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
  25 #if USE_GL > 0
  26 // OpenGL
  27 #include <GL/gl.h>
  28 #include <GL/glu.h>
  29 #include <SDL2/SDL.h>
  30 #endif
  31
  32 // RRT
  33 #include "sample.h"
  34 #include "cost.h"
  35 #include "steer.h"
  36 #include "nn.h"
  37 #include "nv.h"
  38
  39 #if USE_GL > 0
  40 extern SDL_Window* gw;
  41 extern SDL_GLContext gc;
  42 #endif
  43
  44 Cell::Cell()
  45 {
  46         pthread_mutex_init(&this->m_, NULL);
  47 }
  48
  49 bool Cell::changed()
  50 {
  51         pthread_mutex_lock(&this->m_);
  52         bool ret = this->changed_;
  53         pthread_mutex_unlock(&this->m_);
  54         return ret;
  55 }
  56
  57 std::vector<RRTNode *> Cell::nodes()
  58 {
  59         pthread_mutex_lock(&this->m_);
  60         std::vector<RRTNode *> ret(this->nodes_);
  61         pthread_mutex_unlock(&this->m_);
  62         return ret;
  63 }
  64
  65 void Cell::add_node(RRTNode *n)
  66 {
  67         pthread_mutex_lock(&this->m_);
  68         this->nodes_.push_back(n);
  69         this->changed_ = true;
  70         pthread_mutex_unlock(&this->m_);
  71 }
  72
  73 RRTBase::~RRTBase()
  74 {
  75 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  76 // please uncommend the following code:
  77 //
  78         for (auto n: this->nodes_)
  79                 if (n != this->root_)
  80                         delete n;
  81         for (auto n: this->dnodes_)
  82                 if (n != this->root_ && n != this->goal_)
  83                         delete n;
  84         for (auto s: this->samples_)
  85                 if (s != this->goal_)
  86                         delete s;
  87         for (auto edges: this->rlog_)
  88                 for (auto e: edges)
  89                         delete e;
  90         delete this->root_;
  91         delete this->goal_;
  92 }
  93
  94 RRTBase::RRTBase()
  95         : root_(new RRTNode())
  96         , goal_(new RRTNode())
  97         , gen_(std::random_device{}())
  98         , ndx_(HMAX - HMIN, (HMAX - HMIN) / 4)
  99         , ndy_(VMAX - VMIN, (VMAX - VMIN) / 4)
 100         , ndh_(0, M_PI * 2 / 4)
 101 {
 102         this->nodes_.reserve(NOFNODES);
 103         this->nodes_.push_back(this->root_);
 104         this->add_iy(this->root_);
 105         this->add_ixy(this->root_);
 106 }
 107
 108 RRTBase::RRTBase(RRTNode *init, RRTNode *goal)
 109         : root_(init)
 110         , goal_(goal)
 111         , gen_(std::random_device{}())
 112         , ndx_(HMIN + (HMAX - HMIN) / 2, (HMAX - HMIN) / 4)
 113         , ndy_(VMIN + (VMAX - VMIN) / 2, (VMAX - VMIN) / 4)
 114         , ndh_(0, M_PI * 2 / 4)
 115 {
 116         this->nodes_.reserve(NOFNODES);
 117         this->nodes_.push_back(init);
 118         this->add_iy(init);
 119         this->add_ixy(init);
 120 }
 121
 122 // getter
 123 RRTNode *RRTBase::root()
 124 {
 125         return this->root_;
 126 }
 127
 128 RRTNode *RRTBase::goal()
 129 {
 130         return this->goal_;
 131 }
 132
 133 std::vector<RRTNode *> &RRTBase::goals()
 134 {
 135         return this->goals_;
 136 }
 137
 138 std::vector<RRTNode *> &RRTBase::nodes()
 139 {
 140         return this->nodes_;
 141 }
 142
 143 std::vector<RRTNode *> &RRTBase::dnodes()
 144 {
 145         return this->dnodes_;
 146 }
 147
 148 std::queue<RRTNode *> &RRTBase::firsts()
 149 {
 150         return this->firsts_;
 151 }
 152
 153 PolygonObstacle &RRTBase::frame()
 154 {
 155         return this->frame_;
 156 }
 157
 158 std::vector<RRTNode *> &RRTBase::samples()
 159 {
 160         return this->samples_;
 161 }
 162
 163 std::vector<CircleObstacle> *RRTBase::co()
 164 {
 165         return this->cobstacles_;
 166 }
 167
 168 std::vector<SegmentObstacle> *RRTBase::so()
 169 {
 170         return this->sobstacles_;
 171 }
 172
 173 std::vector<float> &RRTBase::clog()
 174 {
 175         return this->clog_;
 176 }
 177
 178 std::vector<float> &RRTBase::nlog()
 179 {
 180         return this->nlog_;
 181 }
 182
 183 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 184 {
 185         return this->rlog_;
 186 }
 187
 188 std::vector<float> &RRTBase::slog()
 189 {
 190         return this->slog_;
 191 }
 192
 193 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 194 {
 195         return this->tlog_;
 196 }
 197
 198 std::vector<RRTNode *> &RRTBase::slot_cusp()
 199 {
 200         return this->slot_cusp_;
 201 }
 202
 203 bool RRTBase::goal_found()
 204 {
 205         return this->goal_found_;
 206 }
 207
 208 float RRTBase::elapsed()
 209 {
 210         std::chrono::duration<float> dt;
 211         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 212                         this->tend_ - this->tstart_);
 213         return dt.count();
 214 }
 215
 216 std::vector<RRTNode *> RRTBase::traj_cusp()
 217 {
 218         std::vector<RRTNode *> tmp_cusps;
