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::goals()
 128 {
 129         return this->goals_;
 130 }
 131
 132 std::vector<RRTNode *> &RRTBase::nodes()
 133 {
 134         return this->nodes_;
 135 }
 136
 137 std::vector<RRTNode *> &RRTBase::dnodes()
 138 {
 139         return this->dnodes_;
 140 }
 141
 142 PolygonObstacle &RRTBase::frame()
 143 {
 144         return this->frame_;
 145 }
 146
 147 std::vector<RRTNode *> &RRTBase::samples()
 148 {
 149         return this->samples_;
 150 }
 151
 152 std::vector<CircleObstacle> *RRTBase::co()
 153 {
 154         return this->cobstacles_;
 155 }
 156
 157 std::vector<SegmentObstacle> *RRTBase::so()
 158 {
 159         return this->sobstacles_;
 160 }
 161
 162 std::vector<float> &RRTBase::clog()
 163 {
 164         return this->clog_;
 165 }
 166
 167 std::vector<float> &RRTBase::nlog()
 168 {
 169         return this->nlog_;
 170 }
 171
 172 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 173 {
 174         return this->rlog_;
 175 }
 176
 177 std::vector<float> &RRTBase::slog()
 178 {
 179         return this->slog_;
 180 }
 181
 182 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 183 {
 184         return this->tlog_;
 185 }
 186
 187 std::vector<RRTNode *> &RRTBase::slot_cusp()
 188 {
 189         return this->slot_cusp_;
 190 }
 191
 192 bool RRTBase::goal_found()
 193 {
 194         return this->goal_found_;
 195 }
 196
 197 float RRTBase::elapsed()
 198 {
 199         std::chrono::duration<float> dt;
 200         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 201                         this->tend_ - this->tstart_);
 202         return dt.count();
 203 }
 204
 205 std::vector<RRTNode *> RRTBase::traj_cusp()
 206 {
 207         std::vector<RRTNode *> tmp_cusps;
 208         for (auto n: this->tlog().back()) {
 209                 if (sgn(n->s()) == 0) {
 210                         tmp_cusps.push_back(n);
 211                 } else if (n->parent() &&
 212                                 sgn(n->s()) != sgn(n->parent()->s())) {
 213                         tmp_cusps.push_back(n);
 214                         tmp_cusps.push_back(n->parent());
 215                 }
 216         }
 217         std::vector<RRTNode *> cusps;
 218         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 219                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 220                         cusps.push_back(tmp_cusps[i]);
 221         }
 222         return cusps;
 223 }
 224
 225 // setter
 226 void RRTBase::root(RRTNode *node)
 227 {
 228         this->root_ = node;
 229 }
 230
 231 void RRTBase::goal(RRTNode *node)
 232 {
 233         this->goal_ = node;
 234 }
 235
 236 void RRTBase::goals(std::vector<RRTNode *> g)
 237 {
 238         this->goals_ = g;
 239 }
 240
 241 bool RRTBase::logr(RRTNode *root)
 242 {
 243         std::vector<RRTEdge *> e; // Edges to log
 244         std::vector<RRTNode *> s; // DFS stack
 245         std::vector<RRTNode *> r; // reset visited_
 246         RRTNode *tmp;
 247         s.push_back(root);
 248         while (s.size() > 0) {
 249                 tmp = s.back();
 250                 s.pop_back();
 251                 if (!tmp->visit()) {
 252                         r.push_back(tmp);
 253                         for (auto ch: tmp->children()) {
 254                                 s.push_back(ch);
 255                                 e.push_back(new RRTEdge(tmp, ch));
 256                         }
 257                 }
 258         }
 259         for (auto n: r)
 260                 n->visit(false);
 261         this->rlog_.push_back(e);
 262         return true;
 263 }
 264
 265 float RRTBase::ocost(RRTNode *n)
 266 {
 267         float dist = 9999;
 268         for (auto o: *this->cobstacles_)
 269                 if (o.dist_to(n) < dist)
 270                         dist = o.dist_to(n);
 271         for (auto o: *this->sobstacles_)
 272                 if (o.dist_to(n) < dist)
 273                         dist = o.dist_to(n);
 274         return n->ocost(dist);
 275 }
 276
 277 bool RRTBase::tlog(std::vector<RRTNode *> t)
 278 {
 279         if (t.size() > 0) {
 280                 this->slog_.push_back(this->elapsed());
 281                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 282                 this->nlog_.push_back(this->nodes_.size());
 283                 this->tlog_.push_back(t);
 284                 return true;
 285         } else {
 286                 return false;
 287         }
 288 }
 289
 290 void RRTBase::tstart()
 291 {
