decision_control/rrtplanner.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 <iostream>
  19 #include <cstdlib>
  20 #include <ctime>
  21 #include "compile.h"
  22 #include "nn.h"
  23 #include "nv.h"
  24 #include "sample.h"
  25 #include "steer.h"
  26 #include "rrtplanner.h"
  27 #include "cost.h"
  28
  29 #define CATI(a, b) a ## b
  30 #define CAT(a, b) CATI(a, b)
  31 #define KUWATA2008_CCOST CAT(c, CO)
  32 #define KUWATA2008_DCOST CO
  33
  34 LaValle1998::LaValle1998(RRTNode *init, RRTNode *goal):
  35         RRTBase(init, goal)
  36 {
  37         srand(static_cast<unsigned>(time(0)));
  38 }
  39
  40 bool LaValle1998::next()
  41 {
  42         RRTNode *rs;
  43 #if GOALFIRST > 0
  44         if (this->samples().size() == 0)
  45                 rs = this->goal();
  46         else
  47                 rs = this->sample();
  48 #else
  49         rs = this->sample();
  50 #endif
  51         this->samples().push_back(rs);
  52         RRTNode *nn = this->nn(rs);
  53         RRTNode *pn = nn;
  54         bool en_add = true;
  55         for (auto ns: this->steer(nn, rs)) {
  56                 if (!en_add) {
  57                         delete ns;
  58                 } else {
  59                         this->nodes().push_back(ns);
  60                         this->add_iy(ns);
  61                         pn->add_child(ns, this->cost(pn, ns));
  62                         if (this->collide(pn, ns)) {
  63                                 pn->children().pop_back();
  64                                 ns->remove_parent();
  65                                 this->iy_[IYI(ns->y())].pop_back();
  66                                 en_add = false;
  67                         } else {
  68                                 this->ocost(ns);
  69                                 pn = ns;
  70                                 if (this->goal_found(pn, CO)) {
  71                                         this->tlog(this->findt());
  72                                         en_add = false;
  73                                 }
  74                         }
  75                 }
  76         }
  77         return this->goal_found();
  78 }
  79
  80 Kuwata2008::Kuwata2008(RRTNode *init, RRTNode *goal):
  81         RRTBase(init, goal)
  82 {
  83         srand(static_cast<unsigned>(time(0)));
  84 }
  85
  86 bool Kuwata2008::next()
  87 {
  88         RRTNode *rs;
  89         if (this->samples().size() == 0) {
  90                 rs = this->goal();
  91         } else {
  92                 rs = this->sample();
  93         }
  94         this->samples().push_back(rs);
  95         float heur = static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
  96         if (this->goal_found()) {
  97                 if (heur < 0.7)
  98                         {}//this->cost = &KUWATA2008_CCOST;
  99                 else
 100                         {}//this->cost = &KUWATA2008_DCOST;
 101         } else {
 102                 if (heur < 0.3)
 103                         {}//this->cost = &KUWATA2008_CCOST;
 104                 else
 105                         {}//this->cost = &KUWATA2008_DCOST;
 106         }
 107         RRTNode *nn = this->nn(rs);
 108         RRTNode *pn = nn;
 109         std::vector<RRTNode *> newly_added;
 110         bool en_add = true;
 111         for (auto ns: this->steer(nn, rs)) {
 112                 if (!en_add) {
 113                         delete ns;
 114                 } else {
 115                         this->nodes().push_back(ns);
 116                         this->add_iy(ns);
 117                         pn->add_child(ns, KUWATA2008_DCOST(pn, ns));
 118                         if (this->collide(pn, ns)) {
 119                                 pn->children().pop_back();
 120                                 ns->remove_parent();
 121                                 this->iy_[IYI(ns->y())].pop_back();
 122                                 en_add = false;
 123                         } else {
 124                                 this->ocost(ns);
 125                                 pn = ns;
 126                                 newly_added.push_back(pn);
 127                                 if (this->goal_found(pn, &KUWATA2008_DCOST)) {
 128                                         this->tlog(this->findt());
 129                                         en_add = false;
 130                                 }
 131                         }
 132                 }
 133         }
 134         if (this->samples().size() <= 1)
 135                 return this->goal_found();
 136         for (auto na: newly_added) {
 137                 pn = na;
 138                 en_add = true;