 219         for (auto n: this->tlog().back()) {
 220                 if (sgn(n->s()) == 0) {
 221                         tmp_cusps.push_back(n);
 222                 } else if (n->parent() &&
 223                                 sgn(n->s()) != sgn(n->parent()->s())) {
 224                         tmp_cusps.push_back(n);
 225                         tmp_cusps.push_back(n->parent());
 226                 }
 227         }
 228         std::vector<RRTNode *> cusps;
 229         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 230                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 231                         cusps.push_back(tmp_cusps[i]);
 232         }
 233         return cusps;
 234 }
 235
 236 // setter
 237 void RRTBase::root(RRTNode *node)
 238 {
 239         this->root_ = node;
 240 }
 241
 242 void RRTBase::goal(RRTNode *node)
 243 {
 244         this->goal_ = node;
 245 }
 246
 247 void RRTBase::goals(std::vector<RRTNode *> g)
 248 {
 249         this->goals_ = g;
 250         std::reverse(this->goals_.begin(), this->goals_.end());
 251         RRTNode *pn = this->goals_.front();
 252         for (auto n: this->goals_) {
 253                 if (n != pn) {
 254                         pn->add_child(n, this->cost(pn ,n));
 255                         pn = n;
 256                 }
 257         }
 258 }
 259
 260 bool RRTBase::logr(RRTNode *root)
 261 {
 262         std::vector<RRTEdge *> e; // Edges to log
 263         std::vector<RRTNode *> s; // DFS stack
 264         std::vector<RRTNode *> r; // reset visited_
 265         RRTNode *tmp;
 266         s.push_back(root);
 267         while (s.size() > 0) {
 268                 tmp = s.back();
 269                 s.pop_back();
 270                 if (!tmp->visit()) {
 271                         r.push_back(tmp);
 272                         for (auto ch: tmp->children()) {
 273                                 s.push_back(ch);
 274                                 e.push_back(new RRTEdge(tmp, ch));
 275                         }
 276                 }
 277         }
 278         for (auto n: r)
 279                 n->visit(false);
 280         this->rlog_.push_back(e);
 281         return true;
 282 }
 283
 284 float RRTBase::ocost(RRTNode *n)
 285 {
 286         float dist = 9999;
 287         for (auto o: *this->cobstacles_)
 288                 if (o.dist_to(n) < dist)
 289                         dist = o.dist_to(n);
 290         for (auto o: *this->sobstacles_)
 291                 if (o.dist_to(n) < dist)
 292                         dist = o.dist_to(n);
 293         return n->ocost(dist);
 294 }
 295
 296 bool RRTBase::tlog(std::vector<RRTNode *> t)
 297 {
 298         if (t.size() > 0) {
 299                 this->slog_.push_back(this->elapsed());
 300                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 301                 this->nlog_.push_back(this->nodes_.size());
 302                 this->tlog_.push_back(t);
 303                 return true;
 304         } else {
 305                 return false;
 306         }
 307 }
 308
 309 void RRTBase::tstart()
 310 {
 311         this->tstart_ = std::chrono::high_resolution_clock::now();
 312 }
 313
 314 void RRTBase::tend()
 315 {
 316         this->tend_ = std::chrono::high_resolution_clock::now();
 317 }
 318
 319 bool RRTBase::link_obstacles(
 320                 std::vector<CircleObstacle> *cobstacles,
 321                 std::vector<SegmentObstacle> *sobstacles)
 322 {
 323         this->cobstacles_ = cobstacles;
 324         this->sobstacles_ = sobstacles;
 325         if (!this->cobstacles_ || !this->sobstacles_) {
 326                 return false;
 327         }
 328         return true;
 329 }
 330
 331 bool RRTBase::add_iy(RRTNode *n)
 332 {
 333         int i = IYI(n->y());
 334         if (i < 0)
 335                 i = 0;
 336         if (i >= IYSIZE)
 337                 i = IYSIZE - 1;
 338         this->iy_[i].push_back(n);
 339         return true;
 340 }
 341
 342 bool RRTBase::add_ixy(RRTNode *n)
 343 {
 344         int ix = IXI(n->x());
 345         if (ix < 0)
 346                 ix = 0;
 347         if (ix >= IXSIZE)
 348                 ix = IXSIZE - 1;
 349         int iy = IYI(n->y());
 350         if (iy < 0)
 351                 iy = 0;
 352         if (iy >= IYSIZE)
 353                 iy = IYSIZE - 1;
 354         this->ixy_[ix][iy].add_node(n);
 355         return true;
 356 }
 357
 358 bool RRTBase::goal_found(bool f)
 359 {
 360         this->goal_found_ = f;
 361         return f;
 362 }
 363
 364 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 365 {
 366         for (unsigned int i = 0; i < sc.size() - 1; i++)
 367                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 368         sc[0]->parent(this->goal());
 369         this->slot_cusp_ = sc;
 370 }
 371
 372 // other
