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         float hcenter = (this->HMAX - this->HMIN) / 2 + this->HMIN;
 104         float hrange = (this->HMAX - this->HMIN) / 2;
 105         float vcenter = (this->VMAX - this->VMIN) / 2 + this->VMIN;
 106         float vrange = (this->VMAX - this->VMIN) / 2;
 107         this->ndx_ = std::normal_distribution<float>(hcenter, hrange);
 108         this->ndy_ = std::normal_distribution<float>(vcenter, vrange);
 109         this->ndh_ = std::normal_distribution<float>(0, 2 * M_PI);
 110 }
 111
 112 RRTBase::RRTBase(RRTNode *init, RRTNode *goal)
 113         : root_(init)
 114         , goal_(goal)
 115         , gen_(std::random_device{}())
 116 {
 117         this->nodes_.reserve(NOFNODES);
 118         this->nodes_.push_back(init);
 119         this->add_iy(init);
 120         this->add_ixy(init);
 121         float hcenter = (this->HMAX - this->HMIN) / 2 + this->HMIN;
 122         float hrange = (this->HMAX - this->HMIN) / 2;
 123         float vcenter = (this->VMAX - this->VMIN) / 2 + this->VMIN;
 124         float vrange = (this->VMAX - this->VMIN) / 2;
 125         this->ndx_ = std::normal_distribution<float>(hcenter, hrange);
 126         this->ndy_ = std::normal_distribution<float>(vcenter, vrange);
 127         this->ndh_ = std::normal_distribution<float>(0, 2 * M_PI);
 128 }
 129
 130 // getter
 131 RRTNode *RRTBase::root()
 132 {
 133         return this->root_;
 134 }
 135
 136 RRTNode *RRTBase::goal()
 137 {
 138         return this->goal_;
 139 }
 140
 141 std::vector<RRTNode *> &RRTBase::goals()
 142 {
 143         return this->goals_;
 144 }
 145
 146 std::vector<RRTNode *> &RRTBase::nodes()
 147 {
 148         return this->nodes_;
 149 }
 150
 151 std::vector<RRTNode *> &RRTBase::dnodes()
 152 {
 153         return this->dnodes_;
 154 }
 155
 156 std::queue<RRTNode *> &RRTBase::firsts()
 157 {
 158         return this->firsts_;
 159 }
 160
 161 PolygonObstacle &RRTBase::frame()
 162 {
 163         return this->frame_;
 164 }
 165
 166 std::vector<RRTNode *> &RRTBase::samples()
 167 {
 168         return this->samples_;
 169 }
 170
 171 std::vector<CircleObstacle> *RRTBase::co()
 172 {
 173         return this->cobstacles_;
 174 }
 175
 176 std::vector<SegmentObstacle> *RRTBase::so()
 177 {
 178         return this->sobstacles_;
 179 }
 180
 181 std::vector<float> &RRTBase::clog()
 182 {
 183         return this->clog_;
 184 }
 185
 186 std::vector<float> &RRTBase::nlog()
 187 {
 188         return this->nlog_;
 189 }
 190
 191 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 192 {
 193         return this->rlog_;
 194 }
 195
 196 std::vector<float> &RRTBase::slog()
 197 {
 198         return this->slog_;
 199 }
 200
 201 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 202 {
 203         return this->tlog_;
 204 }
 205
 206 std::vector<RRTNode *> &RRTBase::slot_cusp()
 207 {
 208         return this->slot_cusp_;
 209 }
 210
 211 bool RRTBase::goal_found()
 212 {
 213         return this->goal_found_;
 214 }
 215
 216 float RRTBase::elapsed()
 217 {
 218         std::chrono::duration<float> dt;
 219         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 220                         this->tend_ - this->tstart_);
 221         return dt.count();
 222 }
 223
 224 std::vector<RRTNode *> RRTBase::traj_cusp()
 225 {
 226         std::vector<RRTNode *> tmp_cusps;
 227         for (auto n: this->tlog().back()) {
 228                 if (sgn(n->s()) == 0) {
 229                         tmp_cusps.push_back(n);
 230                 } else if (n->parent() &&
 231                                 sgn(n->s()) != sgn(n->parent()->s())) {
 232                         tmp_cusps.push_back(n);
 233                         tmp_cusps.push_back(n->parent());
 234                 }
 235         }
 236         std::vector<RRTNode *> cusps;
 237         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 238                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 239                         cusps.push_back(tmp_cusps[i]);
 240         }
 241         return cusps;
 242 }
 243
 244 // setter
 245 void RRTBase::root(RRTNode *node)
 246 {
 247         this->root_ = node;
 248 }
 249
 250 void RRTBase::goal(RRTNode *node)
 251 {
 252         this->goal_ = node;
 253 }
 254
 255 void RRTBase::goals(std::vector<RRTNode *> g)
 256 {
 257         this->goals_ = g;
 258         std::reverse(this->goals_.begin(), this->goals_.end());
 259         RRTNode *pn = this->goals_.front();
 260         for (auto n: this->goals_) {
 261                 if (n != pn) {
 262                         pn->add_child(n, this->cost(pn ,n));
 263                         pn = n;
 264                 }
 265         }
 266 }
 267
 268 bool RRTBase::logr(RRTNode *root)
 269 {
 270         std::vector<RRTEdge *> e; // Edges to log
 271         std::vector<RRTNode *> s; // DFS stack
 272         std::vector<RRTNode *> r; // reset visited_
 273         RRTNode *tmp;
 274         s.push_back(root);
 275         while (s.size() > 0) {
 276                 tmp = s.back();
 277                 s.pop_back();