 139                 for (auto ns: this->steer(na, this->goal())) {
 140                         if (!en_add) {
 141                                 delete ns;
 142                         } else {
 143                                 this->nodes().push_back(ns);
 144                                 this->add_iy(ns);
 145                                 pn->add_child(ns, KUWATA2008_DCOST(pn, ns));
 146                                 if (this->collide(pn, ns)) {
 147                                         pn->children().pop_back();
 148                                         ns->remove_parent();
 149                                         this->iy_[IYI(ns->y())].pop_back();
 150                                         en_add = false;
 151                                 } else {
 152                                         this->ocost(ns);
 153                                         pn = ns;
 154                                         if (this->goal_found(pn,
 155                                                         &KUWATA2008_DCOST)) {
 156                                                 this->tlog(this->findt());
 157                                                 en_add = false;
 158                                         }
 159                                 }
 160                         }
 161                 }
 162         }
 163         return this->goal_found();
 164 }
 165
 166 Karaman2011::Karaman2011()
 167 {
 168         srand(static_cast<unsigned>(time(0)));
 169 }
 170
 171 Karaman2011::Karaman2011(RRTNode *init, RRTNode *goal):
 172         RRTBase(init, goal)
 173 {
 174         srand(static_cast<unsigned>(time(0)));
 175 }
 176
 177 bool Karaman2011::next()
 178 {
 179         RRTNode *rs;
 180 #if GOALFIRST > 0
 181         if (this->samples().size() == 0)
 182                 rs = this->goal();
 183         else
 184                 rs = this->sample();
 185 #else
 186         rs = this->sample();
 187 #endif
 188         this->samples().push_back(rs);
 189         RRTNode *nn = this->nn(rs);
 190         RRTNode *pn = nn;
 191         std::vector<RRTNode *> nvs;
 192         bool en_add = true;
 193         bool skip = false;
 194         for (auto ns: this->steer(nn, rs)) {
 195                 if (!en_add) {
 196                         delete ns;
 197                 } else if (IS_NEAR(nn, ns)) {
 198                         delete ns;
 199                 } else {
 200                         if (IS_NEAR(ns, rs))
 201                                 en_add = false;
 202                         nvs = this->nv(ns,
 203                                         MIN(GAMMA_RRTSTAR(
 204                                                         this->nodes().size()),
 205                                                         0.2));
 206                         skip = false;
 207                         for (auto nv: nvs) {
 208                                 if (IS_NEAR(nv, ns))
 209                                         skip = true;
 210                         }
 211                         if (skip)
 212                                 continue;
 213                         this->nodes().push_back(ns);
 214                         this->add_iy(ns);
 215                         // connect
 216                         if (!this->connect(pn, ns, nvs)) {
 217                                 this->iy_[IYI(ns->y())].pop_back();
 218                                 en_add = false;
 219                         } else {
 220                                 // rewire
 221                                 this->rewire(nvs, ns);
 222                                 pn = ns;
 223                                 if (this->goal_found(pn, CO)) {
 224                                         this->tlog(this->findt());
 225                                         en_add = false;
 226                                 }
 227                         }
 228                 }
 229         }
 230         return this->goal_found();
 231 }
 232
 233 bool Karaman2011::connect(
 234                 RRTNode *pn,
 235                 RRTNode *ns,
 236                 std::vector<RRTNode *> nvs)
 237 {
 238         RRTNode *op; // old parent
 239         float od; // old direct cost
 240         float oc; // old cumulative cost
 241         bool connected = false;
 242         pn->add_child(ns, this->cost(pn, ns));
 243         if (this->collide(pn, ns)) {
 244                 pn->children().pop_back();
 245                 ns->remove_parent();
 246         } else {
 247                 this->ocost(ns);
 248                 connected = true;
 249         }
 250         for (auto nv: nvs) {
 251                 if (!connected || (nv->ccost() + this->cost(nv, ns) <