 373 bool RRTBase::glplot()
 374 {
 375 #if USE_GL > 0
 376         glClear(GL_COLOR_BUFFER_BIT);
 377         glLineWidth(1);
 378         glPointSize(1);
 379         // Plot obstacles
 380         glBegin(GL_LINES);
 381         for (auto o: *this->sobstacles_) {
 382                 glColor3f(0, 0, 0);
 383                 glVertex2f(GLVERTEX(o.init()));
 384                 glVertex2f(GLVERTEX(o.goal()));
 385         }
 386         glEnd();
 387         // Plot root, goal
 388         glPointSize(8);
 389         glBegin(GL_POINTS);
 390         glColor3f(1, 0, 0);
 391         glVertex2f(GLVERTEX(this->root_));
 392         glVertex2f(GLVERTEX(this->goal_));
 393         glEnd();
 394         // Plot last sample
 395         if (this->samples_.size() > 0) {
 396                 glPointSize(8);
 397                 glBegin(GL_POINTS);
 398                 glColor3f(0, 1, 0);
 399                 glVertex2f(GLVERTEX(this->samples_.back()));
 400                 glEnd();
 401         }
 402         // Plot nodes
 403         std::vector<RRTNode *> s; // DFS stack
 404         std::vector<RRTNode *> r; // reset visited_
 405         RRTNode *tmp;
 406         glBegin(GL_LINES);
 407         s.push_back(this->root_);
 408         while (s.size() > 0) {
 409                 tmp = s.back();
 410                 s.pop_back();
 411                 if (!tmp->visit()) {
 412                         r.push_back(tmp);
 413                         for (auto ch: tmp->children()) {
 414                                 s.push_back(ch);
 415                                 glColor3f(0.5, 0.5, 0.5);
 416                                 glVertex2f(GLVERTEX(tmp));
 417                                 glVertex2f(GLVERTEX(ch));
 418                         }
 419                 }
 420         }
 421         glEnd();
 422         // Plot nodes (from goal)
 423         glBegin(GL_LINES);
 424         s.push_back(this->goal_);
 425         while (s.size() > 0) {
 426                 tmp = s.back();
 427                 s.pop_back();
 428                 if (!tmp->visit()) {
 429                         r.push_back(tmp);
 430                         for (auto ch: tmp->children()) {
 431                                 s.push_back(ch);
 432                                 glColor3f(0.5, 0.5, 0.5);
 433                                 glVertex2f(GLVERTEX(tmp));
 434                                 glVertex2f(GLVERTEX(ch));
 435                         }
 436                 }
 437         }
 438         glEnd();
 439         std::vector<RRTNode *> cusps;
 440         // Plot last trajectory
 441         if (this->tlog().size() > 0) {
 442                 glLineWidth(2);
 443                 glBegin(GL_LINES);
 444                 for (auto n: this->tlog().back()) {
 445                         if (n->parent()) {
 446                                 glColor3f(0, 0, 1);
 447                                 glVertex2f(GLVERTEX(n));
 448                                 glVertex2f(GLVERTEX(n->parent()));
 449                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 450                                         cusps.push_back(n);
 451                         }
 452                 }
 453                 glEnd();
 454         }
 455         // Plot cusps
 456         glPointSize(8);
 457         glBegin(GL_POINTS);
 458         for (auto n: cusps) {
 459                 glColor3f(0, 0, 1);
 460                 glVertex2f(GLVERTEX(n));
 461         }
 462         glEnd();
 463         SDL_GL_SwapWindow(gw);
 464         for (auto n: r)
 465                 n->visit(false);
 466 #endif
 467         return true;
 468 }
 469
 470 bool RRTBase::goal_found(
 471                 RRTNode *node,
 472                 float (*cost)(RRTNode *, RRTNode* ))
 473 {
 474         if (IS_NEAR(node, this->goal_)) {
 475                 if (this->goal_found_) {
 476                         if (node->ccost() + this->cost(node, this->goal_) <
 477                                         this->goal_->ccost()) {
 478                                 RRTNode *op; // old parent
 479                                 float oc; // old cumulative cost
 480                                 float od; // old direct cost
 481                                 op = this->goal_->parent();
 482                                 oc = this->goal_->ccost();
 483                                 od = this->goal_->dcost();
 484                                 node->add_child(this->goal_,
 485                                                 this->cost(node, this->goal_));
 486                                 if (this->collide(node, this->goal_)) {
 487                                         node->children().pop_back();
 488                                         this->goal_->parent(op);
 489                                         this->goal_->ccost(oc);