 278                 if (!tmp->visit()) {
 279                         r.push_back(tmp);
 280                         for (auto ch: tmp->children()) {
 281                                 s.push_back(ch);
 282                                 e.push_back(new RRTEdge(tmp, ch));
 283                         }
 284                 }
 285         }
 286         for (auto n: r)
 287                 n->visit(false);
 288         this->rlog_.push_back(e);
 289         return true;
 290 }
 291
 292 float RRTBase::ocost(RRTNode *n)
 293 {
 294         float dist = 9999;
 295         for (auto o: *this->cobstacles_)
 296                 if (o.dist_to(n) < dist)
 297                         dist = o.dist_to(n);
 298         for (auto o: *this->sobstacles_)
 299                 if (o.dist_to(n) < dist)
 300                         dist = o.dist_to(n);
 301         return n->ocost(dist);
 302 }
 303
 304 bool RRTBase::tlog(std::vector<RRTNode *> t)
 305 {
 306         if (t.size() > 0) {
 307                 this->slog_.push_back(this->elapsed());
 308                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 309                 this->nlog_.push_back(this->nodes_.size());
 310                 this->tlog_.push_back(t);
 311                 return true;
 312         } else {
 313                 return false;
 314         }
 315 }
 316
 317 void RRTBase::tstart()
 318 {
 319         this->tstart_ = std::chrono::high_resolution_clock::now();
 320 }
 321
 322 void RRTBase::tend()
 323 {
 324         this->tend_ = std::chrono::high_resolution_clock::now();
 325 }
 326
 327 bool RRTBase::link_obstacles(
 328                 std::vector<CircleObstacle> *cobstacles,
 329                 std::vector<SegmentObstacle> *sobstacles)
 330 {
 331         this->cobstacles_ = cobstacles;
 332         this->sobstacles_ = sobstacles;
 333         if (!this->cobstacles_ || !this->sobstacles_) {
 334                 return false;
 335         }
 336         return true;
 337 }
 338
 339 bool RRTBase::add_iy(RRTNode *n)
 340 {
 341         int i = this->YI(n);
 342         if (i < 0)
 343                 i = 0;
 344         if (i >= IYSIZE)
 345                 i = IYSIZE - 1;
 346         this->iy_[i].push_back(n);
 347         return true;
 348 }
 349
 350 bool RRTBase::add_ixy(RRTNode *n)
 351 {
 352         int ix = this->XI(n);
 353         if (ix < 0)
 354                 ix = 0;
 355         if (ix >= IXSIZE)
 356                 ix = IXSIZE - 1;
 357         int iy = this->YI(n);
 358         if (iy < 0)
 359                 iy = 0;
 360         if (iy >= IYSIZE)
 361                 iy = IYSIZE - 1;
 362         this->ixy_[ix][iy].add_node(n);
 363         return true;
 364 }
 365
 366 bool RRTBase::goal_found(bool f)
 367 {
 368         this->goal_found_ = f;
 369         return f;
 370 }
 371
 372 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 373 {
 374         for (unsigned int i = 0; i < sc.size() - 1; i++)
 375                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 376         sc[0]->parent(this->goal());
 377         this->slot_cusp_ = sc;
 378 }
 379
 380 // other
 381 bool RRTBase::glplot()
 382 {
 383 #if USE_GL > 0
 384         glClear(GL_COLOR_BUFFER_BIT);
 385         glLineWidth(1);
 386         glPointSize(1);
 387         // Plot obstacles
 388         glBegin(GL_LINES);
 389         for (auto o: *this->sobstacles_) {
 390                 glColor3f(0, 0, 0);
 391                 glVertex2f(GLVERTEX(o.init()));
 392                 glVertex2f(GLVERTEX(o.goal()));
 393         }
 394         glEnd();
 395         // Plot root, goal
 396         glPointSize(8);
 397         glBegin(GL_POINTS);
 398         glColor3f(1, 0, 0);
 399         glVertex2f(GLVERTEX(this->root_));
 400         glVertex2f(GLVERTEX(this->goal_));
 401         glEnd();
 402         // Plot last sample
 403         if (this->samples_.size() > 0) {
 404                 glPointSize(8);
 405                 glBegin(GL_POINTS);
 406                 glColor3f(0, 1, 0);
 407                 glVertex2f(GLVERTEX(this->samples_.back()));
 408                 glEnd();
 409         }
 410         // Plot nodes (position, orientation
 411         std::vector<RRTNode *> s; // DFS stack
 412         std::vector<RRTNode *> r; // reset visited_
 413         RRTNode *tmp;
 414         glBegin(GL_LINES);
 415         s.push_back(this->root_);
 416         while (s.size() > 0) {
 417                 tmp = s.back();
 418                 s.pop_back();
 419                 if (!tmp->visit()) {
 420                         r.push_back(tmp);
 421                         for (auto ch: tmp->children()) {
 422                                 s.push_back(ch);
 423                                 glColor3f(0.5, 0.5, 0.5);
 424                                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 425                                 glVertex2f(
 426                                         bc.lfx() * GLPLWSCALE,
 427                                         bc.lfy() * GLPLHSCALE
 428                                 );
 429                                 glVertex2f(
