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 // OpenGL
  25 #include <GL/gl.h>
  26 #include <GL/glu.h>
  27 #include <SDL2/SDL.h>
  28 // RRT
  29 #include "sample.h"
  30 #include "cost.h"
  31 #include "steer.h"
  32 #include "nn.h"
  33 #include "nv.h"
  34
  35 extern SDL_Window* gw;
  36 extern SDL_GLContext gc;
  37
  38 Cell::Cell()
  39 {
  40         pthread_mutex_init(&this->m_, NULL);
  41 }
  42
  43 bool Cell::changed()
  44 {
  45         pthread_mutex_lock(&this->m_);
  46         bool ret = this->changed_;
  47         pthread_mutex_unlock(&this->m_);
  48         return ret;
  49 }
  50
  51 std::vector<RRTNode *> Cell::nodes()
  52 {
  53         pthread_mutex_lock(&this->m_);
  54         std::vector<RRTNode *> ret(this->nodes_);
  55         pthread_mutex_unlock(&this->m_);
  56         return ret;
  57 }
  58
  59 void Cell::add_node(RRTNode *n)
  60 {
  61         pthread_mutex_lock(&this->m_);
  62         this->nodes_.push_back(n);
  63         this->changed_ = true;
  64         pthread_mutex_unlock(&this->m_);
  65 }
  66
  67 RRTBase::~RRTBase()
  68 {
  69 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  70 // please uncommend the following code:
  71 //
  72         for (auto n: this->nodes_)
  73                 if (n != this->root_)
  74                         delete n;
  75         for (auto n: this->dnodes_)
  76                 if (n != this->root_ && n != this->goal_)
  77                         delete n;
  78         for (auto s: this->samples_)
  79                 if (s != this->goal_)
  80                         delete s;
  81         for (auto edges: this->rlog_)
  82                 for (auto e: edges)
  83                         delete e;
  84         delete this->root_;
  85         delete this->goal_;
  86 }
  87
  88 RRTBase::RRTBase():
  89         root_(new RRTNode()),
  90         goal_(new RRTNode()),
  91         gen_(std::random_device{}())
  92 {
  93         this->nodes_.reserve(NOFNODES);
  94         this->nodes_.push_back(this->root_);
  95         this->add_iy(this->root_);
  96         this->add_ixy(this->root_);
  97 }
  98
  99 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
 100         root_(init),
 101         goal_(goal),
 102         gen_(std::random_device{}())
 103 {
 104         this->nodes_.reserve(NOFNODES);
 105         this->nodes_.push_back(init);
 106         this->add_iy(init);
 107         this->add_ixy(init);
 108 }
 109
 110 // getter
 111 RRTNode *RRTBase::root()
 112 {
 113         return this->root_;
 114 }
 115
 116 RRTNode *RRTBase::goal()
 117 {
 118         return this->goal_;
 119 }
 120
 121 std::vector<RRTNode *> &RRTBase::nodes()
 122 {
 123         return this->nodes_;
 124 }
 125
 126 std::vector<RRTNode *> &RRTBase::dnodes()
 127 {
 128         return this->dnodes_;
 129 }
 130
 131 PolygonObstacle &RRTBase::frame()
 132 {
 133         return this->frame_;
 134 }
 135
 136 std::vector<RRTNode *> &RRTBase::samples()
 137 {
 138         return this->samples_;
 139 }
 140
 141 std::vector<CircleObstacle> *RRTBase::co()
 142 {
 143         return this->cobstacles_;
 144 }
 145
 146 std::vector<SegmentObstacle> *RRTBase::so()
 147 {
 148         return this->sobstacles_;
 149 }
 150
 151 std::vector<float> &RRTBase::clog()
 152 {
 153         return this->clog_;
 154 }
 155
 156 std::vector<float> &RRTBase::nlog()
 157 {
 158         return this->nlog_;
 159 }
 160
 161 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 162 {
 163         return this->rlog_;
 164 }
 165
 166 std::vector<float> &RRTBase::slog()
 167 {
 168         return this->slog_;
 169 }
 170
 171 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 172 {
 173         return this->tlog_;
 174 }
 175
 176 std::vector<RRTNode *> &RRTBase::slot_cusp()
 177 {
 178         return this->slot_cusp_;
 179 }
 180
 181 bool RRTBase::goal_found()
 182 {
 183         return this->goal_found_;
 184 }
 185
 186 float RRTBase::elapsed()
 187 {
 188         std::chrono::duration<float> dt;
 189         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 190                         this->tend_ - this->tstart_);
 191         return dt.count();
 192 }
 193
 194 // setter
 195 void RRTBase::root(RRTNode *node)
 196 {
 197         this->root_ = node;
 198 }
 199
 200 void RRTBase::goal(RRTNode *node)
 201 {
 202         this->goal_ = node;
 203 }
 204
 205 bool RRTBase::logr(RRTNode *root)
 206 {
 207         std::vector<RRTEdge *> e; // Edges to log
 208         std::vector<RRTNode *> s; // DFS stack
 209         std::vector<RRTNode *> r; // reset visited_
 210         RRTNode *tmp;
 211         s.push_back(root);
 212         while (s.size() > 0) {
 213                 tmp = s.back();
 214                 s.pop_back();
 215                 if (!tmp->visit()) {
 216                         r.push_back(tmp);
 217                         for (auto ch: tmp->children()) {
 218                                 s.push_back(ch);
 219                                 e.push_back(new RRTEdge(tmp, ch));
 220                         }
 221                 }
 222         }
 223         for (auto n: r)
 224                 n->visit(false);
 225         this->rlog_.push_back(e);
 226         return true;
 227 }
 228
 229 float RRTBase::ocost(RRTNode *n)
 230 {