 490                                         this->goal_->dcost(od);
 491                                 } else {
 492                                         op->rem_child(this->goal_);
 493                                         return true;
 494                                 }
 495                         } else {
 496                                 return false;
 497                         }
 498                 } else {
 499                         node->add_child(
 500                                         this->goal_,
 501                                         this->cost(node, this->goal_));
 502                         if (this->collide(node, this->goal_)) {
 503                                 node->children().pop_back();
 504                                 this->goal_->remove_parent();
 505                                 return false;
 506                         }
 507                         this->goal_found_ = true;
 508                         // Update ccost of goal's parents
 509                         if (this->goals().size() > 0) {
 510                                 RRTNode *ch = this->goals().back();
 511                                 RRTNode *pn = this->goals().back()->parent();
 512                                 while (pn) {
 513                                         pn->ccost(
 514                                                 ch->ccost()
 515                                                 - this->cost(pn, ch)
 516                                         );
 517                                         ch = pn;
 518                                         pn = pn->parent();
 519                                 }
 520                         }
 521                         return true;
 522                 }
 523         }
 524         return false;
 525 }
 526
 527 bool RRTBase::goal_found(
 528         RRTNode *node,
 529         RRTNode *goal
 530 )
 531 {
 532         if (IS_NEAR(node, goal)) {
 533                 if (this->goal_found_) {
 534                         if (
 535                                 goal->ccost() != -1
 536                                 && node->ccost() + this->cost(node, goal)
 537                                 < goal->ccost()
 538                         ) {
 539                                 RRTNode *op; // old parent
 540                                 float oc; // old cumulative cost
 541                                 float od; // old direct cost
 542                                 op = goal->parent();
 543                                 oc = goal->ccost();
 544                                 od = goal->dcost();
 545                                 node->add_child(goal,
 546                                                 this->cost(node, goal));
 547                                 if (this->collide(node, goal)) {
 548                                         node->children().pop_back();
 549                                         goal->parent(op);
 550                                         goal->ccost(oc);
 551                                         goal->dcost(od);
 552                                 } else {
 553                                         op->rem_child(goal);
 554                                         return true;
 555                                 }
 556                         } else {
 557                                 return false;
 558                         }
 559                 } else {
 560                         node->add_child(
 561                                 goal,
 562                                 this->cost(node, goal)
 563                         );
 564                         if (this->collide(node, goal)) {
 565                                 node->children().pop_back();
 566                                 goal->remove_parent();
 567                                 return false;
 568                         }
 569                         this->goal_found_ = true;
 570                         // Update ccost of goal's children
 571                         goal->update_ccost();
 572                         // Update ccost of goals
 573                         for (auto g: this->goals()) {
 574                                 if (g == goal)
 575                                         break;
 576                                 g->ccost(-1);
 577                         }
 578                         return true;
 579                 }
 580         }
 581         return false;
 582 }
 583
 584 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 585 {
 586         std::vector<RRTEdge *> edges;
 587         RRTNode *tmp = goal;
 588         volatile bool col = false;
 589         unsigned int i;
 590         while (tmp != init) {
 591                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 592                 std::vector<RRTEdge *> bcframe = bc.frame();