 430                                         bc.lrx() * GLPLWSCALE,
 431                                         bc.lry() * GLPLHSCALE
 432                                 );
 433                                 glVertex2f(
 434                                         bc.lrx() * GLPLWSCALE,
 435                                         bc.lry() * GLPLHSCALE
 436                                 );
 437                                 glVertex2f(
 438                                         bc.rrx() * GLPLWSCALE,
 439                                         bc.rry() * GLPLHSCALE
 440                                 );
 441                                 glVertex2f(
 442                                         bc.rrx() * GLPLWSCALE,
 443                                         bc.rry() * GLPLHSCALE
 444                                 );
 445                                 glVertex2f(
 446                                         bc.rfx() * GLPLWSCALE,
 447                                         bc.rfy() * GLPLHSCALE
 448                                 );
 449                         }
 450                 }
 451         }
 452         glEnd();
 453         // Plot nodes
 454         glBegin(GL_LINES);
 455         s.push_back(this->root_);
 456         while (s.size() > 0) {
 457                 tmp = s.back();
 458                 s.pop_back();
 459                 if (!tmp->visit()) {
 460                         r.push_back(tmp);
 461                         for (auto ch: tmp->children()) {
 462                                 s.push_back(ch);
 463                                 glColor3f(0.5, 0.5, 0.5);
 464                                 glVertex2f(GLVERTEX(tmp));
 465                                 glVertex2f(GLVERTEX(ch));
 466                         }
 467                 }
 468         }
 469         glEnd();
 470         // Plot nodes (from goal)
 471         glBegin(GL_LINES);
 472         s.push_back(this->goal_);
 473         while (s.size() > 0) {
 474                 tmp = s.back();
 475                 s.pop_back();
 476                 if (!tmp->visit()) {
 477                         r.push_back(tmp);
 478                         for (auto ch: tmp->children()) {
 479                                 s.push_back(ch);
 480                                 glColor3f(0.5, 0.5, 0.5);
 481                                 glVertex2f(GLVERTEX(tmp));
 482                                 glVertex2f(GLVERTEX(ch));
 483                         }
 484                 }
 485         }
 486         glEnd();
 487         std::vector<RRTNode *> cusps;
 488         // Plot last trajectory
 489         if (this->tlog().size() > 0) {
 490                 glLineWidth(2);
 491                 glBegin(GL_LINES);
 492                 for (auto n: this->tlog().back()) {
 493                         if (n->parent()) {
 494                                 glColor3f(0, 0, 1);
 495                                 glVertex2f(GLVERTEX(n));
 496                                 glVertex2f(GLVERTEX(n->parent()));
 497                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 498                                         cusps.push_back(n);
 499                         }
 500                 }
 501                 glEnd();
 502         }
 503         // Plot cusps
 504         glPointSize(8);
 505         glBegin(GL_POINTS);
 506         for (auto n: cusps) {
 507                 glColor3f(0, 0, 1);
 508                 glVertex2f(GLVERTEX(n));
 509         }
 510         glEnd();
 511         SDL_GL_SwapWindow(gw);
 512         for (auto n: r)
 513                 n->visit(false);
 514 #endif
 515         return true;
 516 }
 517
 518 bool RRTBase::goal_found(
 519                 RRTNode *node,
 520                 float (*cost)(RRTNode *, RRTNode* ))
 521 {
 522         if (GOAL_IS_NEAR(node, this->goal_)) {
 523                 if (this->goal_found_) {
 524                         if (node->ccost() + this->cost(node, this->goal_) <
 525                                         this->goal_->ccost()) {
 526                                 RRTNode *op; // old parent
 527                                 float oc; // old cumulative cost
 528                                 float od; // old direct cost
 529                                 op = this->goal_->parent();
 530                                 oc = this->goal_->ccost();
 531                                 od = this->goal_->dcost();
 532                                 node->add_child(this->goal_,
 533                                                 this->cost(node, this->goal_));
 534                                 if (this->collide(node, this->goal_)) {
 535                                         node->children().pop_back();
 536                                         this->goal_->parent(op);
 537                                         this->goal_->ccost(oc);
 538                                         this->goal_->dcost(od);
 539                                 } else {
 540                                         op->rem_child(this->goal_);
 541                                         return true;
 542                                 }
