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 {
  99         this->nodes_.reserve(NOFNODES);
 100         this->nodes_.push_back(this->root_);
 101         this->add_iy(this->root_);
 102         this->add_ixy(this->root_);
 103 }
 104
 105 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
 106         root_(init),
 107         goal_(goal),
 108         gen_(std::random_device{}())
 109 {
 110         this->nodes_.reserve(NOFNODES);
 111         this->nodes_.push_back(init);
 112         this->add_iy(init);
 113         this->add_ixy(init);
 114 }
 115
 116 // getter
 117 RRTNode *RRTBase::root()
 118 {
 119         return this->root_;
 120 }
 121
 122 RRTNode *RRTBase::goal()
 123 {
 124         return this->goal_;
 125 }
 126
 127 std::vector<RRTNode *> &RRTBase::nodes()
 128 {
 129         return this->nodes_;
 130 }
 131
 132 std::vector<RRTNode *> &RRTBase::dnodes()
 133 {
 134         return this->dnodes_;
 135 }
 136
 137 PolygonObstacle &RRTBase::frame()
 138 {
 139         return this->frame_;
 140 }
 141
 142 std::vector<RRTNode *> &RRTBase::samples()
 143 {
 144         return this->samples_;
 145 }
 146
 147 std::vector<CircleObstacle> *RRTBase::co()
 148 {
 149         return this->cobstacles_;
 150 }
 151
 152 std::vector<SegmentObstacle> *RRTBase::so()
 153 {
 154         return this->sobstacles_;
 155 }
 156
 157 std::vector<float> &RRTBase::clog()
 158 {
 159         return this->clog_;
 160 }
 161
 162 std::vector<float> &RRTBase::nlog()
 163 {
 164         return this->nlog_;
 165 }
 166
 167 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 168 {
 169         return this->rlog_;
 170 }
 171
 172 std::vector<float> &RRTBase::slog()
 173 {
 174         return this->slog_;
 175 }
 176
 177 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 178 {
 179         return this->tlog_;
 180 }
 181
 182 std::vector<RRTNode *> &RRTBase::slot_cusp()
 183 {
 184         return this->slot_cusp_;
 185 }
 186
 187 bool RRTBase::goal_found()
 188 {
 189         return this->goal_found_;
 190 }
 191
 192 float RRTBase::elapsed()
 193 {
 194         std::chrono::duration<float> dt;
 195         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 196                         this->tend_ - this->tstart_);
 197         return dt.count();
 198 }
 199
 200 std::vector<RRTNode *> RRTBase::traj_cusp()
 201 {
 202         std::vector<RRTNode *> tmp_cusps;
 203         for (auto n: this->tlog().back()) {
 204                 if (sgn(n->s()) == 0) {
 205                         tmp_cusps.push_back(n);
 206                 } else if (n->parent() &&
 207                                 sgn(n->s()) != sgn(n->parent()->s())) {
 208                         tmp_cusps.push_back(n);
 209                         tmp_cusps.push_back(n->parent());
 210                 }
 211         }
 212         std::vector<RRTNode *> cusps;
 213         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 214                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 215                         cusps.push_back(tmp_cusps[i]);
 216         }
 217         return cusps;
 218 }
 219
 220 // setter
 221 void RRTBase::root(RRTNode *node)
 222 {
 223         this->root_ = node;
 224 }
 225
 226 void RRTBase::goal(RRTNode *node)
 227 {
 228         this->goal_ = node;
 229 }
 230
 231 bool RRTBase::logr(RRTNode *root)
 232 {
 233         std::vector<RRTEdge *> e; // Edges to log
 234         std::vector<RRTNode *> s; // DFS stack
 235         std::vector<RRTNode *> r; // reset visited_
 236         RRTNode *tmp;
 237         s.push_back(root);
 238         while (s.size() > 0) {
 239                 tmp = s.back();
 240                 s.pop_back();
 241                 if (!tmp->visit()) {
 242                         r.push_back(tmp);
 243                         for (auto ch: tmp->children()) {
 244                                 s.push_back(ch);
 245                                 e.push_back(new RRTEdge(tmp, ch));
 246                         }
 247                 }
 248         }
 249         for (auto n: r)
 250                 n->visit(false);
 251         this->rlog_.push_back(e);
 252         return true;
 253 }
 254
 255 float RRTBase::ocost(RRTNode *n)
 256 {
 257         float dist = 9999;
 258         for (auto o: *this->cobstacles_)
 259                 if (o.dist_to(n) < dist)
 260                         dist = o.dist_to(n);
 261         for (auto o: *this->sobstacles_)
 262                 if (o.dist_to(n) < dist)
 263                         dist = o.dist_to(n);
 264         return n->ocost(dist);
 265 }
 266
 267 bool RRTBase::tlog(std::vector<RRTNode *> t)
 268 {