 593                 #pragma omp parallel for reduction(|: col)
 594                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 595                         if ((*this->cobstacles_)[i].collide(tmp)) {
 596                                 col = true;
 597                         }
 598                         for (auto &e: bcframe) {
 599                                 if ((*this->cobstacles_)[i].collide(e)) {
 600                                         col = true;
 601                                 }
 602                         }
 603                 }
 604                 if (col) {
 605                         for (auto e: bcframe) {
 606                                 delete e->init();
 607                                 delete e->goal();
 608                                 delete e;
 609                         }
 610                         for (auto e: edges) {
 611                                 delete e;
 612                         }
 613                         return true;
 614                 }
 615                 #pragma omp parallel for reduction(|: col)
 616                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 617                         for (auto &e: bcframe) {
 618                                 if ((*this->sobstacles_)[i].collide(e)) {
 619                                         col = true;
 620                                 }
 621                         }
 622                 }
 623                 if (col) {
 624                         for (auto e: bcframe) {
 625                                 delete e->init();
 626                                 delete e->goal();
 627                                 delete e;
 628                         }
 629                         for (auto e: edges) {
 630                                 delete e;
 631                         }
 632                         return true;
 633                 }
 634                 if (!tmp->parent()) {
 635                         break;
 636                 }
 637                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 638                 tmp = tmp->parent();
 639                 for (auto e: bcframe) {
 640                         delete e->init();
 641                         delete e->goal();
 642                         delete e;
 643                 }
 644         }
 645         for (auto &e: edges) {
 646                 #pragma omp parallel for reduction(|: col)
 647                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 648                         if ((*this->cobstacles_)[i].collide(e)) {
 649                                 col = true;
 650                         }
 651                 }
 652                 if (col) {
 653                         for (auto e: edges) {
 654                                 delete e;
 655                         }
 656                         return true;
 657                 }
 658                 #pragma omp parallel for reduction(|: col)
 659                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 660                         if ((*this->sobstacles_)[i].collide(e)) {
 661                                 col = true;
 662                         }
 663                 }
 664                 if (col) {
 665                         for (auto e: edges) {
 666                                 delete e;
 667                         }
 668                         return true;
 669                 }
 670         }
 671         for (auto e: edges) {
 672                 delete e;
 673         }
 674         return false;
 675 }
 676
 677 class RRTNodeDijkstra {
 678         public:
 679                 RRTNodeDijkstra(int i):
 680                         ni(i),
 681                         pi(0),
 682                         c(9999),
 683                         v(false)
 684                 {};
 685                 RRTNodeDijkstra(int i, float c):
 686                         ni(i),
 687                         pi(0),
 688                         c(c),
 689                         v(false)
 690                 {};
 691                 RRTNodeDijkstra(int i, int p, float c):
 692                         ni(i),
 693                         pi(p),
 694                         c(c),
 695                         v(false)
 696                 {};
 697                 unsigned int ni;
 698                 unsigned int pi;
 699                 float c;
 700                 bool v;
 701                 bool vi()
 702                 {
 703                         if (this->v)
 704                                 return true;
 705                         this->v = true;
 706                         return false;
 707                 };
 708 };
 709
 710 class RRTNodeDijkstraComparator {
 711         public:
 712                 int operator() (
 713                                 const RRTNodeDijkstra& n1,
