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                                 // rewire
 446                                 this->rewire(nvs, ns);
 447                                 pn = ns;
 448                                 newly_added.push_back(pn);
 449                                 if (this->goal_found(pn, CO)) {
 450                                         this->goal_cost();
 451                                         en_add = false;
 452                                 }
 453                         }
 454                 }
 455         }
 456         en_add = true;
 457         cusps = 0;
 458         for (auto ns: this->steer(pn, rs, 0.01)) {
 459                 if (!en_add) {
 460                         delete ns;
 461                 } else if (IS_NEAR(pn, ns)) {
 462                         delete ns;
 463                 } else {
 464                         if (sgn(ns->s()) == 0 || sgn(pn->s()) != sgn(ns->s()))
 465                                 cusps++;
 466                         if (cusps > 4)
 467                                 en_add = false;
 468                         nvs = this->nv(
 469                                         ns,
 470                                         MIN(
 471                                                 GAMMA_RRTSTAR(
 472                                                         this->nodes().size()),
 473                                                 0.2)); // TODO const
 474                         this->nodes().push_back(ns);
 475                         this->add_iy(ns);
 476                         // connect
 477                         if (!this->connect(pn, ns, nvs)) {
 478                                 this->iy_[IYI(ns->y())].pop_back();
 479                                 this->nodes().pop_back();
 480                                 delete ns;
 481                                 en_add = false;
 482                         } else {
 483                                 // rewire
 484                                 this->rewire(nvs, ns);
 485                                 pn = ns;
 486                                 newly_added.push_back(pn);
 487                                 if (this->goal_found(pn, CO)) {
 488                                         this->goal_cost();
 489                                         en_add = false;
 490                                 }
 491                         }
 492                 }
 493         }
 494         if (this->samples().size() <= 1)
 495                 return this->goal_found();
 496         for (auto na: newly_added) {
 497                 pn = na;
 498                 en_add = true;
 499                 cusps = 0;
 500                 for (auto ns: this->steer(na, this->goal())) {
 501                         if (!en_add) {
 502                                 delete ns;
 503                         } else if (IS_NEAR(pn, ns)) {
 504                                 delete ns;
 505                         } else {
 506                                 if (sgn(pn->s()) != sgn(ns->s()))
 507                                         cusps++;
 508                                 if (cusps > 4)
 509                                         en_add = false;
 510                                 this->nodes().push_back(ns);
 511                                 this->add_iy(ns);
 512                                 pn->add_child(ns, this->cost(pn, ns));
 513                                 if (this->collide(pn, ns)) {
 514                                         pn->children().pop_back();
 515                                         ns->remove_parent();
 516                                         this->iy_[IYI(ns->y())].pop_back();
 517                                         this->nodes().pop_back();
 518                                         delete ns;
 519                                         en_add = false;
 520                                 } else {
 521                                         this->ocost(ns);
 522                                         pn = ns;
 523                                         if (this->goal_found(pn, CO)) {
 524                                                 this->goal_cost();
 525                                                 en_add = false;
 526                                         }
 527                                 }
 528                         }
 529                 }
 530                 en_add = true;
 531                 cusps = 0;
 532                 for (auto ns: this->steer(pn, this->goal(), 0.01)) {
 533                         if (!en_add) {
 534                                 delete ns;
 535                         } else if (IS_NEAR(pn, ns)) {
 536                                 delete ns;
 537                         } else {
 538                                 if (sgn(pn->s()) != sgn(ns->s()))
 539                                         cusps++;
