base/rrtbase.cc

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is free software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #include <algorithm>
  19 #include <cmath>
  20 #include <omp.h>
  21 #include <queue>
  22 #include "bcar.h"
  23 #include "rrtbase.h"
  24 // OpenGL
  25 #include <GL/gl.h>
  26 #include <GL/glu.h>
  27 #include <SDL2/SDL.h>
  28 // RRT
  29 #include "sample.h"
  30 #include "cost.h"
  31 #include "steer.h"
  32 #include "nn.h"
  33 #include "nv.h"
  34
  35 extern SDL_Window* gw;
  36 extern SDL_GLContext gc;
  37
  38 Cell::Cell()
  39 {}
  40
  41 bool Cell::changed()
  42 {
  43         pthread_mutex_lock(&this->m_);
  44         bool ret = this->changed_;
  45         pthread_mutex_unlock(&this->m_);
  46         return ret;
  47 }
  48
  49 std::vector<RRTNode *> Cell::nodes()
  50 {
  51         pthread_mutex_lock(&this->m_);
  52         std::vector<RRTNode *> ret(this->nodes_);
  53         pthread_mutex_unlock(&this->m_);
  54         return ret;
  55 }
  56
  57 void Cell::add_node(RRTNode *n)
  58 {
  59         pthread_mutex_lock(&this->m_);
  60         this->nodes_.push_back(n);
  61         this->changed_ = true;
  62         pthread_mutex_unlock(&this->m_);
  63 }
  64
  65 RRTBase::~RRTBase()
  66 {
  67 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  68 // please uncommend the following code:
  69 //
  70         for (auto n: this->nodes_)
  71                 if (n != this->root_)
  72                         delete n;
  73         for (auto n: this->dnodes_)
  74                 if (n != this->root_ && n != this->goal_)
  75                         delete n;
  76         for (auto s: this->samples_)
  77                 if (s != this->goal_)
  78                         delete s;
  79         for (auto edges: this->rlog_)
  80                 for (auto e: edges)
  81                         delete e;
  82         delete this->root_;
  83         delete this->goal_;
  84 }
  85
  86 RRTBase::RRTBase():
  87         root_(new RRTNode()),
  88         goal_(new RRTNode())
  89 {
  90         this->nodes_.reserve(NOFNODES);
  91         this->nodes_.push_back(this->root_);
  92         this->add_iy(this->root_);
  93         this->add_ixy(this->root_);
  94 }
  95
  96 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  97         root_(init),
  98         goal_(goal)
  99 {
 100         this->nodes_.reserve(NOFNODES);
 101         this->nodes_.push_back(init);
 102         this->add_iy(init);
 103         this->add_ixy(init);
 104 }
 105
 106 // getter
 107 RRTNode *RRTBase::root()
 108 {
 109         return this->root_;
 110 }
 111
 112 RRTNode *RRTBase::goal()
 113 {
 114         return this->goal_;
 115 }
 116
 117 std::vector<RRTNode *> &RRTBase::nodes()
 118 {
 119         return this->nodes_;
 120 }
 121
 122 std::vector<RRTNode *> &RRTBase::dnodes()
 123 {
 124         return this->dnodes_;
 125 }
 126
 127 PolygonObstacle &RRTBase::frame()
 128 {
 129         return this->frame_;
 130 }
 131
 132 std::vector<RRTNode *> &RRTBase::samples()
 133 {
 134         return this->samples_;
 135 }
 136
 137 std::vector<CircleObstacle> *RRTBase::co()
 138 {
 139         return this->cobstacles_;
 140 }
 141
 142 std::vector<SegmentObstacle> *RRTBase::so()
 143 {
 144         return this->sobstacles_;
 145 }
 146
 147 std::vector<float> &RRTBase::clog()
 148 {
 149         return this->clog_;
 150 }
 151
 152 std::vector<float> &RRTBase::nlog()
 153 {
 154         return this->nlog_;
 155 }
 156
 157 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 158 {
 159         return this->rlog_;
 160 }
 161
 162 std::vector<float> &RRTBase::slog()
 163 {
 164         return this->slog_;
 165 }
 166
 167 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 168 {
 169         return this->tlog_;
 170 }
 171
 172 std::vector<RRTNode *> &RRTBase::slot_cusp()
 173 {
 174         return this->slot_cusp_;
 175 }
 176
 177 bool RRTBase::goal_found()
 178 {
 179         return this->goal_found_;
 180 }
 181
 182 float RRTBase::elapsed()
 183 {
 184         std::chrono::duration<float> dt;
 185         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 186                         this->tend_ - this->tstart_);
 187         return dt.count();
 188 }
 189
 190 // setter
 191 void RRTBase::root(RRTNode *node)
 192 {
 193         this->root_ = node;
 194 }
 195
 196 void RRTBase::goal(RRTNode *node)
 197 {
 198         this->goal_ = node;
 199 }
 200
 201 bool RRTBase::logr(RRTNode *root)
 202 {
 203         std::vector<RRTEdge *> e; // Edges to log
 204         std::vector<RRTNode *> s; // DFS stack
 205         std::vector<RRTNode *> r; // reset visited_