 231         float dist = 9999;
 232         for (auto o: *this->cobstacles_)
 233                 if (o.dist_to(n) < dist)
 234                         dist = o.dist_to(n);
 235         for (auto o: *this->sobstacles_)
 236                 if (o.dist_to(n) < dist)
 237                         dist = o.dist_to(n);
 238         return n->ocost(dist);
 239 }
 240
 241 bool RRTBase::tlog(std::vector<RRTNode *> t)
 242 {
 243         if (t.size() > 0) {
 244                 this->slog_.push_back(this->elapsed());
 245                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 246                 this->nlog_.push_back(this->nodes_.size());
 247                 this->tlog_.push_back(t);
 248                 return true;
 249         } else {
 250                 return false;
 251         }
 252 }
 253
 254 void RRTBase::tstart()
 255 {
 256         this->tstart_ = std::chrono::high_resolution_clock::now();
 257 }
 258
 259 void RRTBase::tend()
 260 {
 261         this->tend_ = std::chrono::high_resolution_clock::now();
 262 }
 263
 264 bool RRTBase::link_obstacles(
 265                 std::vector<CircleObstacle> *cobstacles,
 266                 std::vector<SegmentObstacle> *sobstacles)
 267 {
 268         this->cobstacles_ = cobstacles;
 269         this->sobstacles_ = sobstacles;
 270         if (!this->cobstacles_ || !this->sobstacles_) {
 271                 return false;
 272         }
 273         return true;
 274 }
 275
 276 bool RRTBase::add_iy(RRTNode *n)
 277 {
 278         int i = IYI(n->y());
 279         if (i < 0)
 280                 i = 0;
 281         if (i >= IYSIZE)
 282                 i = IYSIZE - 1;
 283         this->iy_[i].push_back(n);
 284         return true;
 285 }
 286
 287 bool RRTBase::add_ixy(RRTNode *n)
 288 {
 289         int ix = IXI(n->x());
 290         if (ix < 0)
 291                 ix = 0;
 292         if (ix >= IXSIZE)
 293                 ix = IXSIZE - 1;
 294         int iy = IYI(n->y());
 295         if (iy < 0)
 296                 iy = 0;
 297         if (iy >= IYSIZE)
 298                 iy = IYSIZE - 1;
 299         this->ixy_[ix][iy].add_node(n);
 300         return true;
 301 }
 302
 303 bool RRTBase::goal_found(bool f)
 304 {
 305         this->goal_found_ = f;
 306         return f;
 307 }
 308
 309 void RRTBase::slot_cusp(std::vector<RRTNode *> sc)
 310 {
 311         for (unsigned int i = 0; i < sc.size() - 1; i++)
 312                 sc[i]->add_child(sc[i + 1], this->cost(sc[i], sc[i + 1]));
 313         sc[0]->parent(this->goal());
 314         this->slot_cusp_ = sc;
 315 }
 316
 317 // other
 318 bool RRTBase::glplot()
 319 {
 320         glClear(GL_COLOR_BUFFER_BIT);
 321         glLineWidth(1);
 322         glPointSize(1);
 323         // Plot obstacles
 324         glBegin(GL_LINES);
 325         for (auto o: *this->sobstacles_) {
 326                 glColor3f(0, 0, 0);
 327                 glVertex2f(GLVERTEX(o.init()));
 328                 glVertex2f(GLVERTEX(o.goal()));
 329         }
 330         glEnd();
 331         // Plot root, goal
 332         glPointSize(8);
 333         glBegin(GL_POINTS);
 334         glColor3f(1, 0, 0);
 335         glVertex2f(GLVERTEX(this->root_));
 336         glVertex2f(GLVERTEX(this->goal_));
 337         glEnd();
 338         // Plot last sample
 339         if (this->samples_.size() > 0) {
 340                 glPointSize(8);
 341                 glBegin(GL_POINTS);
 342                 glColor3f(0, 1, 0);
 343                 glVertex2f(GLVERTEX(this->samples_.back()));
 344                 glEnd();
 345         }
 346         // Plot nodes
 347         std::vector<RRTNode *> s; // DFS stack
 348         std::vector<RRTNode *> r; // reset visited_
 349         RRTNode *tmp;
 350         glBegin(GL_LINES);
 351         s.push_back(this->root_);
 352         while (s.size() > 0) {
 353                 tmp = s.back();
 354                 s.pop_back();
 355                 if (!tmp->visit()) {
 356                         r.push_back(tmp);
 357                         for (auto ch: tmp->children()) {
 358                                 s.push_back(ch);
 359                                 glColor3f(0.5, 0.5, 0.5);
 360                                 glVertex2f(GLVERTEX(tmp));
 361                                 glVertex2f(GLVERTEX(ch));
 362                         }
 363                 }
 364         }
 365         glEnd();
 366         // Plot nodes (from goal)
 367         glBegin(GL_LINES);
 368         s.push_back(this->goal_);
 369         while (s.size() > 0) {
 370                 tmp = s.back();
 371                 s.pop_back();
 372                 if (!tmp->visit()) {
 373                         r.push_back(tmp);
 374                         for (auto ch: tmp->children()) {
 375                                 s.push_back(ch);
 376                                 glColor3f(0.5, 0.5, 0.5);
 377                                 glVertex2f(GLVERTEX(tmp));
 378                                 glVertex2f(GLVERTEX(ch));
 379                         }
 380                 }
 381         }
 382         glEnd();
 383         std::vector<RRTNode *> cusps;
 384         // Plot last trajectory
 385         if (this->tlog().size() > 0) {
 386                 glLineWidth(2);
 387                 glBegin(GL_LINES);