 540                                 if (cusps > 4)
 541                                         en_add = false;
 542                                 this->nodes().push_back(ns);
 543                                 this->add_iy(ns);
 544                                 pn->add_child(ns, this->cost(pn, ns));
 545                                 if (this->collide(pn, ns)) {
 546                                         pn->children().pop_back();
 547                                         ns->remove_parent();
 548                                         this->iy_[IYI(ns->y())].pop_back();
 549                                         this->nodes().pop_back();
 550                                         delete ns;
 551                                         en_add = false;
 552                                 } else {
 553                                         this->ocost(ns);
 554                                         pn = ns;
 555                                         if (this->goal_found(pn, CO)) {
 556                                                 this->goal_cost();
 557                                                 en_add = false;
 558                                         }
 559                                 }
 560                         }
 561                 }
 562         }
 563         return this->goal_found();
 564 }
 565
 566 float T2::goal_cost()
 567 {
 568         std::vector<RRTNode *> nvs;
 569         nvs = this->nv(this->goal(), 0.2);
 570         for (auto nv: nvs) {
 571                 if (std::abs(this->goal()->h() - nv->h()) >=
 572                                 this->GOAL_FOUND_ANGLE)
 573                         continue;
 574                 if (nv->ccost() + this->cost(nv, this->goal()) >=
 575                                 this->goal()->ccost())
 576                         continue;
 577                 RRTNode *op; // old parent
 578                 float oc; // old cumulative cost
 579                 float od; // old direct cost
 580                 op = this->goal()->parent();
 581                 oc = this->goal()->ccost();
 582                 od = this->goal()->dcost();
 583                 nv->add_child(this->goal(),
 584                                 this->cost(nv, this->goal()));
 585                 if (this->collide(nv, this->goal())) {
 586                         nv->children().pop_back();
 587                         this->goal()->parent(op);
 588                         this->goal()->ccost(oc);
 589                         this->goal()->dcost(od);
 590                 } else {
 591                         op->rem_child(this->goal());
 592                 }
 593         }
 594         return this->goal()->ccost();
 595 }
 596
 597 T3::~T3()
 598 {
 599         for (auto n: this->p_root_.nodes())
 600                 if (n != this->p_root_.root() && n != this->p_root_.goal())
 601                         delete n;
 602         for (auto n: this->p_root_.dnodes())
 603                 if (n != this->p_root_.root() && n != this->p_root_.goal())
 604                         delete n;
 605         for (auto s: this->p_root_.samples())
 606                 if (s != this->p_root_.goal())
 607                         delete s;
 608         for (auto edges: this->p_root_.rlog())
 609                 for (auto e: edges)
 610                         delete e;
 611
 612         for (auto n: this->p_goal_.nodes())
 613                 if (n != this->p_goal_.root() && n != this->p_goal_.goal())
 614                         delete n;
 615         for (auto n: this->p_goal_.dnodes())
 616                 if (n != this->p_goal_.root() && n != this->p_goal_.goal())
 617                         delete n;
 618         for (auto s: this->p_goal_.samples())
 619                 if (s != this->p_goal_.goal())
 620                         delete s;
 621         for (auto edges: this->p_goal_.rlog())
 622                 for (auto e: edges)
 623                         delete e;
 624
 625         for (auto n: this->nodes())
 626                 if (n != this->root())
 627                         delete n;
 628         for (auto n: this->dnodes())
 629                 if (n != this->root() && n != this->goal())
 630                         delete n;
 631         for (auto s: this->samples())
 632                 if (s != this->goal())
 633                         delete s;
 634         for (auto edges: this->rlog())
 635                 for (auto e: edges)
 636                         delete e;
 637
 638         delete this->root();
 639         delete this->goal();
 640 }
 641
 642 T3::T3()
 643 {
 644         srand(static_cast<unsigned>(time(0)));
 645 }
 646
 647 T3::T3(RRTNode *init, RRTNode *goal):
 648         RRTBase(init, goal),
 649         p_root_(init, goal),
 650         p_goal_(goal, init)
 651 {
 652         srand(static_cast<unsigned>(time(0)));
 653 }
 654
 655 bool T3::next()
 656 {