 252                                 ns->ccost())) {
 253                         op = ns->parent();
 254                         od = ns->dcost();
 255                         oc = ns->ccost();
 256                         nv->add_child(ns, this->cost(nv, ns));
 257                         if (this->collide(nv, ns)) {
 258                                 nv->children().pop_back();
 259                                 if (op)
 260                                         ns->parent(op);
 261                                 else
 262                                         ns->remove_parent();
 263                                 ns->dcost(od);
 264                                 ns->ccost(oc);
 265                         } else if (connected) {
 266                                 op->children().pop_back();
 267                         } else {
 268                                 this->ocost(ns);
 269                                 connected = true;
 270                         }
 271                 }
 272         }
 273         return connected;
 274 }
 275
 276 bool Karaman2011::rewire(std::vector<RRTNode *> nvs, RRTNode *ns)
 277 {
 278         RRTNode *op; // old parent
 279         float od; // old direct cost
 280         float oc; // old cumulative cost
 281         for (auto nv: nvs) {
 282                 if (ns->ccost() + this->cost(ns, nv) < nv->ccost()) {
 283                         op = nv->parent();
 284                         od = nv->dcost();
 285                         oc = nv->ccost();
 286                         ns->add_child(nv, this->cost(ns, nv));
 287                         if (this->collide(ns, nv)) {
 288                                 ns->children().pop_back();
 289                                 nv->parent(op);
 290                                 nv->dcost(od);
 291                                 nv->ccost(oc);
 292                         } else {
 293                                 op->rem_child(nv);
 294                         }
 295                 }
 296         }
 297         return true;
 298 }
 299
 300 T1::T1(RRTNode *init, RRTNode *goal):
 301         RRTBase(init, goal)
 302 {
 303         srand(static_cast<unsigned>(time(0)));
 304 }
 305
 306 bool T1::next()
 307 {
 308         RRTNode *rs;
 309         if (this->samples().size() == 0)
 310                 rs = this->goal();
 311         else
 312                 rs = this->sample();
 313         this->samples().push_back(rs);
 314         RRTNode *nn = this->nn(rs);
 315         RRTNode *pn = nn;
 316         std::vector<RRTNode *> nvs;
 317         bool connected;
 318         RRTNode *op; // old parent
 319         float od; // old direct cost
 320         float oc; // old cumulative cost
 321         std::vector<RRTNode *> steered = this->steer(nn, rs);
 322         // RRT* for first node
 323         RRTNode *ns = steered[0];
 324         {
 325                 nvs = this->nv(ns, MIN(
 326                                 GAMMA_RRTSTAR(this->nodes().size()),
 327                                 0.2)); // TODO const
 328                 this->nodes().push_back(ns);
 329                 this->add_iy(ns);
 330                 connected = false;
 331                 pn->add_child(ns, this->cost(pn, ns));
 332                 if (this->collide(pn, ns)) {
 333                         pn->children().pop_back();
 334                 } else {
 335                         connected = true;
 336                 }
 337                 // connect
 338                 for (auto nv: nvs) {
 339                         if (!connected || (nv->ccost() + this->cost(nv, ns) <
 340                                         ns->ccost())) {
 341                                 op = ns->parent();
 342                                 od = ns->dcost();
 343                                 oc = ns->ccost();
 344                                 nv->add_child(ns, this->cost(nv, ns));
 345                                 if (this->collide(nv, ns)) {
 346                                         nv->children().pop_back();
 347                                         ns->parent(op);
 348                                         ns->dcost(od);
 349                                         ns->ccost(oc);
 350                                 } else if (connected) {
 351                                         op->children().pop_back();
 352                                 } else {
 353                                         connected = true;
 354                                 }
 355                         }
 356                 }
 357                 if (!connected)
 358                         return false;
 359                 // rewire
 360                 for (auto nv: nvs) {