 388                 for (auto n: this->tlog().back()) {
 389                         if (n->parent()) {
 390                                 glColor3f(0, 0, 1);
 391                                 glVertex2f(GLVERTEX(n));
 392                                 glVertex2f(GLVERTEX(n->parent()));
 393                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 394                                         cusps.push_back(n);
 395                         }
 396                 }
 397                 glEnd();
 398         }
 399         // Plot cusps
 400         glPointSize(8);
 401         glBegin(GL_POINTS);
 402         for (auto n: cusps) {
 403                 glColor3f(0, 0, 1);
 404                 glVertex2f(GLVERTEX(n));
 405         }
 406         glEnd();
 407         SDL_GL_SwapWindow(gw);
 408         for (auto n: r)
 409                 n->visit(false);
 410         return true;
 411 }
 412
 413 bool RRTBase::goal_found(
 414                 RRTNode *node,
 415                 float (*cost)(RRTNode *, RRTNode* ))
 416 {
 417         if (IS_NEAR(node, this->goal_)) {
 418                 if (this->goal_found_) {
 419                         if (node->ccost() + this->cost(node, this->goal_) <
 420                                         this->goal_->ccost()) {
 421                                 RRTNode *op; // old parent
 422                                 float oc; // old cumulative cost
 423                                 float od; // old direct cost
 424                                 op = this->goal_->parent();
 425                                 oc = this->goal_->ccost();
 426                                 od = this->goal_->dcost();
 427                                 node->add_child(this->goal_,
 428                                                 this->cost(node, this->goal_));
 429                                 if (this->collide(node, this->goal_)) {
 430                                         node->children().pop_back();
 431                                         this->goal_->parent(op);
 432                                         this->goal_->ccost(oc);
 433                                         this->goal_->dcost(od);
 434                                 } else {
 435                                         op->rem_child(this->goal_);
 436                                         return true;
 437                                 }
 438                         } else {
 439                                 return false;
 440                         }
 441                 } else {
 442                         node->add_child(
 443                                         this->goal_,
 444                                         this->cost(node, this->goal_));
 445                         if (this->collide(node, this->goal_)) {
 446                                 node->children().pop_back();
 447                                 this->goal_->remove_parent();
 448                                 return false;
 449                         }
 450                         this->goal_found_ = true;
 451                         return true;
 452                 }
 453         }
 454         return false;
 455 }
 456
 457 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 458 {
 459         std::vector<RRTEdge *> edges;
 460         RRTNode *tmp = goal;
 461         volatile bool col = false;
 462         unsigned int i;
 463         while (tmp != init) {
 464                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 465                 std::vector<RRTEdge *> bcframe = bc.frame();
 466                 #pragma omp parallel for reduction(|: col)
 467                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 468                         if ((*this->cobstacles_)[i].collide(tmp)) {
 469                                 col = true;
 470                         }
 471                         for (auto &e: bcframe) {
 472                                 if ((*this->cobstacles_)[i].collide(e)) {
 473                                         col = true;
 474                                 }
 475                         }
 476                 }
 477                 if (col) {
 478                         for (auto e: bcframe) {
 479                                 delete e->init();
 480                                 delete e->goal();
 481                                 delete e;
 482                         }
 483                         for (auto e: edges) {
 484                                 delete e;
 485                         }
 486                         return true;
 487                 }
 488                 #pragma omp parallel for reduction(|: col)
 489                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 490                         for (auto &e: bcframe) {
 491                                 if ((*this->sobstacles_)[i].collide(e)) {
 492                                         col = true;
 493                                 }
 494                         }
 495                 }
 496                 if (col) {
 497                         for (auto e: bcframe) {
 498                                 delete e->init();
 499                                 delete e->goal();
 500                                 delete e;
 501                         }