 269         if (t.size() > 0) {
 270                 this->slog_.push_back(this->elapsed());
 271                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 272                 this->nlog_.push_back(this->nodes_.size());
 273                 this->tlog_.push_back(t);
 274                 return true;
 275         } else {
 276                 return false;
 277         }
 278 }
 279
 280 void RRTBase::tstart()
 281 {
 282         this->tstart_ = std::chrono::high_resolution_clock::now();
 283 }
 284
 285 void RRTBase::tend()
 286 {
 287         this->tend_ = std::chrono::high_resolution_clock::now();
 288 }
 289
 290 bool RRTBase::link_obstacles(
 291                 std::vector<CircleObstacle> *cobstacles,
 292                 std::vector<SegmentObstacle> *sobstacles)
 293 {
 294         this->cobstacles_ = cobstacles;
 295         this->sobstacles_ = sobstacles;
 296         if (!this->cobstacles_ || !this->sobstacles_) {
 297                 return false;
 298         }
 299         return true;
 300 }
 301
 302 bool RRTBase::add_iy(RRTNode *n)
 303 {
 304         int i = IYI(n->y());
 305         if (i < 0)
 306                 i = 0;
 307         if (i >= IYSIZE)
 308                 i = IYSIZE - 1;
 309         this->iy_[i].push_back(n);
 310         return true;
 311 }
 312
 313 bool RRTBase::add_ixy(RRTNode *n)
 314 {
 315         int ix = IXI(n->x());
 316         if (ix < 0)
 317                 ix = 0;
 318         if (ix >= IXSIZE)
 319                 ix = IXSIZE - 1;
 320         int iy = IYI(n->y());
 321         if (iy < 0)
 322                 iy = 0;
 323         if (iy >= IYSIZE)
 324                 iy = IYSIZE - 1;
 325         this->ixy_[ix][iy].add_node(n);
 326         return true;
 327 }
 328
 329 bool RRTBase::goal_found(bool f)
 330 {
 331         this->goal_found_ = f;
 332         return f;
 333 }
 334
 335 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 336 {
 337         for (unsigned int i = 0; i < sc.size() - 1; i++)
 338                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 339         sc[0]->parent(this->goal());
 340         this->slot_cusp_ = sc;
 341 }
 342
 343 // other
 344 bool RRTBase::glplot()
 345 {
 346 #if USE_GL > 0
 347         glClear(GL_COLOR_BUFFER_BIT);
 348         glLineWidth(1);
 349         glPointSize(1);
 350         // Plot obstacles
 351         glBegin(GL_LINES);
 352         for (auto o: *this->sobstacles_) {
 353                 glColor3f(0, 0, 0);
 354                 glVertex2f(GLVERTEX(o.init()));
 355                 glVertex2f(GLVERTEX(o.goal()));
 356         }
 357         glEnd();
 358         // Plot root, goal
 359         glPointSize(8);
 360         glBegin(GL_POINTS);
 361         glColor3f(1, 0, 0);
 362         glVertex2f(GLVERTEX(this->root_));
 363         glVertex2f(GLVERTEX(this->goal_));
 364         glEnd();
 365         // Plot last sample
 366         if (this->samples_.size() > 0) {
 367                 glPointSize(8);
 368                 glBegin(GL_POINTS);
 369                 glColor3f(0, 1, 0);
 370                 glVertex2f(GLVERTEX(this->samples_.back()));
 371                 glEnd();
 372         }
 373         // Plot nodes
 374         std::vector<RRTNode *> s; // DFS stack
 375         std::vector<RRTNode *> r; // reset visited_
 376         RRTNode *tmp;
 377         glBegin(GL_LINES);
 378         s.push_back(this->root_);
 379         while (s.size() > 0) {
 380                 tmp = s.back();
 381                 s.pop_back();
 382                 if (!tmp->visit()) {
 383                         r.push_back(tmp);
 384                         for (auto ch: tmp->children()) {
 385                                 s.push_back(ch);
 386                                 glColor3f(0.5, 0.5, 0.5);
 387                                 glVertex2f(GLVERTEX(tmp));
 388                                 glVertex2f(GLVERTEX(ch));
 389                         }
 390                 }
 391         }
 392         glEnd();
 393         // Plot nodes (from goal)
 394         glBegin(GL_LINES);
 395         s.push_back(this->goal_);
 396         while (s.size() > 0) {
 397                 tmp = s.back();
 398                 s.pop_back();
 399                 if (!tmp->visit()) {
 400                         r.push_back(tmp);
 401                         for (auto ch: tmp->children()) {
 402                                 s.push_back(ch);
 403                                 glColor3f(0.5, 0.5, 0.5);
 404                                 glVertex2f(GLVERTEX(tmp));
 405                                 glVertex2f(GLVERTEX(ch));
 406                         }
 407                 }