 714                                 const RRTNodeDijkstra& n2)
 715                 {
 716                         return n1.c > n2.c;
 717                 }
 718 };
 719
 720 bool RRTBase::optp_dijkstra(
 721                 std::vector<RRTNode *> &cusps,
 722                 std::vector<int> &npi)
 723 {
 724         std::vector<RRTNodeDijkstra> dnodes;
 725         for (unsigned int i = 0; i < cusps.size(); i++)
 726                 if (i > 0)
 727                         dnodes.push_back(RRTNodeDijkstra(
 728                                                 i,
 729                                                 i - 1,
 730                                                 cusps[i]->ccost()));
 731                 else
 732                         dnodes.push_back(RRTNodeDijkstra(
 733                                                 i,
 734                                                 cusps[i]->ccost()));
 735         dnodes[0].vi();
 736         std::priority_queue<
 737                 RRTNodeDijkstra,
 738                 std::vector<RRTNodeDijkstra>,
 739                 RRTNodeDijkstraComparator> pq;
 740         RRTNodeDijkstra tmp = dnodes[0];
 741         pq.push(tmp);
 742         float ch_cost = 9999;
 743         std::vector<RRTNode *> steered;
 744         while (!pq.empty()) {
 745                 tmp = pq.top();
 746                 pq.pop();
 747                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 748                         ch_cost = dnodes[tmp.ni].c +
 749                                 this->cost(cusps[tmp.ni], cusps[i]);
 750                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 751                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 752                                 steered[j]->add_child(steered[j + 1], 1);
 753                         if (this->collide(
 754                                         steered[0],
 755                                         steered[steered.size() - 1])) {
 756                                 for (auto n: steered)
 757                                         delete n;
 758                                 continue;
 759                         }
 760                         if (ch_cost < dnodes[i].c) {
 761                                 dnodes[i].c = ch_cost;
 762                                 dnodes[i].pi = tmp.ni;
 763                                 if (!dnodes[i].vi())
 764                                         pq.push(dnodes[i]);
 765                         }
 766                         for (auto n: steered)
 767                                 delete n;
 768                 }
 769         }
 770         unsigned int tmpi = 0;
 771         for (auto n: dnodes) {
 772                 if (n.v && n.ni > tmpi)
 773                         tmpi = n.ni;
 774         }
 775         while (tmpi > 0) {
 776                 npi.push_back(tmpi);
 777                 tmpi = dnodes[tmpi].pi;
 778         }
 779         npi.push_back(tmpi);
 780         std::reverse(npi.begin(), npi.end());
 781         return true;
 782 }
 783
 784 bool RRTBase::optp_rrp(
 785                 std::vector<RRTNode *> &cusps,
 786                 std::vector<int> &npi)
 787 {
 788         std::vector<RRTNode *> steered;
 789         std::vector<int> candidates;
 790         RRTNode *x_j = nullptr;
 791         RRTNode *x_i = nullptr;
 792         int j = cusps.size() - 1;
 793         int i_min = 0;
 794         float c_min = 0;
 795         float cost = 0;
 796         float dx = 0;
 797         float dy = 0;
 798         float ed = 0;
 799         float th_i = 0;
 800         float th_j = 0;
 801         while (j > 0) {
 802                 npi.push_back(j);
 803                 steered.clear();
 804                 candidates.clear();
 805                 x_j = cusps[j];
 806                 for (int i = 0; i < j; i++) {
 807                         steered = this->steer(cusps[i], x_j);
 808                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 809                                 steered[k]->add_child(steered[k + 1], 1);
 810                         if (!this->collide(
 811                                         steered[0],
 812                                         steered[steered.size() - 1]))
 813                                 candidates.push_back(i);
 814                 }
 815                 if (candidates.size() <= 0)
 816                         return false;
 817                 i_min = candidates[0];
 818                 x_i = cusps[i_min];
 819                 c_min = 9999;
 820                 for (auto c: candidates) {
 821                         x_i = cusps[c];
 822                         dx = x_j->x() - x_i->x();
 823                         dy = x_j->y() - x_i->y();
 824                         ed = EDIST(x_i, x_j);