 657         RRTNode *ron = nullptr;
 658         RRTNode *gon = nullptr;
 659         bool ret = false;
 660         ret = this->p_root_.next();
 661         ret |= this->p_goal_.next();
 662         if (this->overlaptrees(&ron, &gon)) {
 663                 if (this->connecttrees(ron, gon))
 664                         this->goal_found(true);
 665                 this->tlog(this->findt());
 666                 ret |= true;
 667         }
 668         return ret;
 669 }
 670
 671 bool T3::link_obstacles(
 672         std::vector<CircleObstacle> *cobstacles,
 673         std::vector<SegmentObstacle> *sobstacles)
 674 {
 675         bool ret = false;
 676         ret = RRTBase::link_obstacles(cobstacles, sobstacles);
 677         ret &= this->p_root_.link_obstacles(cobstacles, sobstacles);
 678         ret &= this->p_goal_.link_obstacles(cobstacles, sobstacles);
 679         return ret;
 680 }
 681
 682 bool T3::connecttrees(RRTNode *rn, RRTNode *gn)
 683 {
 684         while (gn != this->goal()) {
 685                 this->p_root_.nodes().push_back(new RRTNode(
 686                                 gn->x(),
 687                                 gn->y(),
 688                                 gn->h()));
 689                 rn->add_child(
 690                                 this->p_root_.nodes().back(),
 691                                 this->p_root_.cost(
 692                                                 rn,
 693                                                 this->p_root_.nodes().back()));
 694                 rn = this->p_root_.nodes().back();
 695                 gn = gn->parent();
 696         }
 697         rn->add_child(this->goal(), this->p_root_.cost(rn, this->goal()));
 698         return true;
 699 }
 700
 701 bool T3::overlaptrees(RRTNode **ron, RRTNode **gon)
 702 {
 703         for (auto rn: this->p_root_.nodes()) {
 704                 if (rn->parent() == nullptr)
 705                         continue;
 706                 for (auto gn: this->p_goal_.nodes()) {
 707                         if (gn->parent() == nullptr)
 708                                 continue;
 709                         if (IS_NEAR(rn, gn)) {
 710                                 *ron = rn;
 711                                 *gon = gn;
 712                                 return true;
 713                         }
 714                 }
 715         }
 716         return false;
 717 }
 718
 719 Klemm2015::Klemm2015(RRTNode *init, RRTNode *goal):
 720         Karaman2011(init, goal),
 721         orig_root_(init),
 722         orig_goal_(goal)
 723 {
 724         srand(static_cast<unsigned>(time(0)));
 725         this->root()->tree('R');
 726         this->goal()->tree('G');
 727         this->add_iy(this->goal());
 728 }
 729
 730 bool Klemm2015::next()
 731 {
 732         RRTNode *xn = nullptr;
 733         RRTNode *rs;
 734         int ret = 0;
 735 #if GOALFIRST > 0
 736         if (this->samples().size() == 0)
 737                 rs = this->goal();
 738         else
 739                 rs = this->sample();
 740 #else
 741         rs = this->sample();
 742 #endif
 743         this->samples().push_back(rs);
 744         //std::cerr << "next" << std::endl;
 745         if (this->extendstar1(rs, &xn) != 2) {
 746         //        if (xn) {
 747         //                std::cerr << "- xn: " << xn->x() << ", " << xn->y();
 748         //                std::cerr << std::endl;
 749         //        } else {
 750         //                std::cerr << "- xn: nullptr" << std::endl;
 751         //        }
 752                 this->swap();
 753                 ret = this->connectstar(xn);
 754         } else {
 755                 this->swap();
 756         }
 757         if (ret == 1) {
 758                 this->tlog(this->findt());
 759                 return true;
 760         }
 761         return this->goal_found();
 762 }
 763
 764 int Klemm2015::extendstar1(RRTNode *rs, RRTNode **xn)
 765 {
 766         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 767         char tree = this->root()->tree();
 768         //std::cerr << "extend*1" << std::endl;
 769         //std::cerr << "- tree is " << tree << std::endl;
 770         //std::cerr << "  - rs: " << rs->x() << ", " << rs->y() << std::endl;
 771         //if (xn && *xn) {
 772         //        std::cerr << "  - xn: " << (*xn)->x() << ", " << (*xn)->y();
 773         //        std::cerr << std::endl;
 774         //}
 775         //for (int i = 0; i < IYSIZE; i++) {
 776         //        if (this->iy_[i].size() > 0) {
 777         //                RRTNode *tmpn = this->iy_[i].back();
 778         //                float tmpd = EDIST(tmpn, this->goal());
 779
 780         //                std::cerr << i << ": " << tmpn->x();
 781         //                std::cerr << ", " << tmpn->y();
 782         //                std::cerr << ", " << tmpn->tree();
 783         //                std::cerr << " (" << tmpd << ")";