 408         }
 409         glEnd();
 410         std::vector<RRTNode *> cusps;
 411         // Plot last trajectory
 412         if (this->tlog().size() > 0) {
 413                 glLineWidth(2);
 414                 glBegin(GL_LINES);
 415                 for (auto n: this->tlog().back()) {
 416                         if (n->parent()) {
 417                                 glColor3f(0, 0, 1);
 418                                 glVertex2f(GLVERTEX(n));
 419                                 glVertex2f(GLVERTEX(n->parent()));
 420                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 421                                         cusps.push_back(n);
 422                         }
 423                 }
 424                 glEnd();
 425         }
 426         // Plot cusps
 427         glPointSize(8);
 428         glBegin(GL_POINTS);
 429         for (auto n: cusps) {
 430                 glColor3f(0, 0, 1);
 431                 glVertex2f(GLVERTEX(n));
 432         }
 433         glEnd();
 434         SDL_GL_SwapWindow(gw);
 435         for (auto n: r)
 436                 n->visit(false);
 437 #endif
 438         return true;
 439 }
 440
 441 bool RRTBase::goal_found(
 442                 RRTNode *node,
 443                 float (*cost)(RRTNode *, RRTNode* ))
 444 {
 445         if (IS_NEAR(node, this->goal_)) {
 446                 if (this->goal_found_) {
 447                         if (node->ccost() + this->cost(node, this->goal_) <
 448                                         this->goal_->ccost()) {
 449                                 RRTNode *op; // old parent
 450                                 float oc; // old cumulative cost
 451                                 float od; // old direct cost
 452                                 op = this->goal_->parent();
 453                                 oc = this->goal_->ccost();
 454                                 od = this->goal_->dcost();
 455                                 node->add_child(this->goal_,
 456                                                 this->cost(node, this->goal_));
 457                                 if (this->collide(node, this->goal_)) {
 458                                         node->children().pop_back();
 459                                         this->goal_->parent(op);
 460                                         this->goal_->ccost(oc);
 461                                         this->goal_->dcost(od);
 462                                 } else {
 463                                         op->rem_child(this->goal_);
 464                                         return true;
 465                                 }
 466                         } else {
 467                                 return false;
 468                         }
 469                 } else {
 470                         node->add_child(
 471                                         this->goal_,
 472                                         this->cost(node, this->goal_));
 473                         if (this->collide(node, this->goal_)) {
 474                                 node->children().pop_back();
 475                                 this->goal_->remove_parent();
 476                                 return false;
 477                         }
 478                         this->goal_found_ = true;
 479                         return true;
 480                 }
 481         }
 482         return false;
 483 }
 484
 485 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 486 {
 487         std::vector<RRTEdge *> edges;
 488         RRTNode *tmp = goal;
 489         volatile bool col = false;
 490         unsigned int i;
 491         while (tmp != init) {
 492                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 493                 std::vector<RRTEdge *> bcframe = bc.frame();
 494                 #pragma omp parallel for reduction(|: col)
 495                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 496                         if ((*this->cobstacles_)[i].collide(tmp)) {
 497                                 col = true;
 498                         }
 499                         for (auto &e: bcframe) {
 500                                 if ((*this->cobstacles_)[i].collide(e)) {
 501                                         col = true;
 502                                 }
 503                         }
 504                 }
 505                 if (col) {
 506                         for (auto e: bcframe) {
 507                                 delete e->init();
 508                                 delete e->goal();
 509                                 delete e;