 543                         } else {
 544                                 return false;
 545                         }
 546                 } else {
 547                         node->add_child(
 548                                         this->goal_,
 549                                         this->cost(node, this->goal_));
 550                         if (this->collide(node, this->goal_)) {
 551                                 node->children().pop_back();
 552                                 this->goal_->remove_parent();
 553                                 return false;
 554                         }
 555                         this->goal_found_ = true;
 556                         // Update ccost of goal's parents
 557                         if (this->goals().size() > 0) {
 558                                 RRTNode *ch = this->goals().back();
 559                                 RRTNode *pn = this->goals().back()->parent();
 560                                 while (pn) {
 561                                         pn->ccost(
 562                                                 ch->ccost()
 563                                                 - this->cost(pn, ch)
 564                                         );
 565                                         ch = pn;
 566                                         pn = pn->parent();
 567                                 }
 568                         }
 569                         return true;
 570                 }
 571         }
 572         return false;
 573 }
 574
 575 bool RRTBase::goal_found(
 576         RRTNode *node,
 577         RRTNode *goal
 578 )
 579 {
 580         if (GOAL_IS_NEAR(node, goal)) {
 581                 if (this->goal_found_) {
 582                         if (
 583                                 goal->ccost() != -1
 584                                 && node->ccost() + this->cost(node, goal)
 585                                 < goal->ccost()
 586                         ) {
 587                                 RRTNode *op; // old parent
 588                                 float oc; // old cumulative cost
 589                                 float od; // old direct cost
 590                                 op = goal->parent();
 591                                 oc = goal->ccost();
 592                                 od = goal->dcost();
 593                                 node->add_child(goal,
 594                                                 this->cost(node, goal));
 595                                 if (this->collide(node, goal)) {
 596                                         node->children().pop_back();
 597                                         goal->parent(op);
 598                                         goal->ccost(oc);
 599                                         goal->dcost(od);
 600                                 } else {
 601                                         op->rem_child(goal);
 602                                         return true;
 603                                 }
 604                         } else {
 605                                 return false;
 606                         }
 607                 } else {
 608                         node->add_child(
 609                                 goal,
 610                                 this->cost(node, goal)
 611                         );
 612                         if (this->collide(node, goal)) {
 613                                 node->children().pop_back();
 614                                 goal->remove_parent();
 615                                 return false;
 616                         }
 617                         this->goal_found_ = true;
 618                         // Update ccost of goal's children
 619                         goal->update_ccost();
 620                         // Update ccost of goals
 621                         for (auto g: this->goals()) {
 622                                 if (g == goal)
 623                                         break;
 624                                 g->ccost(-1);
 625                         }
 626                         return true;
 627                 }
 628         }
 629         return false;
 630 }
 631
 632 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 633 {
 634         std::vector<RRTEdge *> edges;
 635         RRTNode *tmp = goal;
 636         volatile bool col = false;
 637         unsigned int i;
 638         while (tmp != init) {
 639                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 640                 std::vector<RRTEdge *> bcframe = bc.frame();
 641                 #pragma omp parallel for reduction(|: col)
 642                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 643                         if ((*this->cobstacles_)[i].collide(tmp)) {
 644                                 col = true;
 645                         }
 646                         for (auto &e: bcframe) {
 647                                 if ((*this->cobstacles_)[i].collide(e)) {
 648                                         col = true;
 649                                 }