 292         this->tstart_ = std::chrono::high_resolution_clock::now();
 293 }
 294
 295 void RRTBase::tend()
 296 {
 297         this->tend_ = std::chrono::high_resolution_clock::now();
 298 }
 299
 300 bool RRTBase::link_obstacles(
 301                 std::vector<CircleObstacle> *cobstacles,
 302                 std::vector<SegmentObstacle> *sobstacles)
 303 {
 304         this->cobstacles_ = cobstacles;
 305         this->sobstacles_ = sobstacles;
 306         if (!this->cobstacles_ || !this->sobstacles_) {
 307                 return false;
 308         }
 309         return true;
 310 }
 311
 312 bool RRTBase::add_iy(RRTNode *n)
 313 {
 314         int i = IYI(n->y());
 315         if (i < 0)
 316                 i = 0;
 317         if (i >= IYSIZE)
 318                 i = IYSIZE - 1;
 319         this->iy_[i].push_back(n);
 320         return true;
 321 }
 322
 323 bool RRTBase::add_ixy(RRTNode *n)
 324 {
 325         int ix = IXI(n->x());
 326         if (ix < 0)
 327                 ix = 0;
 328         if (ix >= IXSIZE)
 329                 ix = IXSIZE - 1;
 330         int iy = IYI(n->y());
 331         if (iy < 0)
 332                 iy = 0;
 333         if (iy >= IYSIZE)
 334                 iy = IYSIZE - 1;
 335         this->ixy_[ix][iy].add_node(n);
 336         return true;
 337 }
 338
 339 bool RRTBase::goal_found(bool f)
 340 {
 341         this->goal_found_ = f;
 342         return f;
 343 }
 344
 345 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 346 {
 347         for (unsigned int i = 0; i < sc.size() - 1; i++)
 348                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 349         sc[0]->parent(this->goal());
 350         this->slot_cusp_ = sc;
 351 }
 352
 353 // other
 354 bool RRTBase::glplot()
 355 {
 356 #if USE_GL > 0
 357         glClear(GL_COLOR_BUFFER_BIT);
 358         glLineWidth(1);
 359         glPointSize(1);
 360         // Plot obstacles
 361         glBegin(GL_LINES);
 362         for (auto o: *this->sobstacles_) {
 363                 glColor3f(0, 0, 0);
 364                 glVertex2f(GLVERTEX(o.init()));
 365                 glVertex2f(GLVERTEX(o.goal()));
 366         }
 367         glEnd();
 368         // Plot root, goal
 369         glPointSize(8);
 370         glBegin(GL_POINTS);
 371         glColor3f(1, 0, 0);
 372         glVertex2f(GLVERTEX(this->root_));
 373         glVertex2f(GLVERTEX(this->goal_));
 374         glEnd();
 375         // Plot last sample
 376         if (this->samples_.size() > 0) {
 377                 glPointSize(8);
 378                 glBegin(GL_POINTS);
 379                 glColor3f(0, 1, 0);
 380                 glVertex2f(GLVERTEX(this->samples_.back()));
 381                 glEnd();
 382         }
 383         // Plot nodes
 384         std::vector<RRTNode *> s; // DFS stack
 385         std::vector<RRTNode *> r; // reset visited_
 386         RRTNode *tmp;
 387         glBegin(GL_LINES);
 388         s.push_back(this->root_);
 389         while (s.size() > 0) {
 390                 tmp = s.back();
 391                 s.pop_back();
 392                 if (!tmp->visit()) {
 393                         r.push_back(tmp);
 394                         for (auto ch: tmp->children()) {
 395                                 s.push_back(ch);
 396                                 glColor3f(0.5, 0.5, 0.5);
 397                                 glVertex2f(GLVERTEX(tmp));
 398                                 glVertex2f(GLVERTEX(ch));
 399                         }
 400                 }
 401         }
 402         glEnd();
 403         // Plot nodes (from goal)
 404         glBegin(GL_LINES);
 405         s.push_back(this->goal_);
 406         while (s.size() > 0) {
 407                 tmp = s.back();
 408                 s.pop_back();
 409                 if (!tmp->visit()) {
 410                         r.push_back(tmp);
 411                         for (auto ch: tmp->children()) {
 412                                 s.push_back(ch);
 413                                 glColor3f(0.5, 0.5, 0.5);
 414                                 glVertex2f(GLVERTEX(tmp));
 415                                 glVertex2f(GLVERTEX(ch));
 416                         }
 417                 }
 418         }
 419         glEnd();
 420         std::vector<RRTNode *> cusps;
 421         // Plot last trajectory
 422         if (this->tlog().size() > 0) {
 423                 glLineWidth(2);
 424                 glBegin(GL_LINES);
 425                 for (auto n: this->tlog().back()) {
 426                         if (n->parent()) {