 825                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 826                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 827                         cost = th_i + th_j;
 828                         if (cost < c_min) {
 829                                 i_min = c;
 830                                 c_min = cost;
 831                         }
 832                 }
 833                 j = i_min;
 834
 835         }
 836         npi.push_back(j);
 837         std::reverse(npi.begin(), npi.end());
 838         return true;
 839 }
 840
 841 bool RRTBase::optp_smart(
 842                 std::vector<RRTNode *> &cusps,
 843                 std::vector<int> &npi)
 844 {
 845         std::vector<RRTNode *> steered;
 846         int li = cusps.size() - 1;
 847         int ai = li - 1;
 848         npi.push_back(li);
 849         while (ai > 1) {
 850                 steered = this->steer(cusps[ai - 1], cusps[li]);
 851                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 852                         steered[j]->add_child(steered[j + 1], 1);
 853                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 854                         npi.push_back(ai);
 855                         li = ai;
 856                 }
 857                 ai--;
 858                 for (auto n: steered)
 859                         delete n;
 860         }
 861         npi.push_back(0);
 862         std::reverse(npi.begin(), npi.end());
 863         return true;
 864 }
 865
 866 bool RRTBase::opt_path()
 867 {
 868         if (this->tlog().size() == 0)
 869                 return false;
 870         float oc = this->tlog().back().front()->ccost();
 871         std::vector<RRTNode *> tmp_cusps;
 872         for (auto n: this->tlog().back()) {
 873                 if (sgn(n->s()) == 0) {
 874                         tmp_cusps.push_back(n);
 875                 } else if (n->parent() &&
 876                                 sgn(n->s()) != sgn(n->parent()->s())) {
 877                         tmp_cusps.push_back(n);
 878                         tmp_cusps.push_back(n->parent());
 879                 }
 880                 //tmp_cusps.push_back(n);
 881         }
 882         if (tmp_cusps.size() < 2)
 883                 return false;
 884         std::vector<RRTNode *> cusps;
 885         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 886                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 887                         cusps.push_back(tmp_cusps[i]);
 888         }
 889         std::reverse(cusps.begin(), cusps.end());
 890         std::vector<int> npi; // new path indexes
 891         if (!this->optp_dijkstra(cusps, npi))
 892                 return false;
 893         RRTNode *pn = cusps[npi[0]];
 894         RRTNode *tmp = nullptr;
 895         bool en_add = true;
 896         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 897                 pn = cusps[npi[i]];
 898                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 899                         if (!en_add) {
 900                                 delete ns;
 901                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 902                                 tmp = ns;
 903                                 while (tmp && tmp != cusps[npi[i]]) {
 904                                         pn = tmp->parent();
 905                                         delete tmp;
 906                                         tmp = pn;
 907                                 }
 908                                 pn = cusps[npi[i]];
 909                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 910                                 delete ns;
 911                                 cusps[npi[i + 1]]->parent()->rem_child(
 912                                                 cusps[npi[i + 1]]);
 913                                 pn->add_child(
 914                                         cusps[npi[i + 1]],
 915                                         this->cost(pn, cusps[npi[i + 1]]));
 916                                 en_add = false;
 917                         } else if (IS_NEAR(pn, ns)) {
 918                                 delete ns;
 919                         } else {
 920                                 this->nodes().push_back(ns);
 921                                 this->add_iy(ns);
 922                                 this->add_ixy(ns);
 923                                 pn->add_child(ns, this->cost(pn, ns));
 924                                 pn = ns;
 925                         }
 926                 }
 927         }
 928         this->root()->update_ccost();
 929         if (this->tlog().back().front()->ccost() < oc)
 930                 return true;
 931         return false;
 932 }
 933
 934 bool RRTBase::rebase(RRTNode *nr)
 935 {
 936         if (!nr || this->goal_ == nr || this->root_ == nr)