 650                         }
 651                 }
 652                 if (col) {
 653                         for (auto e: bcframe) {
 654                                 delete e->init();
 655                                 delete e->goal();
 656                                 delete e;
 657                         }
 658                         for (auto e: edges) {
 659                                 delete e;
 660                         }
 661                         return true;
 662                 }
 663                 #pragma omp parallel for reduction(|: col)
 664                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 665                         for (auto &e: bcframe) {
 666                                 if ((*this->sobstacles_)[i].collide(e)) {
 667                                         col = true;
 668                                 }
 669                         }
 670                 }
 671                 if (col) {
 672                         for (auto e: bcframe) {
 673                                 delete e->init();
 674                                 delete e->goal();
 675                                 delete e;
 676                         }
 677                         for (auto e: edges) {
 678                                 delete e;
 679                         }
 680                         return true;
 681                 }
 682                 if (!tmp->parent()) {
 683                         break;
 684                 }
 685                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 686                 tmp = tmp->parent();
 687                 for (auto e: bcframe) {
 688                         delete e->init();
 689                         delete e->goal();
 690                         delete e;
 691                 }
 692         }
 693         for (auto &e: edges) {
 694                 #pragma omp parallel for reduction(|: col)
 695                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 696                         if ((*this->cobstacles_)[i].collide(e)) {
 697                                 col = true;
 698                         }
 699                 }
 700                 if (col) {
 701                         for (auto e: edges) {
 702                                 delete e;
 703                         }
 704                         return true;
 705                 }
 706                 #pragma omp parallel for reduction(|: col)
 707                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 708                         if ((*this->sobstacles_)[i].collide(e)) {
 709                                 col = true;
 710                         }
 711                 }
 712                 if (col) {
 713                         for (auto e: edges) {
 714                                 delete e;
 715                         }
 716                         return true;
 717                 }
 718         }
 719         for (auto e: edges) {
 720                 delete e;
 721         }
 722         return false;
 723 }
 724
 725 class RRTNodeDijkstra {
 726         public:
 727                 RRTNodeDijkstra(int i):
 728                         ni(i),
 729                         pi(0),
 730                         c(9999),
 731                         v(false)
 732                 {};
 733                 RRTNodeDijkstra(int i, float c):
 734                         ni(i),
 735                         pi(0),
 736                         c(c),
 737                         v(false)
 738                 {};
 739                 RRTNodeDijkstra(int i, int p, float c):
 740                         ni(i),
 741                         pi(p),
 742                         c(c),
 743                         v(false)
 744                 {};
 745                 unsigned int ni;
 746                 unsigned int pi;
 747                 float c;
 748                 bool v;
 749                 bool vi()
 750                 {
 751                         if (this->v)
 752                                 return true;
 753                         this->v = true;
 754                         return false;
 755                 };
 756 };
 757
 758 class RRTNodeDijkstraComparator {
 759         public:
 760                 int operator() (
 761                                 const RRTNodeDijkstra& n1,
 762                                 const RRTNodeDijkstra& n2)
 763                 {
 764                         return n1.c > n2.c;
 765                 }
 766 };
 767
 768 bool RRTBase::optp_dijkstra(
 769                 std::vector<RRTNode *> &cusps,
 770                 std::vector<int> &npi)
 771 {
 772         std::vector<RRTNodeDijkstra> dnodes;
 773         for (unsigned int i = 0; i < cusps.size(); i++)
 774                 if (i > 0)
 775                         dnodes.push_back(RRTNodeDijkstra(
 776                                                 i,
 777                                                 i - 1,
 778                                                 cusps[i]->ccost()));
 779                 else
 780                         dnodes.push_back(RRTNodeDijkstra(