 361                         if (ns->ccost() + this->cost(ns, nv) < nv->ccost()) {
 362                                 op = nv->parent();
 363                                 od = nv->dcost();
 364                                 oc = nv->ccost();
 365                                 ns->add_child(nv, this->cost(ns, nv));
 366                                 if (this->collide(ns, nv)) {
 367                                         ns->children().pop_back();
 368                                         nv->parent(op);
 369                                         nv->dcost(od);
 370                                         nv->ccost(oc);
 371                                 } else {
 372                                         op->rem_child(nv);
 373                                 }
 374                         }
 375                 }
 376                 pn = ns;
 377                 if (this->goal_found(pn, CO)) {
 378                         this->tlog(this->findt());
 379                 }
 380         }
 381         unsigned int i = 0;
 382         for (i = 1; i < steered.size(); i++) {
 383                 ns = steered[i];
 384                 this->nodes().push_back(ns);
 385                 this->add_iy(ns);
 386                 pn->add_child(ns, this->cost(pn, ns));
 387                 if (this->collide(pn, ns)) {
 388                         pn->children().pop_back();
 389                         break;
 390                 }
 391                 pn = ns;
 392                 if (this->goal_found(pn, CO)) {
 393                         this->tlog(this->findt());
 394                         break;
 395                 }
 396         }
 397         return this->goal_found();
 398 }
 399
 400 bool T2::next()
 401 {
 402         RRTNode *rs;
 403 #if GOALFIRST > 0
 404         if (this->samples().size() == 0)
 405                 rs = this->goal();
 406         else
 407                 rs = this->sample();
 408 #else
 409         rs = this->sample();
 410 #endif
 411         this->samples().push_back(rs);
 412         RRTNode *nn = this->nn(rs);
 413         if (!nn)
 414                 return false;
 415         RRTNode *pn = nn;
 416         std::vector<RRTNode *> nvs;
 417         std::vector<RRTNode *> newly_added;
 418         bool en_add = true;
 419         int cusps = 0;
 420         for (auto ns: this->steer(nn, rs)) {
 421                 if (!en_add) {
 422                         delete ns;
 423                 } else if (IS_NEAR(pn, ns)) {
 424                         delete ns;
 425                 } else {
 426                         if (sgn(ns->s()) == 0 || sgn(pn->s()) != sgn(ns->s()))
 427                                 cusps++;
 428                         if (cusps > 4)
 429                                 en_add = false;
 430                         nvs = this->nv(
 431                                         ns,
 432                                         MIN(
 433                                                 GAMMA_RRTSTAR(
 434                                                         this->nodes().size()),
 435                                                 0.2)); // TODO const
 436                         this->nodes().push_back(ns);
 437                         this->add_iy(ns);
 438                         // connect
 439                         if (!this->connect(pn, ns, nvs)) {
 440                                 this->iy_[IYI(ns->y())].pop_back();
 441                                 this->nodes().pop_back();
 442                                 delete ns;
 443                                 en_add = false;
 444                         } else {
 445                                 this->add_ixy(ns);
 446                                 // rewire
 447                                 this->rewire(nvs, ns);
 448                                 pn = ns;
 449                                 newly_added.push_back(pn);
 450                                 if (this->goal_found(pn, CO)) {
 451                                         this->goal_cost();
 452                                         en_add = false;
 453                                 }
 454                         }
 455                 }
 456         }
 457         en_add = true;
 458         cusps = 0;
 459         for (auto ns: this->steer(pn, rs, 0.01)) {
 460                 if (!en_add) {
 461                         delete ns;
 462                 } else if (IS_NEAR(pn, ns)) {
 463                         delete ns;
 464                 } else {
 465                         if (sgn(ns->s()) == 0 || sgn(pn->s()) != sgn(ns->s()))
 466                                 cusps++;
 467                         if (cusps > 4)