 206         RRTNode *tmp;
 207         s.push_back(root);
 208         while (s.size() > 0) {
 209                 tmp = s.back();
 210                 s.pop_back();
 211                 if (!tmp->visit()) {
 212                         r.push_back(tmp);
 213                         for (auto ch: tmp->children()) {
 214                                 s.push_back(ch);
 215                                 e.push_back(new RRTEdge(tmp, ch));
 216                         }
 217                 }
 218         }
 219         for (auto n: r)
 220                 n->visit(false);
 221         this->rlog_.push_back(e);
 222         return true;
 223 }
 224
 225 float RRTBase::ocost(RRTNode *n)
 226 {
 227         float dist = 9999;
 228         for (auto o: *this->cobstacles_)
 229                 if (o.dist_to(n) < dist)
 230                         dist = o.dist_to(n);
 231         for (auto o: *this->sobstacles_)
 232                 if (o.dist_to(n) < dist)
 233                         dist = o.dist_to(n);
 234         return n->ocost(dist);
 235 }
 236
 237 bool RRTBase::tlog(std::vector<RRTNode *> t)
 238 {
 239         if (t.size() > 0) {
 240                 this->slog_.push_back(this->elapsed());
 241                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 242                 this->nlog_.push_back(this->nodes_.size());
 243                 this->tlog_.push_back(t);
 244                 return true;
 245         } else {
 246                 return false;
 247         }
 248 }
 249
 250 void RRTBase::tstart()
 251 {
 252         this->tstart_ = std::chrono::high_resolution_clock::now();
 253 }
 254
 255 void RRTBase::tend()
 256 {
 257         this->tend_ = std::chrono::high_resolution_clock::now();
 258 }
 259
 260 bool RRTBase::link_obstacles(
 261                 std::vector<CircleObstacle> *cobstacles,
 262                 std::vector<SegmentObstacle> *sobstacles)
 263 {
 264         this->cobstacles_ = cobstacles;
 265         this->sobstacles_ = sobstacles;
 266         if (!this->cobstacles_ || !this->sobstacles_) {
 267                 return false;
 268         }
 269         return true;
 270 }
 271
 272 bool RRTBase::add_iy(RRTNode *n)
 273 {
 274         int i = IYI(n->y());
 275         if (i < 0)
 276                 i = 0;
 277         if (i >= IYSIZE)
 278                 i = IYSIZE - 1;
 279         this->iy_[i].push_back(n);
 280         return true;
 281 }
 282
 283 bool RRTBase::add_ixy(RRTNode *n)
 284 {
 285         int ix = IXI(n->x());
 286         if (ix < 0)
 287                 ix = 0;
 288         if (ix >= IXSIZE)
 289                 ix = IXSIZE - 1;
 290         int iy = IYI(n->y());
 291         if (iy < 0)
 292                 iy = 0;
 293         if (iy >= IYSIZE)
 294                 iy = IYSIZE - 1;
 295         this->ixy_[ix][iy].add_node(n);
 296         return true;
 297 }
 298
 299 bool RRTBase::goal_found(bool f)
 300 {
 301         this->goal_found_ = f;
 302         return f;
 303 }
 304
 305 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 306 {
 307         for (unsigned int i = 0; i < sc.size() - 1; i++)
 308                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 309         sc[0]->parent(this->goal());
 310         this->slot_cusp_ = sc;
 311 }
 312
 313 // other
 314 bool RRTBase::glplot()
 315 {
 316         glClear(GL_COLOR_BUFFER_BIT);
 317         glLineWidth(1);
 318         glPointSize(1);
 319         // Plot obstacles
 320         glBegin(GL_LINES);
 321         for (auto o: *this->sobstacles_) {
 322                 glColor3f(0, 0, 0);
 323                 glVertex2f(GLVERTEX(o.init()));
 324                 glVertex2f(GLVERTEX(o.goal()));
 325         }
 326         glEnd();
 327         // Plot root, goal
 328         glPointSize(8);
 329         glBegin(GL_POINTS);
 330         glColor3f(1, 0, 0);
 331         glVertex2f(GLVERTEX(this->root_));
 332         glVertex2f(GLVERTEX(this->goal_));
 333         glEnd();
 334         // Plot last sample
 335         if (this->samples_.size() > 0) {
 336                 glPointSize(8);
 337                 glBegin(GL_POINTS);
 338                 glColor3f(0, 1, 0);
 339                 glVertex2f(GLVERTEX(this->samples_.back()));
 340                 glEnd();
 341         }
 342         // Plot nodes
 343         std::vector<RRTNode *> s; // DFS stack
 344         std::vector<RRTNode *> r; // reset visited_
 345         RRTNode *tmp;
 346         glBegin(GL_LINES);
 347         s.push_back(this->root_);
 348         while (s.size() > 0) {
 349                 tmp = s.back();
 350                 s.pop_back();
 351                 if (!tmp->visit()) {