 781                                                 i,
 782                                                 cusps[i]->ccost()));
 783         dnodes[0].vi();
 784         std::priority_queue<
 785                 RRTNodeDijkstra,
 786                 std::vector<RRTNodeDijkstra>,
 787                 RRTNodeDijkstraComparator> pq;
 788         RRTNodeDijkstra tmp = dnodes[0];
 789         pq.push(tmp);
 790         float ch_cost = 9999;
 791         std::vector<RRTNode *> steered;
 792         while (!pq.empty()) {
 793                 tmp = pq.top();
 794                 pq.pop();
 795                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 796                         ch_cost = dnodes[tmp.ni].c +
 797                                 this->cost(cusps[tmp.ni], cusps[i]);
 798                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 799                         if (steered.size() <= 0)
 800                                 break;
 801                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 802                                 steered[j]->add_child(steered[j + 1], 1);
 803                         if (this->collide(
 804                                         steered[0],
 805                                         steered[steered.size() - 1])) {
 806                                 for (auto n: steered)
 807                                         delete n;
 808                                 continue;
 809                         }
 810                         if (ch_cost < dnodes[i].c) {
 811                                 dnodes[i].c = ch_cost;
 812                                 dnodes[i].pi = tmp.ni;
 813                                 if (!dnodes[i].vi())
 814                                         pq.push(dnodes[i]);
 815                         }
 816                         for (auto n: steered)
 817                                 delete n;
 818                 }
 819         }
 820         unsigned int tmpi = 0;
 821         for (auto n: dnodes) {
 822                 if (n.v && n.ni > tmpi)
 823                         tmpi = n.ni;
 824         }
 825         while (tmpi > 0) {
 826                 npi.push_back(tmpi);
 827                 tmpi = dnodes[tmpi].pi;
 828         }
 829         npi.push_back(tmpi);
 830         std::reverse(npi.begin(), npi.end());
 831         return true;
 832 }
 833
 834 bool RRTBase::optp_rrp(
 835                 std::vector<RRTNode *> &cusps,
 836                 std::vector<int> &npi)
 837 {
 838         std::vector<RRTNode *> steered;
 839         std::vector<int> candidates;
 840         RRTNode *x_j = nullptr;
 841         RRTNode *x_i = nullptr;
 842         int j = cusps.size() - 1;
 843         int i_min = 0;
 844         float c_min = 0;
 845         float cost = 0;
 846         float dx = 0;
 847         float dy = 0;
 848         float ed = 0;
 849         float th_i = 0;
 850         float th_j = 0;
 851         while (j > 0) {
 852                 npi.push_back(j);
 853                 steered.clear();
 854                 candidates.clear();
 855                 x_j = cusps[j];
 856                 for (int i = 0; i < j; i++) {
 857                         steered = this->steer(cusps[i], x_j);
 858                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 859                                 steered[k]->add_child(steered[k + 1], 1);
 860                         if (!this->collide(
 861                                         steered[0],
 862                                         steered[steered.size() - 1]))
 863                                 candidates.push_back(i);
 864                 }
 865                 if (candidates.size() <= 0)
 866                         return false;
 867                 i_min = candidates[0];
 868                 x_i = cusps[i_min];
 869                 c_min = 9999;
 870                 for (auto c: candidates) {
 871                         x_i = cusps[c];
 872                         dx = x_j->x() - x_i->x();
 873                         dy = x_j->y() - x_i->y();
 874                         ed = EDIST(x_i, x_j);
 875                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 876                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 877                         cost = th_i + th_j;
 878                         if (cost < c_min) {
 879                                 i_min = c;
 880                                 c_min = cost;
 881                         }
 882                 }
 883                 j = i_min;
 884
 885         }
 886         npi.push_back(j);
 887         std::reverse(npi.begin(), npi.end());
 888         return true;
 889 }
 890
 891 bool RRTBase::optp_smart(
 892                 std::vector<RRTNode *> &cusps,
 893                 std::vector<int> &npi)
 894 {
 895         std::vector<RRTNode *> steered;
 896         int li = cusps.size() - 1;
 897         int ai = li - 1;
 898         npi.push_back(li);
 899         while (ai > 1) {
 900                 steered = this->steer(cusps[ai - 1], cusps[li]);