 468                                 en_add = false;
 469                         nvs = this->nv(
 470                                         ns,
 471                                         MIN(
 472                                                 GAMMA_RRTSTAR(
 473                                                         this->nodes().size()),
 474                                                 0.2)); // TODO const
 475                         this->nodes().push_back(ns);
 476                         this->add_iy(ns);
 477                         // connect
 478                         if (!this->connect(pn, ns, nvs)) {
 479                                 this->iy_[IYI(ns->y())].pop_back();
 480                                 this->nodes().pop_back();
 481                                 delete ns;
 482                                 en_add = false;
 483                         } else {
 484                                 this->add_ixy(ns);
 485                                 // rewire
 486                                 this->rewire(nvs, ns);
 487                                 pn = ns;
 488                                 newly_added.push_back(pn);
 489                                 if (this->goal_found(pn, CO)) {
 490                                         this->goal_cost();
 491                                         en_add = false;
 492                                 }
 493                         }
 494                 }
 495         }
 496         if (this->samples().size() <= 1)
 497                 return this->goal_found();
 498         for (auto na: newly_added) {
 499                 pn = na;
 500                 en_add = true;
 501                 cusps = 0;
 502                 for (auto ns: this->steer(na, this->goal())) {
 503                         if (!en_add) {
 504                                 delete ns;
 505                         } else if (IS_NEAR(pn, ns)) {
 506                                 delete ns;
 507                         } else {
 508                                 if (sgn(pn->s()) != sgn(ns->s()))
 509                                         cusps++;
 510                                 if (cusps > 4)
 511                                         en_add = false;
 512                                 this->nodes().push_back(ns);
 513                                 this->add_iy(ns);
 514                                 pn->add_child(ns, this->cost(pn, ns));
 515                                 if (this->collide(pn, ns)) {
 516                                         pn->children().pop_back();
 517                                         ns->remove_parent();
 518                                         this->iy_[IYI(ns->y())].pop_back();
 519                                         this->nodes().pop_back();
 520                                         delete ns;
 521                                         en_add = false;
 522                                 } else {
 523                                         this->add_ixy(ns);
 524                                         this->ocost(ns);
 525                                         pn = ns;
 526                                         if (this->goal_found(pn, CO)) {
 527                                                 this->goal_cost();
 528                                                 en_add = false;
 529                                         }
 530                                 }
 531                         }
 532                 }
 533                 en_add = true;
 534                 cusps = 0;
 535                 for (auto ns: this->steer(pn, this->goal(), 0.01)) {
 536                         if (!en_add) {
 537                                 delete ns;
 538                         } else if (IS_NEAR(pn, ns)) {
 539                                 delete ns;
 540                         } else {
 541                                 if (sgn(pn->s()) != sgn(ns->s()))
 542                                         cusps++;
 543                                 if (cusps > 4)
 544                                         en_add = false;
 545                                 this->nodes().push_back(ns);
 546                                 this->add_iy(ns);
 547                                 pn->add_child(ns, this->cost(pn, ns));
 548                                 if (this->collide(pn, ns)) {
 549                                         pn->children().pop_back();
 550                                         ns->remove_parent();
 551                                         this->iy_[IYI(ns->y())].pop_back();
 552                                         this->nodes().pop_back();
 553                                         delete ns;