 427                                 glColor3f(0, 0, 1);
 428                                 glVertex2f(GLVERTEX(n));
 429                                 glVertex2f(GLVERTEX(n->parent()));
 430                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 431                                         cusps.push_back(n);
 432                         }
 433                 }
 434                 glEnd();
 435         }
 436         // Plot cusps
 437         glPointSize(8);
 438         glBegin(GL_POINTS);
 439         for (auto n: cusps) {
 440                 glColor3f(0, 0, 1);
 441                 glVertex2f(GLVERTEX(n));
 442         }
 443         glEnd();
 444         SDL_GL_SwapWindow(gw);
 445         for (auto n: r)
 446                 n->visit(false);
 447 #endif
 448         return true;
 449 }
 450
 451 bool RRTBase::goal_found(
 452                 RRTNode *node,
 453                 float (*cost)(RRTNode *, RRTNode* ))
 454 {
 455         if (IS_NEAR(node, this->goal_)) {
 456                 if (this->goal_found_) {
 457                         if (node->ccost() + this->cost(node, this->goal_) <
 458                                         this->goal_->ccost()) {
 459                                 RRTNode *op; // old parent
 460                                 float oc; // old cumulative cost
 461                                 float od; // old direct cost
 462                                 op = this->goal_->parent();
 463                                 oc = this->goal_->ccost();
 464                                 od = this->goal_->dcost();
 465                                 node->add_child(this->goal_,
 466                                                 this->cost(node, this->goal_));
 467                                 if (this->collide(node, this->goal_)) {
 468                                         node->children().pop_back();
 469                                         this->goal_->parent(op);
 470                                         this->goal_->ccost(oc);
 471                                         this->goal_->dcost(od);
 472                                 } else {
 473                                         op->rem_child(this->goal_);
 474                                         return true;
 475                                 }
 476                         } else {
 477                                 return false;
 478                         }
 479                 } else {
 480                         node->add_child(
 481                                         this->goal_,
 482                                         this->cost(node, this->goal_));
 483                         if (this->collide(node, this->goal_)) {
 484                                 node->children().pop_back();
 485                                 this->goal_->remove_parent();
 486                                 return false;
 487                         }
 488                         this->goal_found_ = true;
 489                         return true;
 490                 }
 491         }
 492         return false;
 493 }
 494
 495 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 496 {
 497         std::vector<RRTEdge *> edges;
 498         RRTNode *tmp = goal;
 499         volatile bool col = false;
 500         unsigned int i;
 501         while (tmp != init) {
 502                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 503                 std::vector<RRTEdge *> bcframe = bc.frame();
 504                 #pragma omp parallel for reduction(|: col)
 505                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 506                         if ((*this->cobstacles_)[i].collide(tmp)) {
 507                                 col = true;
 508                         }
 509                         for (auto &e: bcframe) {
 510                                 if ((*this->cobstacles_)[i].collide(e)) {
 511                                         col = true;
 512                                 }
 513                         }
 514                 }
 515                 if (col) {
 516                         for (auto e: bcframe) {
 517                                 delete e->init();
 518                                 delete e->goal();
 519                                 delete e;
 520                         }
 521                         for (auto e: edges) {
 522                                 delete e;
 523                         }
 524                         return true;
 525                 }
