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 = cc(*f) + this->cost_build(*f, *t);
 403         for (auto n: this->nv(*t)) {
 404                 if (
 405                         !std::get<0>(this->collide_two_nodes(*n, *t))
 406                         && cc(*n) + this->cost_build(*n, *t) < cost
 407                 ) {
 408                         f = n;
 409                         cost = cc(*n) + this->cost_build(*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         auto fbc = BicycleCar();
 422         fbc.x(f->x());
 423         fbc.y(f->y());
 424         fbc.h(f->h());
 425         auto tbc = BicycleCar();
 426         tbc.x(t->x());
 427         tbc.y(t->y());
 428         tbc.h(t->h());
 429         if (!tbc.drivable(fbc))
 430             return false;
 431         // cont.
 432         this->store_node(this->steered().front());
 433         t = &this->nodes().back();
 434         t->p(f);
 435         t->c(this->cost_build(*f, *t));
 436         t->set_t(RRTNodeType::connected);
 437         return true;
 438 }
 439
 440 void RRTS::rewire()
 441 {
 442         RRTNode *f = &this->nodes().back();
 443         for (auto n: this->nv(*f)) {
 444                 if (
 445                         !std::get<0>(this->collide_two_nodes(*f, *n))
 446                         && cc(*f) + this->cost_build(*f, *n) < cc(*n)
 447                 ) {
 448                         this->tmp_steer(*f, *n);
 449                         if (this->tmp_steered_.size() > 0) {
 450                                 auto col = this->collide_tmp_steered_from(*f);
 451                                 if (std::get<0>(col))
 452                                         continue;
 453                                 this->join_tmp_steered(f);
 454                                 f = &this->nodes().back();
 455                         }
 456                         n->p(f);
 457                         n->c(this->cost_build(*f, *n));
 458                 }
 459         }
 460 }
 461
 462 // API
 463 void RRTS::init()
 464 {
 465 }
 466
 467 void RRTS::deinit()
 468 {
 469         this->nodes().clear();
 470         this->samples().clear();
 471         this->steered().clear();
 472         this->store_node(RRTNode()); // root
 473         this->icnt_ = 0;
 474         this->scnt_ = 0;
 475         this->pcnt_ = 0;
 476         this->gf_ = false;
 477 }
 478
 479 std::vector<RRTNode *> RRTS::path()
 480 {
 481         std::vector<RRTNode *> path;
 482         if (this->goals().size() == 0)
 483                 return path;
 484         RRTNode *goal = &this->goals().back();
 485         if (goal->p() == nullptr)
 486                 return path;
 487         while (goal != nullptr) {
 488                 path.push_back(goal);
 489                 goal = goal->p();
 490         }
 491         std::reverse(path.begin(), path.end());
 492         return path;
 493 }
 494
 495 bool RRTS::next()
 496 {
 497         if (this->icnt_ == 0)
 498                 this->tstart_ = std::chrono::high_resolution_clock::now();
 499         bool next = true;
 500         if (this->icnt_ > this->log_path_iter_)
 501             this->log_path_cost();
 502         if (this->should_stop())
 503                 return false;
 504         if (this->samples().size() == 0) {
 505                 this->samples().push_back(RRTNode());
 506                 this->samples().back().x(this->goals().front().x());
 507                 this->samples().back().y(this->goals().front().y());
 508                 this->samples().back().h(this->goals().front().h());
 509         } else {
 510                 this->sample();
 511         }
 512         this->steer1(
 513                 *this->nn(this->samples().back()),
 514                 this->samples().back()
 515         );
 516         if (this->steered().size() == 0)
 517                 return next;
 518         auto col = this->collide_steered_from(
 519                 *this->nn(this->samples().back())
 520         );
 521         if (std::get<0>(col)) {
 522                 auto rcnt = this->steered().size() - std::get<1>(col);
 523                 while (rcnt-- > 0) {
 524                         this->steered().pop_back();
 525                 }
 526         }
 527         if (!this->connect())
 528                 return next;
 529         this->rewire();