 554                                         en_add = false;
 555                                 } else {
 556                                         this->add_ixy(ns);
 557                                         this->ocost(ns);
 558                                         pn = ns;
 559                                         if (this->goal_found(pn, CO)) {
 560                                                 this->goal_cost();
 561                                                 en_add = false;
 562                                         }
 563                                 }
 564                         }
 565                 }
 566         }
 567         return this->goal_found();
 568 }
 569
 570 float T2::goal_cost()
 571 {
 572         std::vector<RRTNode *> nvs;
 573         nvs = this->nv(this->goal(), 0.2);
 574         for (auto nv: nvs) {
 575                 if (std::abs(this->goal()->h() - nv->h()) >=
 576                                 this->GOAL_FOUND_ANGLE)
 577                         continue;
 578                 if (nv->ccost() + this->cost(nv, this->goal()) >=
 579                                 this->goal()->ccost())
 580                         continue;
 581                 RRTNode *op; // old parent
 582                 float oc; // old cumulative cost
 583                 float od; // old direct cost
 584                 op = this->goal()->parent();
 585                 oc = this->goal()->ccost();
 586                 od = this->goal()->dcost();
 587                 nv->add_child(this->goal(),
 588                                 this->cost(nv, this->goal()));
 589                 if (this->collide(nv, this->goal())) {
 590                         nv->children().pop_back();
 591                         this->goal()->parent(op);
 592                         this->goal()->ccost(oc);
 593                         this->goal()->dcost(od);
 594                 } else {
 595                         op->rem_child(this->goal());
 596                 }
 597         }
 598         return this->goal()->ccost();
 599 }
 600
 601 T3::~T3()
 602 {
 603         for (auto n: this->p_root_.nodes())
 604                 if (n != this->p_root_.root() && n != this->p_root_.goal())
 605                         delete n;
 606         for (auto n: this->p_root_.dnodes())
 607                 if (n != this->p_root_.root() && n != this->p_root_.goal())
 608                         delete n;
 609         for (auto s: this->p_root_.samples())
 610                 if (s != this->p_root_.goal())
 611                         delete s;
 612         for (auto edges: this->p_root_.rlog())
 613                 for (auto e: edges)
 614                         delete e;
 615
 616         for (auto n: this->p_goal_.nodes())
 617                 if (n != this->p_goal_.root() && n != this->p_goal_.goal())
 618                         delete n;
 619         for (auto n: this->p_goal_.dnodes())
 620                 if (n != this->p_goal_.root() && n != this->p_goal_.goal())
 621                         delete n;
 622         for (auto s: this->p_goal_.samples())
 623                 if (s != this->p_goal_.goal())
 624                         delete s;
 625         for (auto edges: this->p_goal_.rlog())
 626                 for (auto e: edges)
 627                         delete e;
 628
 629         for (auto n: this->nodes())
 630                 if (n != this->root())
 631                         delete n;
 632         for (auto n: this->dnodes())
 633                 if (n != this->root() && n != this->goal())
 634                         delete n;
 635         for (auto s: this->samples())
 636                 if (s != this->goal())
 637                         delete s;
 638         for (auto edges: this->rlog())
 639                 for (auto e: edges)
 640                         delete e;
 641
 642         delete this->root();
 643         delete this->goal();
 644 }
 645
 646 T3::T3()
 647 {
 648         srand(static_cast<unsigned>(time(0)));
 649 }
 650
 651 T3::T3(RRTNode *init, RRTNode *goal):
 652         RRTBase(init, goal),
 653         p_root_(init, goal),
 654         p_goal_(goal, init)
 655 {
 656         srand(static_cast<unsigned>(time(0)));
 657 }
 658
 659 bool T3::next()
 660 {
 661         RRTNode *ron = nullptr;
 662         RRTNode *gon = nullptr;
 663         bool ret = false;
 664         ret = this->p_root_.next();
 665         ret |= this->p_goal_.next();
 666         if (this->overlaptrees(&ron, &gon)) {
 667                 if (this->connecttrees(ron, gon))
 668                         this->goal_found(true);
 669                 this->tlog(this->findt());
 670                 ret |= true;