 352                         r.push_back(tmp);
 353                         for (auto ch: tmp->children()) {
 354                                 s.push_back(ch);
 355                                 glColor3f(0.5, 0.5, 0.5);
 356                                 glVertex2f(GLVERTEX(tmp));
 357                                 glVertex2f(GLVERTEX(ch));
 358                         }
 359                 }
 360         }
 361         glEnd();
 362         // Plot nodes (from goal)
 363         glBegin(GL_LINES);
 364         s.push_back(this->goal_);
 365         while (s.size() > 0) {
 366                 tmp = s.back();
 367                 s.pop_back();
 368                 if (!tmp->visit()) {
 369                         r.push_back(tmp);
 370                         for (auto ch: tmp->children()) {
 371                                 s.push_back(ch);
 372                                 glColor3f(0.5, 0.5, 0.5);
 373                                 glVertex2f(GLVERTEX(tmp));
 374                                 glVertex2f(GLVERTEX(ch));
 375                         }
 376                 }
 377         }
 378         glEnd();
 379         std::vector<RRTNode *> cusps;
 380         // Plot last trajectory
 381         if (this->tlog().size() > 0) {
 382                 glLineWidth(2);
 383                 glBegin(GL_LINES);
 384                 for (auto n: this->tlog().back()) {
 385                         if (n->parent()) {
 386                                 glColor3f(0, 0, 1);
 387                                 glVertex2f(GLVERTEX(n));
 388                                 glVertex2f(GLVERTEX(n->parent()));
 389                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 390                                         cusps.push_back(n);
 391                         }
 392                 }
 393                 glEnd();
 394         }
 395         // Plot cusps
 396         glPointSize(8);
 397         glBegin(GL_POINTS);
 398         for (auto n: cusps) {
 399                 glColor3f(0, 0, 1);
 400                 glVertex2f(GLVERTEX(n));
 401         }
 402         glEnd();
 403         SDL_GL_SwapWindow(gw);
 404         for (auto n: r)
 405                 n->visit(false);
 406         return true;
 407 }
 408
 409 bool RRTBase::goal_found(
 410                 RRTNode *node,
 411                 float (*cost)(RRTNode *, RRTNode* ))
 412 {
 413         if (IS_NEAR(node, this->goal_)) {
 414                 if (this->goal_found_) {
 415                         if (node->ccost() + this->cost(node, this->goal_) <
 416                                         this->goal_->ccost()) {
 417                                 RRTNode *op; // old parent
 418                                 float oc; // old cumulative cost
 419                                 float od; // old direct cost
 420                                 op = this->goal_->parent();
 421                                 oc = this->goal_->ccost();
 422                                 od = this->goal_->dcost();
 423                                 node->add_child(this->goal_,
 424                                                 this->cost(node, this->goal_));
 425                                 if (this->collide(node, this->goal_)) {
 426                                         node->children().pop_back();
 427                                         this->goal_->parent(op);
 428                                         this->goal_->ccost(oc);
 429                                         this->goal_->dcost(od);
 430                                 } else {
 431                                         op->rem_child(this->goal_);
 432                                         return true;
 433                                 }
 434                         } else {
 435                                 return false;
 436                         }
 437                 } else {
 438                         node->add_child(
 439                                         this->goal_,
 440                                         this->cost(node, this->goal_));
 441                         if (this->collide(node, this->goal_)) {
 442                                 node->children().pop_back();
 443                                 this->goal_->remove_parent();
 444                                 return false;
 445                         }
 446                         this->goal_found_ = true;
 447                         return true;
 448                 }
 449         }
 450         return false;
 451 }
 452
 453 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 454 {
 455         std::vector<RRTEdge *> edges;