 510                         }
 511                         for (auto e: edges) {
 512                                 delete e;
 513                         }
 514                         return true;
 515                 }
 516                 #pragma omp parallel for reduction(|: col)
 517                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 518                         for (auto &e: bcframe) {
 519                                 if ((*this->sobstacles_)[i].collide(e)) {
 520                                         col = true;
 521                                 }
 522                         }
 523                 }
 524                 if (col) {
 525                         for (auto e: bcframe) {
 526                                 delete e->init();
 527                                 delete e->goal();
 528                                 delete e;
 529                         }
 530                         for (auto e: edges) {
 531                                 delete e;
 532                         }
 533                         return true;
 534                 }
 535                 if (!tmp->parent()) {
 536                         break;
 537                 }
 538                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 539                 tmp = tmp->parent();
 540                 for (auto e: bcframe) {
 541                         delete e->init();
 542                         delete e->goal();
 543                         delete e;
 544                 }
 545         }
 546         for (auto &e: edges) {
 547                 #pragma omp parallel for reduction(|: col)
 548                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 549                         if ((*this->cobstacles_)[i].collide(e)) {
 550                                 col = true;
 551                         }
 552                 }
 553                 if (col) {
 554                         for (auto e: edges) {
 555                                 delete e;
 556                         }
 557                         return true;
 558                 }
 559                 #pragma omp parallel for reduction(|: col)
 560                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 561                         if ((*this->sobstacles_)[i].collide(e)) {
 562                                 col = true;
 563                         }
 564                 }
 565                 if (col) {
 566                         for (auto e: edges) {
 567                                 delete e;
 568                         }
 569                         return true;
 570                 }
 571         }
 572         for (auto e: edges) {
 573                 delete e;
 574         }
 575         return false;
 576 }
 577
 578 class RRTNodeDijkstra {
 579         public:
 580                 RRTNodeDijkstra(int i):
 581                         ni(i),
 582                         pi(0),
 583                         c(9999),
 584                         v(false)
 585                 {};
 586                 RRTNodeDijkstra(int i, float c):
 587                         ni(i),
 588                         pi(0),
 589                         c(c),
 590                         v(false)
 591                 {};
 592                 RRTNodeDijkstra(int i, int p, float c):
 593                         ni(i),
 594                         pi(p),
 595                         c(c),
 596                         v(false)
 597                 {};
 598                 unsigned int ni;
 599                 unsigned int pi;
 600                 float c;
 601                 bool v;
 602                 bool vi()
 603                 {
 604                         if (this->v)
 605                                 return true;
 606                         this->v = true;
 607                         return false;
 608                 };
 609 };
 610
 611 class RRTNodeDijkstraComparator {
 612         public:
 613                 int operator() (
 614                                 const RRTNodeDijkstra& n1,
 615                                 const RRTNodeDijkstra& n2)
 616                 {
 617                         return n1.c > n2.c;
 618                 }
 619 };
 620
 621 bool RRTBase::optp_dijkstra(
 622                 std::vector<RRTNode *> &cusps,
 623                 std::vector<int> &npi)
 624 {
 625         std::vector<RRTNodeDijkstra> dnodes;
 626         for (unsigned int i = 0; i < cusps.size(); i++)
 627                 if (i > 0)
 628                         dnodes.push_back(RRTNodeDijkstra(
 629                                                 i,