 671         }
 672         return ret;
 673 }
 674
 675 bool T3::link_obstacles(
 676         std::vector<CircleObstacle> *cobstacles,
 677         std::vector<SegmentObstacle> *sobstacles)
 678 {
 679         bool ret = false;
 680         ret = RRTBase::link_obstacles(cobstacles, sobstacles);
 681         ret &= this->p_root_.link_obstacles(cobstacles, sobstacles);
 682         ret &= this->p_goal_.link_obstacles(cobstacles, sobstacles);
 683         return ret;
 684 }
 685
 686 bool T3::connecttrees(RRTNode *rn, RRTNode *gn)
 687 {
 688         while (gn != this->goal()) {
 689                 this->p_root_.nodes().push_back(new RRTNode(
 690                                 gn->x(),
 691                                 gn->y(),
 692                                 gn->h()));
 693                 rn->add_child(
 694                                 this->p_root_.nodes().back(),
 695                                 this->p_root_.cost(
 696                                                 rn,
 697                                                 this->p_root_.nodes().back()));
 698                 rn = this->p_root_.nodes().back();
 699                 gn = gn->parent();
 700         }
 701         rn->add_child(this->goal(), this->p_root_.cost(rn, this->goal()));
 702         return true;
 703 }
 704
 705 bool T3::overlaptrees(RRTNode **ron, RRTNode **gon)
 706 {
 707         for (auto rn: this->p_root_.nodes()) {
 708                 if (rn->parent() == nullptr)
 709                         continue;
 710                 for (auto gn: this->p_goal_.nodes()) {
 711                         if (gn->parent() == nullptr)
 712                                 continue;
 713                         if (IS_NEAR(rn, gn)) {
 714                                 *ron = rn;
 715                                 *gon = gn;
 716                                 return true;
 717                         }
 718                 }
 719         }
 720         return false;
 721 }
 722
 723 Klemm2015::Klemm2015(RRTNode *init, RRTNode *goal):
 724         Karaman2011(init, goal),
 725         orig_root_(init),
 726         orig_goal_(goal)
 727 {
 728         srand(static_cast<unsigned>(time(0)));
 729         this->root()->tree('R');
 730         this->goal()->tree('G');
 731         this->add_iy(this->goal());
 732 }
 733
 734 bool Klemm2015::next()
 735 {
 736         RRTNode *xn = nullptr;
 737         RRTNode *rs;
 738         int ret = 0;
 739 #if GOALFIRST > 0
 740         if (this->samples().size() == 0)
 741                 rs = this->goal();
 742         else
 743                 rs = this->sample();
 744 #else
 745         rs = this->sample();
 746 #endif
 747         this->samples().push_back(rs);
 748         //std::cerr << "next" << std::endl;
 749         if (this->extendstar1(rs, &xn) != 2) {
 750         //        if (xn) {
 751         //                std::cerr << "- xn: " << xn->x() << ", " << xn->y();
 752         //                std::cerr << std::endl;
 753         //        } else {
 754         //                std::cerr << "- xn: nullptr" << std::endl;
 755         //        }
 756                 this->swap();
 757                 ret = this->connectstar(xn);
 758         } else {
 759                 this->swap();
 760         }
 761         if (ret == 1) {
 762                 this->tlog(this->findt());
 763                 return true;
 764         }
 765         return this->goal_found();
 766 }
 767
 768 int Klemm2015::extendstar1(RRTNode *rs, RRTNode **xn)
 769 {
 770         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 771         char tree = this->root()->tree();
 772         //std::cerr << "extend*1" << std::endl;
 773         //std::cerr << "- tree is " << tree << std::endl;
 774         //std::cerr << "  - rs: " << rs->x() << ", " << rs->y() << std::endl;
 775         //if (xn && *xn) {
 776         //        std::cerr << "  - xn: " << (*xn)->x() << ", " << (*xn)->y();
 777         //        std::cerr << std::endl;
 778         //}
 779         //for (int i = 0; i < IYSIZE; i++) {
 780         //        if (this->iy_[i].size() > 0) {
 781         //                RRTNode *tmpn = this->iy_[i].back();
 782         //                float tmpd = EDIST(tmpn, this->goal());
 783
 784         //                std::cerr << i << ": " << tmpn->x();
 785         //                std::cerr << ", " << tmpn->y();
 786         //                std::cerr << ", " << tmpn->tree();
 787         //                std::cerr << " (" << tmpd << ")";
 788
 789         //                if (tmpn == this->root())
 790         //                        std::cerr << " root";
 791         //                if (tmpn == this->goal())