 456         RRTNode *tmp = goal;
 457         volatile bool col = false;
 458         unsigned int i;
 459         while (tmp != init) {
 460                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 461                 std::vector<RRTEdge *> bcframe = bc.frame();
 462                 #pragma omp parallel for reduction(|: col)
 463                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 464                         if ((*this->cobstacles_)[i].collide(tmp)) {
 465                                 col = true;
 466                         }
 467                         for (auto &e: bcframe) {
 468                                 if ((*this->cobstacles_)[i].collide(e)) {
 469                                         col = true;
 470                                 }
 471                         }
 472                 }
 473                 if (col) {
 474                         for (auto e: bcframe) {
 475                                 delete e->init();
 476                                 delete e->goal();
 477                                 delete e;
 478                         }
 479                         for (auto e: edges) {
 480                                 delete e;
 481                         }
 482                         return true;
 483                 }
 484                 #pragma omp parallel for reduction(|: col)
 485                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 486                         for (auto &e: bcframe) {
 487                                 if ((*this->sobstacles_)[i].collide(e)) {
 488                                         col = true;
 489                                 }
 490                         }
 491                 }
 492                 if (col) {
 493                         for (auto e: bcframe) {
 494                                 delete e->init();
 495                                 delete e->goal();
 496                                 delete e;
 497                         }
 498                         for (auto e: edges) {
 499                                 delete e;
 500                         }
 501                         return true;
 502                 }
 503                 if (!tmp->parent()) {
 504                         break;
 505                 }
 506                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 507                 tmp = tmp->parent();
 508                 for (auto e: bcframe) {
 509                         delete e->init();
 510                         delete e->goal();
 511                         delete e;
 512                 }
 513         }
 514         for (auto &e: edges) {
 515                 #pragma omp parallel for reduction(|: col)
 516                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 517                         if ((*this->cobstacles_)[i].collide(e)) {
 518                                 col = true;
 519                         }
 520                 }
 521                 if (col) {
 522                         for (auto e: edges) {
 523                                 delete e;
 524                         }
 525                         return true;
 526                 }
 527                 #pragma omp parallel for reduction(|: col)
 528                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 529                         if ((*this->sobstacles_)[i].collide(e)) {
 530                                 col = true;
 531                         }
 532                 }
 533                 if (col) {
 534                         for (auto e: edges) {
 535                                 delete e;
 536                         }
 537                         return true;
 538                 }
 539         }
 540         for (auto e: edges) {
 541                 delete e;
 542         }
 543         return false;
 544 }
 545
 546 class RRTNodeDijkstra {
 547         public:
 548                 RRTNodeDijkstra(int i):
 549                         ni(i),
 550                         pi(0),
 551                         c(9999),
 552                         v(false)
 553                 {};
 554                 RRTNodeDijkstra(int i, float c):
 555                         ni(i),
 556                         pi(0),
 557                         c(c),
 558                         v(false)
 559                 {};
 560                 RRTNodeDijkstra(int i, int p, float c):
 561                         ni(i),
 562                         pi(p),
 563                         c(c),
 564                         v(false)
 565                 {};
 566                 unsigned int ni;
 567                 unsigned int pi;
