nodes_h"][ncnt] = n.h();
 783         //                ncnt++;
 784         //        }
 785         //}
 786         return jvo;
 787 }
 788
 789 void RRTS::json(Json::Value jvi)
 790 {
 791         assert(jvi["init"] != Json::nullValue);
 792         assert(jvi["goals"] != Json::nullValue);
 793         assert(jvi["obst"] != Json::nullValue);
 794
 795         this->nodes().front().x(jvi["init"][0].asDouble());
 796         this->nodes().front().y(jvi["init"][1].asDouble());
 797         this->nodes().front().h(jvi["init"][2].asDouble());
 798         {
 799                 RRTNode* gp = nullptr;
 800                 if (jvi["entry"] != Json::nullValue) {
 801                         this->entry_set = true;
 802                         this->entry.x = jvi["entry"][0].asDouble();
 803                         this->entry.y = jvi["entry"][1].asDouble();
 804                         this->entry.b = jvi["entry"][2].asDouble();
 805                         this->entry.e = jvi["entry"][3].asDouble();
 806                         RRTNode tmp_node;
 807                         tmp_node.x(this->entry.x);
 808                         tmp_node.y(this->entry.y);
 809                         tmp_node.h((this->entry.b + this->entry.e) / 2.0);
 810                         this->goals().push_back(tmp_node);
 811                         this->goals().back().p(gp);
 812                         gp = &this->goals().back();
 813                 }
 814                 if (jvi["entries"] != Json::nullValue) {
 815                         this->entries_set = true;
 816                         this->entry1.x = jvi["entries"][0][0].asDouble();
 817                         this->entry1.y = jvi["entries"][0][1].asDouble();
 818                         this->entry1.h = jvi["entries"][0][2].asDouble();
 819                         this->entry2.x = jvi["entries"][1][0].asDouble();
 820                         this->entry2.y = jvi["entries"][1][1].asDouble();
 821                         this->entry2.h = jvi["entries"][1][2].asDouble();
 822                 }
 823                 for (auto g: jvi["goals"]) {
 824                         RRTNode tmp_node;
 825                         tmp_node.x(g[0].asDouble());
 826                         tmp_node.y(g[1].asDouble());
 827                         tmp_node.h(g[2].asDouble());
 828                         this->goals().push_back(tmp_node);
 829                         this->goals().back().p(gp);
 830                         gp = &this->goals().back();
 831                 }
 832                 this->goals().front().set_t(RRTNodeType::cusp);
 833                 this->goals().back().set_t(RRTNodeType::cusp);
 834         }
 835         {
 836                 Obstacle tmp_obstacle;
 837                 for (auto o: jvi["obst"]) {
 838                         tmp_obstacle.poly().clear();
 839                         for (auto c: o) {
 840                                 double tmp_x = c[0].asDouble();
 841                                 double tmp_y = c[1].asDouble();
 842                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
 843                                 tmp_obstacle.poly().push_back(tmp_tuple);
 844                         }
 845                         this->obstacles().push_back(tmp_obstacle);
 846                 }
 847         }
 848         {
 849                 double edist_init_goal = sqrt(
 850                         pow(
 851                                 this->nodes().front().x()
 852                                 - this->goals().front().x(),
 853                                 2
 854                         )
 855                         + pow(
 856                                 this->nodes().front().y()
 857                                 - this->goals().front().y(),
 858                                 2
 859                         )
 860                 );
 861                 this->set_sample(
 862                         this->nodes().front().x(), edist_init_goal,
 863                         this->nodes().front().y(), edist_init_goal,
 864                         0, 2 * M_PI
 865                 );
 866         }
 867 }
 868
 869 RRTS::RRTS()
 870         : gen_(std::random_device{}())
 871 {
 872         this->goals().reserve(100);
 873         this->nodes().reserve(4000000);
 874         this->samples().reserve(1000);
 875         this->steered().reserve(20000);
 876         this->store_node(RRTNode()); // root
 877 }
 878
 879 double cc(RRTNode &t)
 880 {
 881         RRTNode *n = &t;
 882         double cost = 0;
 883         while (n != nullptr) {
 884                 cost += n->c();
 885                 n = n->p();
 886         }
 887         return cost;
 888 }