 530         unsigned scnt = this->steered().size();
 531         this->join_steered(&this->nodes().back());
 532         RRTNode *just_added = &this->nodes().back();
 533         while (scnt > 0) {
 534                 // store all the steered1 nodes
 535                 this->steered1_.push_back(just_added);
 536                 scnt--;
 537                 auto &g = this->goals().front();
 538                 this->steer2(*just_added, g);
 539                 auto col = this->collide_steered_from(*just_added);
 540                 if (std::get<0>(col)) {
 541                         auto rcnt = this->steered().size() - std::get<1>(col);
 542                         while (rcnt-- > 0) {
 543                                 this->steered().pop_back();
 544                         }
 545                 }
 546                 this->join_steered(just_added);
 547                 // store all the steered2 nodes
 548                 RRTNode* jap = &this->nodes().back();
 549                 while (jap != just_added) {
 550                         this->steered2_.push_back(jap);
 551                         jap = jap->p();
 552                 }
 553                 this->gf(this->goal_found(this->nodes().back()));
 554                 just_added = just_added->p();
 555         }
 556         return next;
 557 }
 558
 559 void RRTS::set_sample_normal(
 560         double mx, double dx,
 561         double my, double dy,
 562         double mh, double dh
 563 )
 564 {
 565         this->ndx_ = std::normal_distribution<double>(mx, dx);
 566         this->ndy_ = std::normal_distribution<double>(my, dy);
 567         this->ndh_ = std::normal_distribution<double>(mh, dh);
 568 }
 569 void RRTS::set_sample_uniform(
 570         double xmin, double xmax,
 571         double ymin, double ymax,
 572         double hmin, double hmax
 573 )
 574 {
 575         this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
 576         this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
 577         this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
 578 }
 579 void RRTS::set_sample_uniform_circle()
 580 {
 581         this->udx_ = std::uniform_real_distribution<double>(0, 1);
 582         this->udy_ = std::uniform_real_distribution<double>(0, 1);
 583         this->udh_ = std::uniform_real_distribution<double>(0, 2 * M_PI);
 584 }
 585 void RRTS::set_sample(
 586         double x1, double x2,
 587         double y1, double y2,
 588         double h1, double h2
 589 )
 590 {
 591         switch (this->sample_dist_type()) {
 592         case 1: // uniform
 593                 x1 += this->nodes().front().x();
 594                 x2 += this->nodes().front().x();
 595                 y1 += this->nodes().front().y();
 596                 y2 += this->nodes().front().y();
 597                 this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
 598                 break;
 599         case 2: // uniform circle
 600                 this->set_sample_uniform_circle();
 601                 break;
 602         case 3: // uniform index of node in nodes
 603                 this->set_sample_uniform_circle();
 604                 break;
 605         default: // normal
 606                 this->set_sample_normal(x1, x2, y1, y2, h1, h2);
 607         }
 608 }
 609
 610 Json::Value RRTS::json()
 611 {
 612         Json::Value jvo;
 613         {
 614                 jvo["time"] = this->scnt();
 615         }
 616         {
 617                 jvo["iterations"] = this->icnt();
 618         }
 619         {
 620                 jvo["init"][0] = this->nodes().front().x();
 621                 jvo["init"][1] = this->nodes().front().y();
 622                 jvo["init"][2] = this->nodes().front().h();
 623         }
 624         {
 625                 jvo["path_cost_before_opt"] = this->path_cost_before_opt_;
 626         }
 627         {
 628                 if (this->path().size() > 0) {
 629                         jvo["cost"] = cc(*this->path().back());
 630                         jvo["entry"][0] = this->goals().front().x();
 631                         jvo["entry"][1] = this->goals().front().y();
 632                         jvo["entry"][2] = this->goals().front().h();
 633                         if (this->entry_set) {
 634                             jvo["entry"][2] = this->entry.b;