 568                 float c;
 569                 bool v;
 570                 bool vi()
 571                 {
 572                         if (this->v)
 573                                 return true;
 574                         this->v = true;
 575                         return false;
 576                 };
 577 };
 578
 579 class RRTNodeDijkstraComparator {
 580         public:
 581                 int operator() (
 582                                 const RRTNodeDijkstra& n1,
 583                                 const RRTNodeDijkstra& n2)
 584                 {
 585                         return n1.c > n2.c;
 586                 }
 587 };
 588
 589 bool RRTBase::optp_dijkstra(
 590                 std::vector<RRTNode *> &cusps,
 591                 std::vector<int> &npi)
 592 {
 593         std::vector<RRTNodeDijkstra> dnodes;
 594         for (unsigned int i = 0; i < cusps.size(); i++)
 595                 if (i > 0)
 596                         dnodes.push_back(RRTNodeDijkstra(
 597                                                 i,
 598                                                 i - 1,
 599                                                 cusps[i]->ccost()));
 600                 else
 601                         dnodes.push_back(RRTNodeDijkstra(
 602                                                 i,
 603                                                 cusps[i]->ccost()));
 604         dnodes[0].vi();
 605         std::priority_queue<
 606                 RRTNodeDijkstra,
 607                 std::vector<RRTNodeDijkstra>,
 608                 RRTNodeDijkstraComparator> pq;
 609         RRTNodeDijkstra tmp = dnodes[0];
 610         pq.push(tmp);
 611         float ch_cost = 9999;
 612         std::vector<RRTNode *> steered;
 613         while (!pq.empty()) {
 614                 tmp = pq.top();
 615                 pq.pop();
 616                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 617                         ch_cost = dnodes[tmp.ni].c +
 618                                 this->cost(cusps[tmp.ni], cusps[i]);
 619                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 620                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 621                                 steered[j]->add_child(steered[j + 1], 1);
 622                         if (this->collide(
 623                                         steered[0],
 624                                         steered[steered.size() - 1])) {
 625                                 for (auto n: steered)
 626                                         delete n;
 627                                 continue;
 628                         }
 629                         if (ch_cost < dnodes[i].c) {
 630                                 dnodes[i].c = ch_cost;
 631                                 dnodes[i].pi = tmp.ni;
 632                                 if (!dnodes[i].vi())
 633                                         pq.push(dnodes[i]);
 634                         }
 635                         for (auto n: steered)
 636                                 delete n;
 637                 }
 638         }
 639         unsigned int tmpi = 0;
 640         for (auto n: dnodes) {
 641                 if (n.v && n.ni > tmpi)
 642                         tmpi = n.ni;
 643         }
 644         while (tmpi > 0) {
 645                 npi.push_back(tmpi);
 646                 tmpi = dnodes[tmpi].pi;
 647         }
 648         npi.push_back(tmpi);
 649         std::reverse(npi.begin(), npi.end());
 650         return true;
 651 }
 652
 653 bool RRTBase::optp_rrp(
 654                 std::vector<RRTNode *> &cusps,
 655                 std::vector<int> &npi)
 656 {
 657         std::vector<RRTNode *> steered;
 658         std::vector<int> candidates;
 659         RRTNode *x_j = nullptr;
 660         RRTNode *x_i = nullptr;
 661         int j = cusps.size() - 1;
 662         int i_min = 0;
 663         float c_min = 0;
 664         float cost = 0;
 665         float dx = 0;
 666         float dy = 0;
 667         float ed = 0;
 668         float th_i = 0;
 669         float th_j = 0;
 670         while (j > 0) {
 671                 npi.push_back(j);
 672                 steered.clear();
 673                 candidates.clear();
 674                 x_j = cusps[j];
 675                 for (int i = 0; i < j; i++) {
 676                         steered = this->steer(cusps[i], x_j);
 677                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 678                                 steered[k]->add_child(steered[k + 1], 1);
 679                         if (!this->collide(
 680                                         steered[0],