 784
 785         //                if (tmpn == this->root())
 786         //                        std::cerr << " root";
 787         //                if (tmpn == this->goal())
 788         //                        std::cerr << " goal";
 789         //                std::cerr << std::endl;
 790         //        }
 791         //}
 792         RRTNode *nn = this->nn(rs);
 793         //std::cerr << "  - nn: " << nn->x() << ", " << nn->y() << std::endl;
 794         std::vector<RRTNode *> nvs;
 795         std::vector<RRTNode *> steered = this->steer(nn, rs);
 796         RRTNode *ns = steered[1];
 797         ns->tree(tree);
 798         nvs = this->nv(
 799                         ns,
 800                         MIN(
 801                                 GAMMA_RRTSTAR(
 802                                         this->nodes().size()),
 803                                 0.2)); // TODO const
 804         this->nodes().push_back(ns);
 805         this->add_iy(ns);
 806         // connect
 807         if (!this->connect(nn, ns, nvs)) {
 808                 this->iy_[IYI(ns->y())].pop_back();
 809                 ret = 2;
 810         } else {
 811                 // rewire
 812                 this->rewire(nvs, ns);
 813         }
 814         for (auto n: steered) {
 815                 if (n != steered[1])
 816                         delete n;
 817         }
 818         *xn = ns;
 819         //std::cerr << "  - xn: " << (*xn)->x() << ", " << (*xn)->y();
 820         //std::cerr << std::endl;
 821         return ret;
 822 }
 823
 824 int Klemm2015::extendstarC(RRTNode *rs)
 825 {
 826         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 827         char tree = this->root()->tree();
 828         //std::cerr << "extend*C" << std::endl;
 829         //std::cerr << "- tree is " << tree << std::endl;
 830         //std::cerr << "  - rs: " << rs->x() << ", " << rs->y() << std::endl;
 831         RRTNode *nn = this->nn(rs);
 832         RRTNode *pn = nn;
 833         std::vector<RRTNode *> nvs;
 834         bool en_add = true;
 835         for (auto ns: this->steer(nn, rs)) {
 836                 if (!en_add) {
 837                         delete ns;
 838                 } else {
 839                         nvs = this->nv(
 840                                         ns,
 841                                         MIN(
 842                                                 GAMMA_RRTSTAR(
 843                                                         this->nodes().size()),
 844                                                 0.2)); // TODO const
 845                         this->nodes().push_back(ns);
 846                         this->add_iy(ns);
 847                         // connect
 848                         if (!this->connect(pn, ns, nvs)) {
 849                                 this->iy_[IYI(ns->y())].pop_back();
 850                                 en_add = false;
 851                                 ret = 2;
 852                         } else {
 853                                 // rewire
 854                                 this->rewire(nvs, ns);
 855                                 pn = ns;
 856 if (IS_NEAR(pn, rs)) { // GOAL FOUND !
 857         RRTNode *tmp;
 858         if (this->orig_root_ == this->root()) { // rs is in G tree
 859                 // add all rs parents to pn
 860                 tmp = rs->parent();
 861         } else { // rs is in R tree
 862                 tmp = pn->parent();
 863                 pn = rs;
 864                 this->swap();
 865         }
 866         while (tmp != this->goal()) {
 867                 this->nodes().push_back(new RRTNode(
 868                                 tmp->x(),
 869                                 tmp->y(),
 870                                 tmp->h()));
 871                 this->nodes().back()->s(tmp->s());
 872                 this->nodes().back()->tree('R');
 873                 pn->add_child(
 874                                 this->nodes().back(),
 875                                 this->cost(pn, this->nodes().back()));
 876                 pn = this->nodes().back();
 877                 tmp = tmp->parent();
 878         }
 879         pn->add_child(tmp, this->cost(pn, tmp)); // add goal()
 880         en_add = false;
 881         ret = 1;
 882 }
 883                         }
 884                 }
 885         }
 886         return ret;
 887 }
 888
 889 int Klemm2015::connectstar(RRTNode *x)
 890 {
 891         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 892         //std::cerr << "connect* (start)" << std::endl;
 893         ret = this->extendstarC(x);
 894         //std::cerr << "connect* (end)" << std::endl;
 895         return ret;
 896 }
 897
 898 void Klemm2015::swap()
 899 {
 900         RRTNode *tmp;
 901         tmp = this->root();
 902         this->root(this->goal());
 903         this->goal(tmp);
 904 }