 526                 #pragma omp parallel for reduction(|: col)
 527                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 528                         for (auto &e: bcframe) {
 529                                 if ((*this->sobstacles_)[i].collide(e)) {
 530                                         col = true;
 531                                 }
 532                         }
 533                 }
 534                 if (col) {
 535                         for (auto e: bcframe) {
 536                                 delete e->init();
 537                                 delete e->goal();
 538                                 delete e;
 539                         }
 540                         for (auto e: edges) {
 541                                 delete e;
 542                         }
 543                         return true;
 544                 }
 545                 if (!tmp->parent()) {
 546                         break;
 547                 }
 548                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 549                 tmp = tmp->parent();
 550                 for (auto e: bcframe) {
 551                         delete e->init();
 552                         delete e->goal();
 553                         delete e;
 554                 }
 555         }
 556         for (auto &e: edges) {
 557                 #pragma omp parallel for reduction(|: col)
 558                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 559                         if ((*this->cobstacles_)[i].collide(e)) {
 560                                 col = true;
 561                         }
 562                 }
 563                 if (col) {
 564                         for (auto e: edges) {
 565                                 delete e;
 566                         }
 567                         return true;
 568                 }
 569                 #pragma omp parallel for reduction(|: col)
 570                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 571                         if ((*this->sobstacles_)[i].collide(e)) {
 572                                 col = true;
 573                         }
 574                 }
 575                 if (col) {
 576                         for (auto e: edges) {
 577                                 delete e;
 578                         }
 579                         return true;
 580                 }
 581         }
 582         for (auto e: edges) {
 583                 delete e;
 584         }
 585         return false;
 586 }
 587
 588 class RRTNodeDijkstra {
 589         public:
 590                 RRTNodeDijkstra(int i):
 591                         ni(i),
 592                         pi(0),
 593                         c(9999),
 594                         v(false)
 595                 {};
 596                 RRTNodeDijkstra(int i, float c):
 597                         ni(i),
 598                         pi(0),
 599                         c(c),
 600                         v(false)
 601                 {};
 602                 RRTNodeDijkstra(int i, int p, float c):
 603                         ni(i),
 604                         pi(p),
 605                         c(c),
 606                         v(false)
 607                 {};
 608                 unsigned int ni;
 609                 unsigned int pi;
 610                 float c;
 611                 bool v;
 612                 bool vi()
 613                 {
 614                         if (this->v)
 615                                 return true;
 616                         this->v = true;
 617                         return false;
 618                 };
 619 };
 620
 621 class RRTNodeDijkstraComparator {
 622         public:
 623                 int operator() (
 624                                 const RRTNodeDijkstra& n1,
 625                                 const RRTNodeDijkstra& n2)
 626                 {
 627                         return n1.c > n2.c;
 628                 }
 629 };
 630
 631 bool RRTBase::optp_dijkstra(
 632                 std::vector<RRTNode *> &cusps,
 633                 std::vector<int> &npi)
 634 {
 635         std::vector<RRTNodeDijkstra> dnodes;
 636         for (unsigned int i = 0; i < cusps.size(); i++)
 637                 if (i > 0)
 638                         dnodes.push_back(RRTNodeDijkstra(
 639                                                 i,
 640                                                 i - 1,
 641                                                 cusps[i]->ccost()));
 642                 else