 630                                                 i - 1,
 631                                                 cusps[i]->ccost()));
 632                 else
 633                         dnodes.push_back(RRTNodeDijkstra(
 634                                                 i,
 635                                                 cusps[i]->ccost()));
 636         dnodes[0].vi();
 637         std::priority_queue<
 638                 RRTNodeDijkstra,
 639                 std::vector<RRTNodeDijkstra>,
 640                 RRTNodeDijkstraComparator> pq;
 641         RRTNodeDijkstra tmp = dnodes[0];
 642         pq.push(tmp);
 643         float ch_cost = 9999;
 644         std::vector<RRTNode *> steered;
 645         while (!pq.empty()) {
 646                 tmp = pq.top();
 647                 pq.pop();
 648                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 649                         ch_cost = dnodes[tmp.ni].c +
 650                                 this->cost(cusps[tmp.ni], cusps[i]);
 651                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 652                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 653                                 steered[j]->add_child(steered[j + 1], 1);
 654                         if (this->collide(
 655                                         steered[0],
 656                                         steered[steered.size() - 1])) {
 657                                 for (auto n: steered)
 658                                         delete n;
 659                                 continue;
 660                         }
 661                         if (ch_cost < dnodes[i].c) {
 662                                 dnodes[i].c = ch_cost;
 663                                 dnodes[i].pi = tmp.ni;
 664                                 if (!dnodes[i].vi())
 665                                         pq.push(dnodes[i]);
 666                         }
 667                         for (auto n: steered)
 668                                 delete n;
 669                 }
 670         }
 671         unsigned int tmpi = 0;
 672         for (auto n: dnodes) {
 673                 if (n.v && n.ni > tmpi)
 674                         tmpi = n.ni;
 675         }
 676         while (tmpi > 0) {
 677                 npi.push_back(tmpi);
 678                 tmpi = dnodes[tmpi].pi;
 679         }
 680         npi.push_back(tmpi);
 681         std::reverse(npi.begin(), npi.end());
 682         return true;
 683 }
 684
 685 bool RRTBase::optp_rrp(
 686                 std::vector<RRTNode *> &cusps,
 687                 std::vector<int> &npi)
 688 {
 689         std::vector<RRTNode *> steered;
 690         std::vector<int> candidates;
 691         RRTNode *x_j = nullptr;
 692         RRTNode *x_i = nullptr;
 693         int j = cusps.size() - 1;
 694         int i_min = 0;
 695         float c_min = 0;
 696         float cost = 0;
 697         float dx = 0;
 698         float dy = 0;
 699         float ed = 0;
 700         float th_i = 0;
 701         float th_j = 0;
 702         while (j > 0) {
 703                 npi.push_back(j);
 704                 steered.clear();
 705                 candidates.clear();
 706                 x_j = cusps[j];
 707                 for (int i = 0; i < j; i++) {
 708                         steered = this->steer(cusps[i], x_j);
 709                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 710                                 steered[k]->add_child(steered[k + 1], 1);
 711                         if (!this->collide(
 712                                         steered[0],
 713                                         steered[steered.size() - 1]))
 714                                 candidates.push_back(i);
 715                 }
 716                 if (candidates.size() <= 0)
 717                         return false;
 718                 i_min = candidates[0];
 719                 x_i = cusps[i_min];
 720                 c_min = 9999;
 721                 for (auto c: candidates) {
 722                         x_i = cusps[c];
 723                         dx = x_j->x() - x_i->x();
 724                         dy = x_j->y() - x_i->y();
 725                         ed = EDIST(x_i, x_j);
 726                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 727                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 728                         cost = th_i + th_j;
 729                         if (cost < c_min) {
 730                                 i_min = c;
 731                                 c_min = cost;
 732                         }
 733                 }
 734                 j = i_min;