 635                             jvo["entry"][3] = this->entry.e;
 636                         }
 637                         if (this->entries_set) {
 638                                 jvo["entries"][0][0] = this->entry1.x;
 639                                 jvo["entries"][0][1] = this->entry1.y;
 640                                 jvo["entries"][0][2] = this->entry1.h;
 641                                 jvo["entries"][1][0] = this->entry2.x;
 642                                 jvo["entries"][1][1] = this->entry2.y;
 643                                 jvo["entries"][1][2] = this->entry2.h;
 644                         }
 645                         jvo["goal"][0] = this->goals().back().x();
 646                         jvo["goal"][1] = this->goals().back().y();
 647                         jvo["goal"][2] = this->goals().back().h();
 648                 }
 649         }
 650         {
 651                 unsigned int cu = 0;
 652                 unsigned int co = 0;
 653                 unsigned int pcnt = 0;
 654                 for (auto n: this->path()) {
 655                         jvo["path"][pcnt][0] = n->x();
 656                         jvo["path"][pcnt][1] = n->y();
 657                         jvo["path"][pcnt][2] = n->h();
 658                         if (n->t(RRTNodeType::cusp))
 659                                 cu++;
 660                         if (n->t(RRTNodeType::connected))
 661                                 co++;
 662                         pcnt++;
 663                 }
 664                 jvo["cusps-in-path"] = cu;
 665                 jvo["connecteds-in-path"] = co;
 666         }
 667         {
 668                 unsigned int gcnt = 0;
 669                 for (auto g: this->goals()) {
 670                         jvo["goals"][gcnt][0] = g.x();
 671                         jvo["goals"][gcnt][1] = g.y();
 672                         jvo["goals"][gcnt][2] = g.h();
 673                         gcnt++;
 674                 }
 675         }
 676         {
 677                 unsigned int ocnt = 0;
 678                 for (auto o: this->obstacles()) {
 679                         unsigned int ccnt = 0;
 680                         for (auto c: o.poly()) {
 681                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 682                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 683                                 ccnt++;
 684                         }
 685                         ocnt++;
 686                 }
 687         }
 688         {
 689                 jvo["nodes"] = (unsigned int) this->nodes().size();
 690         }
 691         {
 692                 unsigned int cnt = 0;
 693                 for (auto i: this->log_path_cost_)
 694                         jvo["log_path_cost"][cnt++] = i;
 695         }
 696         {
 697                 unsigned int cnt = 0;
 698                 for (auto i: this->log_opt_time_)
 699                         jvo["log_opt_time"][cnt++] = i;
 700         }
 701         //{
 702         //        unsigned int ncnt = 0;
 703         //        for (auto n: this->nodes()) {
 704         //                jvo["nodes_x"][ncnt] = n.x();
 705         //                jvo["nodes_y"][ncnt] = n.y();
 706         //                //jvo["nodes_h"][ncnt] = n.h();
 707         //                ncnt++;
 708         //        }
 709         //}
 710         //{
 711         //        unsigned int ncnt = 0;
 712         //        for (auto n: this->steered1_) {
 713         //                jvo["steered1_x"][ncnt] = n->x();
 714         //                jvo["steered1_y"][ncnt] = n->y();
 715         //                //jvo["nodes_h"][ncnt] = n.h();
 716         //                ncnt++;
 717         //        }
 718         //        ncnt = 0;
 719         //        for (auto n: this->steered2_) {
 720         //                jvo["steered2_x"][ncnt] = n->x();
 721         //                jvo["steered2_y"][ncnt] = n->y();
 722         //                //jvo["nodes_h"][ncnt] = n.h();
 723         //                ncnt++;
 724         //        }
 725         //}
 726         return jvo;
 727 }
 728
 729 void RRTS::json(Json::Value jvi)
 730 {
 731         assert(jvi["init"] != Json::nullValue);
 732         assert(jvi["goals"] != Json::nullValue);
 733         assert(jvi["obst"] != Json::nullValue);
 734