 643                         dnodes.push_back(RRTNodeDijkstra(
 644                                                 i,
 645                                                 cusps[i]->ccost()));
 646         dnodes[0].vi();
 647         std::priority_queue<
 648                 RRTNodeDijkstra,
 649                 std::vector<RRTNodeDijkstra>,
 650                 RRTNodeDijkstraComparator> pq;
 651         RRTNodeDijkstra tmp = dnodes[0];
 652         pq.push(tmp);
 653         float ch_cost = 9999;
 654         std::vector<RRTNode *> steered;
 655         while (!pq.empty()) {
 656                 tmp = pq.top();
 657                 pq.pop();
 658                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 659                         ch_cost = dnodes[tmp.ni].c +
 660                                 this->cost(cusps[tmp.ni], cusps[i]);
 661                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 662                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 663                                 steered[j]->add_child(steered[j + 1], 1);
 664                         if (this->collide(
 665                                         steered[0],
 666                                         steered[steered.size() - 1])) {
 667                                 for (auto n: steered)
 668                                         delete n;
 669                                 continue;
 670                         }
 671                         if (ch_cost < dnodes[i].c) {
 672                                 dnodes[i].c = ch_cost;
 673                                 dnodes[i].pi = tmp.ni;
 674                                 if (!dnodes[i].vi())
 675                                         pq.push(dnodes[i]);
 676                         }
 677                         for (auto n: steered)
 678                                 delete n;
 679                 }
 680         }
 681         unsigned int tmpi = 0;
 682         for (auto n: dnodes) {
 683                 if (n.v && n.ni > tmpi)
 684                         tmpi = n.ni;
 685         }
 686         while (tmpi > 0) {
 687                 npi.push_back(tmpi);
 688                 tmpi = dnodes[tmpi].pi;
 689         }
 690         npi.push_back(tmpi);
 691         std::reverse(npi.begin(), npi.end());
 692         return true;
 693 }
 694
 695 bool RRTBase::optp_rrp(
 696                 std::vector<RRTNode *> &cusps,
 697                 std::vector<int> &npi)
 698 {
 699         std::vector<RRTNode *> steered;
 700         std::vector<int> candidates;
 701         RRTNode *x_j = nullptr;
 702         RRTNode *x_i = nullptr;
 703         int j = cusps.size() - 1;
 704         int i_min = 0;
 705         float c_min = 0;
 706         float cost = 0;
 707         float dx = 0;
 708         float dy = 0;
 709         float ed = 0;
 710         float th_i = 0;
 711         float th_j = 0;
 712         while (j > 0) {
 713                 npi.push_back(j);
 714                 steered.clear();
 715                 candidates.clear();
 716                 x_j = cusps[j];
 717                 for (int i = 0; i < j; i++) {
 718                         steered = this->steer(cusps[i], x_j);
 719                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 720                                 steered[k]->add_child(steered[k + 1], 1);
 721                         if (!this->collide(
 722                                         steered[0],
 723                                         steered[steered.size() - 1]))
 724                                 candidates.push_back(i);
 725                 }
 726                 if (candidates.size() <= 0)
 727                         return false;
 728                 i_min = candidates[0];
 729                 x_i = cusps[i_min];
 730                 c_min = 9999;
 731                 for (auto c: candidates) {
 732                         x_i = cusps[c];
 733                         dx = x_j->x() - x_i->x();
 734                         dy = x_j->y() - x_i->y();
 735                         ed = EDIST(x_i, x_j);
 736                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 737                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 738                         cost = th_i + th_j;
 739                         if (cost < c_min) {
 740                                 i_min = c;
 741                                 c_min = cost;
 742                         }
 743                 }
 744                 j = i_min;
 745
 746         }
 747         npi.push_back(j);