 901                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 902                         steered[j]->add_child(steered[j + 1], 1);
 903                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 904                         npi.push_back(ai);
 905                         li = ai;
 906                 }
 907                 ai--;
 908                 for (auto n: steered)
 909                         delete n;
 910         }
 911         npi.push_back(0);
 912         std::reverse(npi.begin(), npi.end());
 913         return true;
 914 }
 915
 916 bool RRTBase::opt_path()
 917 {
 918         if (this->tlog().size() == 0)
 919                 return false;
 920         float oc = this->tlog().back().front()->ccost();
 921         std::vector<RRTNode *> tmp_cusps;
 922         for (auto n: this->tlog().back()) {
 923                 if (sgn(n->s()) == 0) {
 924                         tmp_cusps.push_back(n);
 925                 } else if (n->parent() &&
 926                                 sgn(n->s()) != sgn(n->parent()->s())) {
 927                         tmp_cusps.push_back(n);
 928                         tmp_cusps.push_back(n->parent());
 929                 }
 930                 //tmp_cusps.push_back(n);
 931         }
 932         if (tmp_cusps.size() < 2)
 933                 return false;
 934         std::vector<RRTNode *> cusps;
 935         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 936                 if (!IS_NEAR(
 937                         tmp_cusps[i],
 938                         tmp_cusps[(i + 1) % tmp_cusps.size()]
 939                 ))
 940                         cusps.push_back(tmp_cusps[i]);
 941         }
 942         std::reverse(cusps.begin(), cusps.end());
 943         std::vector<int> npi; // new path indexes
 944         if (!this->optp_dijkstra(cusps, npi))
 945                 return false;
 946         RRTNode *pn = cusps[npi[0]];
 947         RRTNode *tmp = nullptr;
 948         bool en_add = true;
 949         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 950                 pn = cusps[npi[i]];
 951                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 952                         if (!en_add) {
 953                                 delete ns;
 954                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 955                                 tmp = ns;
 956                                 while (tmp && tmp != cusps[npi[i]]) {
 957                                         pn = tmp->parent();
 958                                         delete tmp;
 959                                         tmp = pn;
 960                                 }
 961                                 pn = cusps[npi[i]];
 962                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 963                                 delete ns;
 964                                 cusps[npi[i + 1]]->parent()->rem_child(
 965                                                 cusps[npi[i + 1]]);
 966                                 pn->add_child(
 967                                         cusps[npi[i + 1]],
 968                                         this->cost(pn, cusps[npi[i + 1]]));
 969                                 en_add = false;
 970                         } else if (IS_NEAR(pn, ns)) {
 971                                 delete ns;
 972                         } else {
 973                                 this->nodes().push_back(ns);
 974                                 this->add_iy(ns);
 975                                 this->add_ixy(ns);
 976                                 pn->add_child(ns, this->cost(pn, ns));
 977                                 pn = ns;
 978                         }
 979                 }
 980         }
 981         this->root()->update_ccost();
 982         if (this->tlog().back().front()->ccost() < oc)
 983                 return true;
 984         return false;
 985 }
 986
 987 bool RRTBase::rebase(RRTNode *nr)
 988 {
 989         if (!nr || this->goal_ == nr || this->root_ == nr)
 990                 return false;
 991         std::vector<RRTNode *> s; // DFS stack
 992         RRTNode *tmp;
 993         unsigned int i = 0;
 994         unsigned int to_del = 0;
 995         int iy = 0;
 996         s.push_back(this->root_);
 997         while (s.size() > 0) {
 998                 tmp = s.back();
 999                 s.pop_back();
1000                 for (auto ch: tmp->children()) {
1001                         if (ch != nr)
1002                                 s.push_back(ch);
1003                 }
1004                 to_del = this->nodes_.size();
1005                 #pragma omp parallel for reduction(min: to_del)
1006                 for (i = 0; i < this->nodes_.size(); i++) {
1007                         if (this->nodes_[i] == tmp)
1008                                 to_del = i;
1009                 }
1010                 if (to_del < this->nodes_.size())
1011                         this->nodes_.erase(this->nodes_.begin() + to_del);
1012                 iy = this->YI(tmp);
1013                 to_del = this->iy_[iy].size();
1014                 #pragma omp parallel  for reduction(min: to_del)