 735         this->nodes().front().x(jvi["init"][0].asDouble());
 736         this->nodes().front().y(jvi["init"][1].asDouble());
 737         this->nodes().front().h(jvi["init"][2].asDouble());
 738         {
 739                 RRTNode* gp = nullptr;
 740                 if (jvi["entry"] != Json::nullValue) {
 741                         this->entry_set = true;
 742                         this->entry.x = jvi["entry"][0].asDouble();
 743                         this->entry.y = jvi["entry"][1].asDouble();
 744                         this->entry.b = jvi["entry"][2].asDouble();
 745                         this->entry.e = jvi["entry"][3].asDouble();
 746                         RRTNode tmp_node;
 747                         tmp_node.x(this->entry.x);
 748                         tmp_node.y(this->entry.y);
 749                         tmp_node.h((this->entry.b + this->entry.e) / 2.0);
 750                         this->goals().push_back(tmp_node);
 751                         this->goals().back().p(gp);
 752                         gp = &this->goals().back();
 753                 }
 754                 if (jvi["entries"] != Json::nullValue) {
 755                         this->entries_set = true;
 756                         this->entry1.x = jvi["entries"][0][0].asDouble();
 757                         this->entry1.y = jvi["entries"][0][1].asDouble();
 758                         this->entry1.h = jvi["entries"][0][2].asDouble();
 759                         this->entry2.x = jvi["entries"][1][0].asDouble();
 760                         this->entry2.y = jvi["entries"][1][1].asDouble();
 761                         this->entry2.h = jvi["entries"][1][2].asDouble();
 762                 }
 763                 for (auto g: jvi["goals"]) {
 764                         RRTNode tmp_node;
 765                         tmp_node.x(g[0].asDouble());
 766                         tmp_node.y(g[1].asDouble());
 767                         tmp_node.h(g[2].asDouble());
 768                         this->goals().push_back(tmp_node);
 769                         this->goals().back().p(gp);
 770                         gp = &this->goals().back();
 771                 }
 772                 this->goals().front().set_t(RRTNodeType::cusp);
 773                 this->goals().back().set_t(RRTNodeType::cusp);
 774         }
 775         {
 776                 Obstacle tmp_obstacle;
 777                 for (auto o: jvi["obst"]) {
 778                         tmp_obstacle.poly().clear();
 779                         for (auto c: o) {
 780                                 double tmp_x = c[0].asDouble();
 781                                 double tmp_y = c[1].asDouble();
 782                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
 783                                 tmp_obstacle.poly().push_back(tmp_tuple);
 784                         }
 785                         this->obstacles().push_back(tmp_obstacle);
 786                 }
 787         }
 788         {
 789                 double edist_init_goal = sqrt(
 790                         pow(
 791                                 this->nodes().front().x()
 792                                 - this->goals().front().x(),
 793                                 2
 794                         )
 795                         + pow(
 796                                 this->nodes().front().y()
 797                                 - this->goals().front().y(),
 798                                 2
 799                         )
 800                 );
 801                 this->set_sample(
 802                         this->nodes().front().x(), edist_init_goal,
 803                         this->nodes().front().y(), edist_init_goal,
 804                         0, 2 * M_PI
 805                 );
 806         }
 807 }
 808
 809 RRTS::RRTS()
 810         : gen_(std::random_device{}())
 811 {
 812         this->goals().reserve(100);
 813         this->nodes().reserve(4000000);
 814         this->samples().reserve(1000);
 815         this->steered().reserve(20000);
 816         this->store_node(RRTNode()); // root
 817 }
 818
 819 double cc(RRTNode &t)
 820 {
 821         RRTNode *n = &t;
 822         double cost = 0;
 823         while (n != nullptr) {
 824                 cost += n->c();
 825                 n = n->p();
 826         }
 827         return cost;
 828 }