 748         std::reverse(npi.begin(), npi.end());
 749         return true;
 750 }
 751
 752 bool RRTBase::optp_smart(
 753                 std::vector<RRTNode *> &cusps,
 754                 std::vector<int> &npi)
 755 {
 756         std::vector<RRTNode *> steered;
 757         int li = cusps.size() - 1;
 758         int ai = li - 1;
 759         npi.push_back(li);
 760         while (ai > 1) {
 761                 steered = this->steer(cusps[ai - 1], cusps[li]);
 762                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 763                         steered[j]->add_child(steered[j + 1], 1);
 764                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 765                         npi.push_back(ai);
 766                         li = ai;
 767                 }
 768                 ai--;
 769                 for (auto n: steered)
 770                         delete n;
 771         }
 772         npi.push_back(0);
 773         std::reverse(npi.begin(), npi.end());
 774         return true;
 775 }
 776
 777 bool RRTBase::opt_path()
 778 {
 779         if (this->tlog().size() == 0)
 780                 return false;
 781         float oc = this->tlog().back().front()->ccost();
 782         std::vector<RRTNode *> tmp_cusps;
 783         for (auto n: this->tlog().back()) {
 784                 if (sgn(n->s()) == 0) {
 785                         tmp_cusps.push_back(n);
 786                 } else if (n->parent() &&
 787                                 sgn(n->s()) != sgn(n->parent()->s())) {
 788                         tmp_cusps.push_back(n);
 789                         tmp_cusps.push_back(n->parent());
 790                 }
 791                 //tmp_cusps.push_back(n);
 792         }
 793         if (tmp_cusps.size() < 2)
 794                 return false;
 795         std::vector<RRTNode *> cusps;
 796         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 797                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 798                         cusps.push_back(tmp_cusps[i]);
 799         }
 800         std::reverse(cusps.begin(), cusps.end());
 801         std::vector<int> npi; // new path indexes
 802         if (!this->optp_dijkstra(cusps, npi))
 803                 return false;
 804         RRTNode *pn = cusps[npi[0]];
 805         RRTNode *tmp = nullptr;
 806         bool en_add = true;
 807         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 808                 pn = cusps[npi[i]];
 809                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 810                         if (!en_add) {
 811                                 delete ns;
 812                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 813                                 tmp = ns;
 814                                 while (tmp && tmp != cusps[npi[i]]) {
 815                                         pn = tmp->parent();
 816                                         delete tmp;
 817                                         tmp = pn;
 818                                 }
 819                                 pn = cusps[npi[i]];
 820                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 821                                 delete ns;
 822                                 cusps[npi[i + 1]]->parent()->rem_child(
 823                                                 cusps[npi[i + 1]]);
 824                                 pn->add_child(
 825                                         cusps[npi[i + 1]],
 826                                         this->cost(pn, cusps[npi[i + 1]]));
 827                                 en_add = false;
 828                         } else if (IS_NEAR(pn, ns)) {
 829                                 delete ns;
 830                         } else {
 831                                 this->nodes().push_back(ns);
 832                                 this->add_iy(ns);
 833                                 this->add_ixy(ns);
 834                                 pn->add_child(ns, this->cost(pn, ns));
 835                                 pn = ns;
 836                         }
 837                 }
 838         }
 839         this->root()->update_ccost();
 840         if (this->tlog().back().front()->ccost() < oc)
 841                 return true;
 842         return false;
 843 }
 844
 845 bool RRTBase::rebase(RRTNode *nr)
 846 {
 847         if (!nr || this->goal_ == nr || this->root_ == nr)
 848                 return false;
 849         std::vector<RRTNode *> s; // DFS stack
 850         RRTNode *tmp;