1015                 for (i = 0; i < this->iy_[iy].size(); i++) {
1016                         if (this->iy_[iy][i] == tmp)
1017                                 to_del = i;
1018                 }
1019                 if (to_del < this->iy_[iy].size())
1020                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
1021                 this->dnodes().push_back(tmp);
1022         }
1023         this->root_ = nr;
1024         this->root_->remove_parent();
1025         return true;
1026 }
1027
1028 std::vector<RRTNode *> RRTBase::findt()
1029 {
1030         return this->findt(this->goal_);
1031 }
1032
1033 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
1034 {
1035         std::vector<RRTNode *> nodes;
1036         if (!n || !n->parent())
1037                 return nodes;
1038         while (n) {
1039                 nodes.push_back(n);
1040                 n = n->parent();
1041         }
1042         return nodes;
1043 }
1044
1045 int RRTBase::XI(RRTNode *n)
1046 {
1047         float step = (this->HMAX - this->HMIN) / IXSIZE;
1048         float index = (int) (floor(n->x() - this->HMIN) / step);
1049         if (index < 0) index = 0;
1050         if (index >= IXSIZE) index = IXSIZE - 1;
1051         return index;
1052 }
1053
1054 int RRTBase::YI(RRTNode *n)
1055 {
1056         float step = (this->VMAX - this->VMIN) / IYSIZE;
1057         float index = (int) (floor(n->y() - this->VMIN) / step);
1058         if (index < 0) index = 0;
1059         if (index >= IYSIZE) index = IYSIZE - 1;
1060         return index;
1061 }
1062
1063 // RRT Framework
1064 void RRTBase::setSamplingInfo(SamplingInfo si)
1065 {
1066         this->ndx_ = std::normal_distribution<float>(si.x0, si.x);
1067         this->ndy_ = std::normal_distribution<float>(si.y0, si.y);
1068         this->ndh_ = std::normal_distribution<float>(si.h0, si.h);
1069 }
1070
1071 RRTNode *RRTBase::sample()
1072 {
1073         float x = this->ndx_(this->gen_);
1074         float y = this->ndy_(this->gen_);
1075         float h = this->ndh_(this->gen_);
1076         return new RRTNode(x, y, h);
1077 }
1078
1079 float RRTBase::cost(RRTNode *init, RRTNode *goal)
1080 {
1081         return co2(init, goal);
1082 }
1083
1084 RRTNode *RRTBase::nn(RRTNode *rs)
1085 {
1086         int iy = this->YI(rs);
1087         struct mcnn nn;
1088         nn.nn = nullptr;
1089         nn.mc = 9999;
1090         unsigned int i = 0; // vector step
1091         unsigned int j = 0; // array step
1092         int iyj = 0;
1093         while (nn.mc > j * IYSTEP) {
1094                 iyj = (int) (iy + j);
1095                 if (iyj >= IYSIZE)
1096                         iyj = IYSIZE - 1;
1097                 #pragma omp parallel for reduction(minn: nn)
1098                 for (i = 0; i < this->iy_[iyj].size(); i++) {
1099                         if (EDIST(this->iy_[iyj][i], rs) < nn.mc) {
1100                                 nn.mc = EDIST(this->iy_[iyj][i], rs);
1101                                 nn.nn = this->iy_[iyj][i];
1102                         }
1103                 }
1104                 if (j > 0) {
1105                         iyj = (int) (iy - j);
1106                         if (iyj < 0)
1107                                 iyj = 0;
1108                         #pragma omp parallel for reduction(minn: nn)
1109                         for (i = 0; i < this->iy_[iyj].size(); i++) {
1110                                 if (EDIST(this->iy_[iyj][i], rs) < nn.mc) {
1111                                         nn.mc = EDIST(this->iy_[iyj][i], rs);
1112                                         nn.nn = this->iy_[iyj][i];
1113                                 }
1114                         }
1115                 }
1116                 j++;
1117         }
1118         return nn.nn;
1119 }
1120
1121 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
1122 {
1123         std::vector<RRTNode *> nvs;
1124         unsigned int iy = this->YI(node);
1125         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
1126         unsigned int i = 0; // vector index
1127         unsigned int j = 0; // array index
1128         unsigned int jmin = 0; // minimal j index
1129         unsigned int jmax = 0; // maximal j index
1130         jmin = iy - iy_dist;
1131         jmin = (jmin > 0) ? jmin : 0;
1132         jmax = iy + iy_dist + 1;
1133         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
1134         #pragma omp parallel for reduction(merge: nvs)
1135         for (j = jmin; j < jmax; j++) {
1136                 #pragma omp parallel for reduction(merge: nvs)
1137                 for (i = 0; i < this->iy_[j].size(); i++) {
1138                         if (this->cost(this->iy_[j][i], node) < dist) {
1139                                 nvs.push_back(this->iy_[j][i]);
1140                         }
1141                 }
1142         }
1143         return nvs;
1144 }
1145
1146 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
1147 {
1148         return st3(init, goal);
1149 }
1150
1151 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
1152 {
1153         return st3(init, goal, step);
1154 }