 735
 736         }
 737         npi.push_back(j);
 738         std::reverse(npi.begin(), npi.end());
 739         return true;
 740 }
 741
 742 bool RRTBase::optp_smart(
 743                 std::vector<RRTNode *> &cusps,
 744                 std::vector<int> &npi)
 745 {
 746         std::vector<RRTNode *> steered;
 747         int li = cusps.size() - 1;
 748         int ai = li - 1;
 749         npi.push_back(li);
 750         while (ai > 1) {
 751                 steered = this->steer(cusps[ai - 1], cusps[li]);
 752                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 753                         steered[j]->add_child(steered[j + 1], 1);
 754                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 755                         npi.push_back(ai);
 756                         li = ai;
 757                 }
 758                 ai--;
 759                 for (auto n: steered)
 760                         delete n;
 761         }
 762         npi.push_back(0);
 763         std::reverse(npi.begin(), npi.end());
 764         return true;
 765 }
 766
 767 bool RRTBase::opt_path()
 768 {
 769         if (this->tlog().size() == 0)
 770                 return false;
 771         float oc = this->tlog().back().front()->ccost();
 772         std::vector<RRTNode *> tmp_cusps;
 773         for (auto n: this->tlog().back()) {
 774                 if (sgn(n->s()) == 0) {
 775                         tmp_cusps.push_back(n);
 776                 } else if (n->parent() &&
 777                                 sgn(n->s()) != sgn(n->parent()->s())) {
 778                         tmp_cusps.push_back(n);
 779                         tmp_cusps.push_back(n->parent());
 780                 }
 781                 //tmp_cusps.push_back(n);
 782         }
 783         if (tmp_cusps.size() < 2)
 784                 return false;
 785         std::vector<RRTNode *> cusps;
 786         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 787                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 788                         cusps.push_back(tmp_cusps[i]);
 789         }
 790         std::reverse(cusps.begin(), cusps.end());
 791         std::vector<int> npi; // new path indexes
 792         if (!this->optp_dijkstra(cusps, npi))
 793                 return false;
 794         RRTNode *pn = cusps[npi[0]];
 795         RRTNode *tmp = nullptr;
 796         bool en_add = true;
 797         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 798                 pn = cusps[npi[i]];
 799                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 800                         if (!en_add) {
 801                                 delete ns;
 802                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 803                                 tmp = ns;
 804                                 while (tmp && tmp != cusps[npi[i]]) {
 805                                         pn = tmp->parent();
 806                                         delete tmp;
 807                                         tmp = pn;
 808                                 }
 809                                 pn = cusps[npi[i]];
 810                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 811                                 delete ns;
 812                                 cusps[npi[i + 1]]->parent()->rem_child(
 813                                                 cusps[npi[i + 1]]);
 814                                 pn->add_child(
 815                                         cusps[npi[i + 1]],
 816                                         this->cost(pn, cusps[npi[i + 1]]));
 817                                 en_add = false;
 818                         } else if (IS_NEAR(pn, ns)) {
 819                                 delete ns;
 820                         } else {
 821                                 this->nodes().push_back(ns);
 822                                 this->add_iy(ns);
 823                                 this->add_ixy(ns);
 824                                 pn->add_child(ns, this->cost(pn, ns));
 825                                 pn = ns;
 826                         }
 827                 }
 828         }
 829         this->root()->update_ccost();
 830         if (this->tlog().back().front()->ccost() < oc)
 831                 return true;
 832         return false;
 833 }
 834
 835 bool RRTBase::rebase(RRTNode *nr)
 836 {
 837         if (!nr || this->goal_ == nr || this->root_ == nr)
 838                 return false;
 839         std::vector<RRTNode *> s; // DFS stack
 840         RRTNode *tmp;
 841         unsigned int i = 0;
 842         unsigned int to_del = 0;