 851         unsigned int i = 0;
 852         unsigned int to_del = 0;
 853         int iy = 0;
 854         s.push_back(this->root_);
 855         while (s.size() > 0) {
 856                 tmp = s.back();
 857                 s.pop_back();
 858                 for (auto ch: tmp->children()) {
 859                         if (ch != nr)
 860                                 s.push_back(ch);
 861                 }
 862                 to_del = this->nodes_.size();
 863                 #pragma omp parallel for reduction(min: to_del)
 864                 for (i = 0; i < this->nodes_.size(); i++) {
 865                         if (this->nodes_[i] == tmp)
 866                                 to_del = i;
 867                 }
 868                 if (to_del < this->nodes_.size())
 869                         this->nodes_.erase(this->nodes_.begin() + to_del);
 870                 iy = IYI(tmp->y());
 871                 to_del = this->iy_[iy].size();
 872                 #pragma omp parallel  for reduction(min: to_del)
 873                 for (i = 0; i < this->iy_[iy].size(); i++) {
 874                         if (this->iy_[iy][i] == tmp)
 875                                 to_del = i;
 876                 }
 877                 if (to_del < this->iy_[iy].size())
 878                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 879                 this->dnodes().push_back(tmp);
 880         }
 881         this->root_ = nr;
 882         this->root_->remove_parent();
 883         return true;
 884 }
 885
 886 std::vector<RRTNode *> RRTBase::findt()
 887 {
 888         return this->findt(this->goal_);
 889 }
 890
 891 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 892 {
 893         std::vector<RRTNode *> nodes;
 894         if (!n || !n->parent())
 895                 return nodes;
 896         while (n) {
 897                 nodes.push_back(n);
 898                 n = n->parent();
 899         }
 900         return nodes;
 901 }
 902
 903 // RRT Framework
 904 RRTNode *RRTBase::sample()
 905 {
 906         if (this->useSamplingInfo_ && this->nodes().size() % 2 == 0) {
 907                 float x = static_cast<float>(rand());
 908                 x /= static_cast<float>(RAND_MAX / this->samplingInfo_.x);
 909                 x -= this->samplingInfo_.x / 2;
 910                 x += this->samplingInfo_.x0;
 911                 float y = static_cast<float>(rand());
 912                 y /= static_cast<float>(RAND_MAX / this->samplingInfo_.y);
 913                 y -= this->samplingInfo_.y / 2;
 914                 y += this->samplingInfo_.y0;
 915                 float h = static_cast<float>(rand());
 916                 h /= static_cast<float>(RAND_MAX / this->samplingInfo_.h);
 917                 h -= this->samplingInfo_.h / 2;
 918                 h += this->samplingInfo_.h0;
 919                 return new RRTNode(x, y, h);
 920         } else {
 921                 return sa1();
 922         }
 923 }
 924
 925 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 926 {
 927         return co2(init, goal);
 928 }
 929
 930 RRTNode *RRTBase::nn(RRTNode *rs)
 931 {
 932         return nn4(this->iy_, rs, nullptr);
 933         //return nn3(this->iy_, rs, nullptr);
 934 }
 935
 936 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 937 {
 938         std::vector<RRTNode *> nvs;
 939         unsigned int iy = IYI(node->y());
 940         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 941         unsigned int i = 0; // vector index
 942         unsigned int j = 0; // array index
 943         unsigned int jmin = 0; // minimal j index
 944         unsigned int jmax = 0; // maximal j index
 945         jmin = iy - iy_dist;
 946         jmin = (jmin > 0) ? jmin : 0;
 947         jmax = iy + iy_dist + 1;
 948         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 949         #pragma omp parallel for reduction(merge: nvs)
 950         for (j = jmin; j < jmax; j++) {
 951                 #pragma omp parallel for reduction(merge: nvs)
 952                 for (i = 0; i < this->iy_[j].size(); i++) {
 953                         if (this->cost(this->iy_[j][i], node) < dist) {
 954                                 nvs.push_back(this->iy_[j][i]);
 955                         }
 956                 }
 957         }
 958         return nvs;
 959 }
 960
 961 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 962 {
 963         return st3(init, goal);
 964 }
 965
 966 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 967 {
 968         return st3(init, goal, step);
 969 }