 792         //                        std::cerr << " goal";
 793         //                std::cerr << std::endl;
 794         //        }
 795         //}
 796         RRTNode *nn = this->nn(rs);
 797         //std::cerr << "  - nn: " << nn->x() << ", " << nn->y() << std::endl;
 798         std::vector<RRTNode *> nvs;
 799         std::vector<RRTNode *> steered = this->steer(nn, rs);
 800         RRTNode *ns = steered[1];
 801         ns->tree(tree);
 802         nvs = this->nv(
 803                         ns,
 804                         MIN(
 805                                 GAMMA_RRTSTAR(
 806                                         this->nodes().size()),
 807                                 0.2)); // TODO const
 808         this->nodes().push_back(ns);
 809         this->add_iy(ns);
 810         // connect
 811         if (!this->connect(nn, ns, nvs)) {
 812                 this->iy_[IYI(ns->y())].pop_back();
 813                 ret = 2;
 814         } else {
 815                 // rewire
 816                 this->rewire(nvs, ns);
 817         }
 818         for (auto n: steered) {
 819                 if (n != steered[1])
 820                         delete n;
 821         }
 822         *xn = ns;
 823         //std::cerr << "  - xn: " << (*xn)->x() << ", " << (*xn)->y();
 824         //std::cerr << std::endl;
 825         return ret;
 826 }
 827
 828 int Klemm2015::extendstarC(RRTNode *rs)
 829 {
 830         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 831         char tree = this->root()->tree();
 832         //std::cerr << "extend*C" << std::endl;
 833         //std::cerr << "- tree is " << tree << std::endl;
 834         //std::cerr << "  - rs: " << rs->x() << ", " << rs->y() << std::endl;
 835         RRTNode *nn = this->nn(rs);
 836         RRTNode *pn = nn;
 837         std::vector<RRTNode *> nvs;
 838         bool en_add = true;
 839         for (auto ns: this->steer(nn, rs)) {
 840                 if (!en_add) {
 841                         delete ns;
 842                 } else {
 843                         nvs = this->nv(
 844                                         ns,
 845                                         MIN(
 846                                                 GAMMA_RRTSTAR(
 847                                                         this->nodes().size()),
 848                                                 0.2)); // TODO const
 849                         this->nodes().push_back(ns);
 850                         this->add_iy(ns);
 851                         // connect
 852                         if (!this->connect(pn, ns, nvs)) {
 853                                 this->iy_[IYI(ns->y())].pop_back();
 854                                 en_add = false;
 855                                 ret = 2;
 856                         } else {
 857                                 // rewire
 858                                 this->rewire(nvs, ns);
 859                                 pn = ns;
 860 if (IS_NEAR(pn, rs)) { // GOAL FOUND !
 861         RRTNode *tmp;
 862         if (this->orig_root_ == this->root()) { // rs is in G tree
 863                 // add all rs parents to pn
 864                 tmp = rs->parent();
 865         } else { // rs is in R tree
 866                 tmp = pn->parent();
 867                 pn = rs;
 868                 this->swap();
 869         }
 870         while (tmp != this->goal()) {
 871                 this->nodes().push_back(new RRTNode(
 872                                 tmp->x(),
 873                                 tmp->y(),
 874                                 tmp->h()));
 875                 this->nodes().back()->s(tmp->s());
 876                 this->nodes().back()->tree('R');
 877                 pn->add_child(
 878                                 this->nodes().back(),
 879                                 this->cost(pn, this->nodes().back()));
 880                 pn = this->nodes().back();
 881                 tmp = tmp->parent();
 882         }
 883         pn->add_child(tmp, this->cost(pn, tmp)); // add goal()
 884         en_add = false;
 885         ret = 1;
 886 }
 887                         }
 888                 }
 889         }
 890         return ret;
 891 }
 892
 893 int Klemm2015::connectstar(RRTNode *x)
 894 {
 895         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 896         //std::cerr << "connect* (start)" << std::endl;
 897         ret = this->extendstarC(x);
 898         //std::cerr << "connect* (end)" << std::endl;
 899         return ret;
 900 }
 901
 902 void Klemm2015::swap()
 903 {
 904         RRTNode *tmp;
 905         tmp = this->root();
 906         this->root(this->goal());
 907         this->goal(tmp);
 908 }