 681                                         steered[steered.size() - 1]))
 682                                 candidates.push_back(i);
 683                 }
 684                 if (candidates.size() <= 0)
 685                         return false;
 686                 i_min = candidates[0];
 687                 x_i = cusps[i_min];
 688                 c_min = 9999;
 689                 for (auto c: candidates) {
 690                         x_i = cusps[c];
 691                         dx = x_j->x() - x_i->x();
 692                         dy = x_j->y() - x_i->y();
 693                         ed = EDIST(x_i, x_j);
 694                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 695                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 696                         cost = th_i + th_j;
 697                         if (cost < c_min) {
 698                                 i_min = c;
 699                                 c_min = cost;
 700                         }
 701                 }
 702                 j = i_min;
 703
 704         }
 705         npi.push_back(j);
 706         std::reverse(npi.begin(), npi.end());
 707         return true;
 708 }
 709
 710 bool RRTBase::optp_smart(
 711                 std::vector<RRTNode *> &cusps,
 712                 std::vector<int> &npi)
 713 {
 714         std::vector<RRTNode *> steered;
 715         int li = cusps.size() - 1;
 716         int ai = li - 1;
 717         npi.push_back(li);
 718         while (ai > 1) {
 719                 steered = this->steer(cusps[ai - 1], cusps[li]);
 720                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 721                         steered[j]->add_child(steered[j + 1], 1);
 722                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 723                         npi.push_back(ai);
 724                         li = ai;
 725                 }
 726                 ai--;
 727                 for (auto n: steered)
 728                         delete n;
 729         }
 730         npi.push_back(0);
 731         std::reverse(npi.begin(), npi.end());
 732         return true;
 733 }
 734
 735 bool RRTBase::opt_path()
 736 {
 737         if (this->tlog().size() == 0)
 738                 return false;
 739         float oc = this->tlog().back().front()->ccost();
 740         std::vector<RRTNode *> tmp_cusps;
 741         for (auto n: this->tlog().back()) {
 742                 if (sgn(n->s()) == 0) {
 743                         tmp_cusps.push_back(n);
 744                 } else if (n->parent() &&
 745                                 sgn(n->s()) != sgn(n->parent()->s())) {
 746                         tmp_cusps.push_back(n);
 747                         tmp_cusps.push_back(n->parent());
 748                 }
 749                 //tmp_cusps.push_back(n);
 750         }
 751         if (tmp_cusps.size() < 2)
 752                 return false;
 753         std::vector<RRTNode *> cusps;
 754         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 755                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 756                         cusps.push_back(tmp_cusps[i]);
 757         }
 758         std::reverse(cusps.begin(), cusps.end());
 759         std::vector<int> npi; // new path indexes
 760         if (!this->optp_dijkstra(cusps, npi))
 761                 return false;
 762         RRTNode *pn = cusps[npi[0]];
 763         RRTNode *tmp = nullptr;
 764         bool en_add = true;
 765         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 766                 pn = cusps[npi[i]];
 767                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 768                         if (!en_add) {
 769                                 delete ns;
 770                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 771                                 tmp = ns;
 772                                 while (tmp && tmp != cusps[npi[i]]) {
 773                                         pn = tmp->parent();
 774                                         delete tmp;
 775                                         tmp = pn;
 776                                 }
 777                                 pn = cusps[npi[i]];
 778                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 779                                 delete ns;
 780                                 cusps[npi[i + 1]]->parent()->rem_child(
 781                                                 cusps[npi[i + 1]]);
 782                                 pn->add_child(
 783                                         cusps[npi[i + 1]],
 784                                         this->cost(pn, cusps[npi[i + 1]]));