 937                 return false;
 938         std::vector<RRTNode *> s; // DFS stack
 939         RRTNode *tmp;
 940         unsigned int i = 0;
 941         unsigned int to_del = 0;
 942         int iy = 0;
 943         s.push_back(this->root_);
 944         while (s.size() > 0) {
 945                 tmp = s.back();
 946                 s.pop_back();
 947                 for (auto ch: tmp->children()) {
 948                         if (ch != nr)
 949                                 s.push_back(ch);
 950                 }
 951                 to_del = this->nodes_.size();
 952                 #pragma omp parallel for reduction(min: to_del)
 953                 for (i = 0; i < this->nodes_.size(); i++) {
 954                         if (this->nodes_[i] == tmp)
 955                                 to_del = i;
 956                 }
 957                 if (to_del < this->nodes_.size())
 958                         this->nodes_.erase(this->nodes_.begin() + to_del);
 959                 iy = IYI(tmp->y());
 960                 to_del = this->iy_[iy].size();
 961                 #pragma omp parallel  for reduction(min: to_del)
 962                 for (i = 0; i < this->iy_[iy].size(); i++) {
 963                         if (this->iy_[iy][i] == tmp)
 964                                 to_del = i;
 965                 }
 966                 if (to_del < this->iy_[iy].size())
 967                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 968                 this->dnodes().push_back(tmp);
 969         }
 970         this->root_ = nr;
 971         this->root_->remove_parent();
 972         return true;
 973 }
 974
 975 std::vector<RRTNode *> RRTBase::findt()
 976 {
 977         return this->findt(this->goal_);
 978 }
 979
 980 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 981 {
 982         std::vector<RRTNode *> nodes;
 983         if (!n || !n->parent())
 984                 return nodes;
 985         while (n) {
 986                 nodes.push_back(n);
 987                 n = n->parent();
 988         }
 989         return nodes;
 990 }
 991
 992 // RRT Framework
 993 RRTNode *RRTBase::sample()
 994 {
 995         if (this->useSamplingInfo_ && this->nodes().size() % 2 == 0) {
 996                 float x = static_cast<float>(rand());
 997                 x /= static_cast<float>(RAND_MAX / this->samplingInfo_.x);
 998                 x -= this->samplingInfo_.x / 2;
 999                 x += this->samplingInfo_.x0;
1000                 float y = static_cast<float>(rand());
1001                 y /= static_cast<float>(RAND_MAX / this->samplingInfo_.y);
1002                 y -= this->samplingInfo_.y / 2;
1003                 y += this->samplingInfo_.y0;
1004                 float h = static_cast<float>(rand());
1005                 h /= static_cast<float>(RAND_MAX / this->samplingInfo_.h);
1006                 h -= this->samplingInfo_.h / 2;
1007                 h += this->samplingInfo_.h0;
1008                 return new RRTNode(x, y, h);
1009         } else {
1010                 float x = this->ndx_(this->gen_);
1011                 float y = this->ndy_(this->gen_);
1012                 float h = this->ndh_(this->gen_);
1013                 return new RRTNode(x, y, h);
1014         }
1015 }
1016
1017 float RRTBase::cost(RRTNode *init, RRTNode *goal)
1018 {
1019         return co2(init, goal);
1020 }
1021
1022 RRTNode *RRTBase::nn(RRTNode *rs)
1023 {
1024         return nn4(this->iy_, rs, nullptr);
1025         //return nn3(this->iy_, rs, nullptr);
1026 }
1027
1028 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
1029 {
1030         std::vector<RRTNode *> nvs;
1031         unsigned int iy = IYI(node->y());
1032         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
1033         unsigned int i = 0; // vector index
1034         unsigned int j = 0; // array index
1035         unsigned int jmin = 0; // minimal j index
1036         unsigned int jmax = 0; // maximal j index
1037         jmin = iy - iy_dist;
1038         jmin = (jmin > 0) ? jmin : 0;
1039         jmax = iy + iy_dist + 1;
1040         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
1041         #pragma omp parallel for reduction(merge: nvs)
1042         for (j = jmin; j < jmax; j++) {
1043                 #pragma omp parallel for reduction(merge: nvs)
1044                 for (i = 0; i < this->iy_[j].size(); i++) {
1045                         if (this->cost(this->iy_[j][i], node) < dist) {
1046                                 nvs.push_back(this->iy_[j][i]);
1047                         }
1048                 }
1049         }
1050         return nvs;
1051 }
1052
1053 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
1054 {
1055         return st3(init, goal);
1056 }
1057
1058 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
1059 {
1060         return st3(init, goal, step);
1061 }