 843         int iy = 0;
 844         s.push_back(this->root_);
 845         while (s.size() > 0) {
 846                 tmp = s.back();
 847                 s.pop_back();
 848                 for (auto ch: tmp->children()) {
 849                         if (ch != nr)
 850                                 s.push_back(ch);
 851                 }
 852                 to_del = this->nodes_.size();
 853                 #pragma omp parallel for reduction(min: to_del)
 854                 for (i = 0; i < this->nodes_.size(); i++) {
 855                         if (this->nodes_[i] == tmp)
 856                                 to_del = i;
 857                 }
 858                 if (to_del < this->nodes_.size())
 859                         this->nodes_.erase(this->nodes_.begin() + to_del);
 860                 iy = IYI(tmp->y());
 861                 to_del = this->iy_[iy].size();
 862                 #pragma omp parallel  for reduction(min: to_del)
 863                 for (i = 0; i < this->iy_[iy].size(); i++) {
 864                         if (this->iy_[iy][i] == tmp)
 865                                 to_del = i;
 866                 }
 867                 if (to_del < this->iy_[iy].size())
 868                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 869                 this->dnodes().push_back(tmp);
 870         }
 871         this->root_ = nr;
 872         this->root_->remove_parent();
 873         return true;
 874 }
 875
 876 std::vector<RRTNode *> RRTBase::findt()
 877 {
 878         return this->findt(this->goal_);
 879 }
 880
 881 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 882 {
 883         std::vector<RRTNode *> nodes;
 884         if (!n || !n->parent())
 885                 return nodes;
 886         while (n) {
 887                 nodes.push_back(n);
 888                 n = n->parent();
 889         }
 890         return nodes;
 891 }
 892
 893 // RRT Framework
 894 RRTNode *RRTBase::sample()
 895 {
 896         if (this->useSamplingInfo_) {
 897                 float sar = static_cast<float>(rand());
 898                 sar /= static_cast<float>(RAND_MAX / this->samplingInfo_.r);
 899                 sar += this->samplingInfo_.mr;
 900                 float sah = static_cast<float>(rand());
 901                 sah /= static_cast<float>(RAND_MAX / this->samplingInfo_.h);
 902                 sah *= this->samplingInfo_.dh;
 903                 sah += this->samplingInfo_.sh;
 904                 float h = static_cast<float>(rand());
 905                 h /= static_cast<float>(RAND_MAX / this->samplingInfo_.mh);
 906                 h += this->samplingInfo_.mmh;
 907                 h *= this->samplingInfo_.dh;
 908                 h += this->samplingInfo_.sh;
 909                 return new RRTNode(
 910                         this->samplingInfo_.x + sar * cos(sah),
 911                         this->samplingInfo_.y + sar * sin(sah),
 912                         h
 913                 );
 914         } else {
 915                 return sa1();
 916         }
 917 }
 918
 919 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 920 {
 921         return co2(init, goal);
 922 }
 923
 924 RRTNode *RRTBase::nn(RRTNode *rs)
 925 {
 926         return nn4(this->iy_, rs, nullptr);
 927         //return nn3(this->iy_, rs, nullptr);
 928 }
 929
 930 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 931 {
 932         std::vector<RRTNode *> nvs;
 933         unsigned int iy = IYI(node->y());
 934         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 935         unsigned int i = 0; // vector index
 936         unsigned int j = 0; // array index
 937         unsigned int jmin = 0; // minimal j index
 938         unsigned int jmax = 0; // maximal j index
 939         jmin = iy - iy_dist;
 940         jmin = (jmin > 0) ? jmin : 0;
 941         jmax = iy + iy_dist + 1;
 942         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 943         #pragma omp parallel for reduction(merge: nvs)
 944         for (j = jmin; j < jmax; j++) {
 945                 #pragma omp parallel for reduction(merge: nvs)
 946                 for (i = 0; i < this->iy_[j].size(); i++) {
 947                         if (this->cost(this->iy_[j][i], node) < dist) {
 948                                 nvs.push_back(this->iy_[j][i]);
 949                         }
 950                 }
 951         }
 952         return nvs;
 953 }
 954
 955 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 956 {
 957         return st3(init, goal);
 958 }
 959
 960 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 961 {
 962         return st3(init, goal, step);
 963 }