 785                                 en_add = false;
 786                         } else if (IS_NEAR(pn, ns)) {
 787                                 delete ns;
 788                         } else {
 789                                 this->nodes().push_back(ns);
 790                                 this->add_iy(ns);
 791                                 this->add_ixy(ns);
 792                                 pn->add_child(ns, this->cost(pn, ns));
 793                                 pn = ns;
 794                         }
 795                 }
 796         }
 797         this->root()->update_ccost();
 798         if (this->tlog().back().front()->ccost() < oc)
 799                 return true;
 800         return false;
 801 }
 802
 803 bool RRTBase::rebase(RRTNode *nr)
 804 {
 805         if (!nr || this->goal_ == nr || this->root_ == nr)
 806                 return false;
 807         std::vector<RRTNode *> s; // DFS stack
 808         RRTNode *tmp;
 809         unsigned int i = 0;
 810         unsigned int to_del = 0;
 811         int iy = 0;
 812         s.push_back(this->root_);
 813         while (s.size() > 0) {
 814                 tmp = s.back();
 815                 s.pop_back();
 816                 for (auto ch: tmp->children()) {
 817                         if (ch != nr)
 818                                 s.push_back(ch);
 819                 }
 820                 to_del = this->nodes_.size();
 821                 #pragma omp parallel for reduction(min: to_del)
 822                 for (i = 0; i < this->nodes_.size(); i++) {
 823                         if (this->nodes_[i] == tmp)
 824                                 to_del = i;
 825                 }
 826                 if (to_del < this->nodes_.size())
 827                         this->nodes_.erase(this->nodes_.begin() + to_del);
 828                 iy = IYI(tmp->y());
 829                 to_del = this->iy_[iy].size();
 830                 #pragma omp parallel  for reduction(min: to_del)
 831                 for (i = 0; i < this->iy_[iy].size(); i++) {
 832                         if (this->iy_[iy][i] == tmp)
 833                                 to_del = i;
 834                 }
 835                 if (to_del < this->iy_[iy].size())
 836                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 837                 this->dnodes().push_back(tmp);
 838         }
 839         this->root_ = nr;
 840         this->root_->remove_parent();
 841         return true;
 842 }
 843
 844 std::vector<RRTNode *> RRTBase::findt()
 845 {
 846         return this->findt(this->goal_);
 847 }
 848
 849 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 850 {
 851         std::vector<RRTNode *> nodes;
 852         if (!n || !n->parent())
 853                 return nodes;
 854         while (n) {
 855                 nodes.push_back(n);
 856                 n = n->parent();
 857         }
 858         return nodes;
 859 }
 860
 861 // RRT Framework
 862 RRTNode *RRTBase::sample()
 863 {
 864         return sa1();
 865 }
 866
 867 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 868 {
 869         return co2(init, goal);
 870 }
 871
 872 RRTNode *RRTBase::nn(RRTNode *rs)
 873 {
 874         return nn4(this->iy_, rs, nullptr);
 875         //return nn3(this->iy_, rs, nullptr);
 876 }
 877
 878 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 879 {
 880         std::vector<RRTNode *> nvs;
 881         unsigned int iy = IYI(node->y());
 882         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 883         unsigned int i = 0; // vector index
 884         unsigned int j = 0; // array index
 885         unsigned int jmin = 0; // minimal j index
 886         unsigned int jmax = 0; // maximal j index
 887         jmin = iy - iy_dist;
 888         jmin = (jmin > 0) ? jmin : 0;
 889         jmax = iy + iy_dist + 1;
 890         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 891         #pragma omp parallel for reduction(merge: nvs)
 892         for (j = jmin; j < jmax; j++) {
 893                 #pragma omp parallel for reduction(merge: nvs)
 894                 for (i = 0; i < this->iy_[j].size(); i++) {
 895                         if (this->cost(this->iy_[j][i], node) < dist) {
 896                                 nvs.push_back(this->iy_[j][i]);
 897                         }
 898                 }
 899         }
 900         return nvs;
 901 }
 902
 903 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 904 {
 905         return st3(init, goal);
 906 }
 907
 908 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 909 {
 910         return st3(init, goal, step);
 911 }