 502                         for (auto e: edges) {
 503                                 delete e;
 504                         }
 505                         return true;
 506                 }
 507                 if (!tmp->parent()) {
 508                         break;
 509                 }
 510                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 511                 tmp = tmp->parent();
 512                 for (auto e: bcframe) {
 513                         delete e->init();
 514                         delete e->goal();
 515                         delete e;
 516                 }
 517         }
 518         for (auto &e: edges) {
 519                 #pragma omp parallel for reduction(|: col)
 520                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 521                         if ((*this->cobstacles_)[i].collide(e)) {
 522                                 col = true;
 523                         }
 524                 }
 525                 if (col) {
 526                         for (auto e: edges) {
 527                                 delete e;
 528                         }
 529                         return true;
 530                 }
 531                 #pragma omp parallel for reduction(|: col)
 532                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 533                         if ((*this->sobstacles_)[i].collide(e)) {
 534                                 col = true;
 535                         }
 536                 }
 537                 if (col) {
 538                         for (auto e: edges) {
 539                                 delete e;
 540                         }
 541                         return true;
 542                 }
 543         }
 544         for (auto e: edges) {
 545                 delete e;
 546         }
 547         return false;
 548 }
 549
 550 class RRTNodeDijkstra {
 551         public:
 552                 RRTNodeDijkstra(int i):
 553                         ni(i),
 554                         pi(0),
 555                         c(9999),
 556                         v(false)
 557                 {};
 558                 RRTNodeDijkstra(int i, float c):
 559                         ni(i),
 560                         pi(0),
 561                         c(c),
 562                         v(false)
 563                 {};
 564                 RRTNodeDijkstra(int i, int p, float c):
 565                         ni(i),
 566                         pi(p),
 567                         c(c),
 568                         v(false)
 569                 {};
 570                 unsigned int ni;
 571                 unsigned int pi;
 572                 float c;
 573                 bool v;
 574                 bool vi()
 575                 {
 576                         if (this->v)
 577                                 return true;
 578                         this->v = true;
 579                         return false;
 580                 };
 581 };
 582
 583 class RRTNodeDijkstraComparator {
 584         public:
 585                 int operator() (
 586                                 const RRTNodeDijkstra& n1,
 587                                 const RRTNodeDijkstra& n2)
 588                 {
 589                         return n1.c > n2.c;
 590                 }
 591 };
 592
 593 bool RRTBase::optp_dijkstra(
 594                 std::vector<RRTNode *> &cusps,
 595                 std::vector<int> &npi)
 596 {
 597         std::vector<RRTNodeDijkstra> dnodes;
 598         for (unsigned int i = 0; i < cusps.size(); i++)
 599                 if (i > 0)
 600                         dnodes.push_back(RRTNodeDijkstra(
 601                                                 i,
 602                                                 i - 1,
 603                                                 cusps[i]->ccost()));
 604                 else
 605                         dnodes.push_back(RRTNodeDijkstra(
 606                                                 i,
 607                                                 cusps[i]->ccost()));
 608         dnodes[0].vi();
 609         std::priority_queue<
 610                 RRTNodeDijkstra,
 611                 std::vector<RRTNodeDijkstra>,
 612                 RRTNodeDijkstraComparator> pq;
 613         RRTNodeDijkstra tmp = dnodes[0];
 614         pq.push(tmp);
 615         float ch_cost = 9999;
 616         std::vector<RRTNode *> steered;
 617         while (!pq.empty()) {
 618                 tmp = pq.top();
 619                 pq.pop();
 620                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 621                         ch_cost = dnodes[tmp.ni].c +
 622                                 this->cost(cusps[tmp.ni], cusps[i]);
 623                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 624                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 625                                 steered[j]->add_child(steered[j + 1], 1);
 626                         if (this->collide(
 627                                         steered[0],
 628                                         steered[steered.size() - 1])) {
 629                                 for (auto n: steered)
 630                                         delete n;
 631                                 continue;
 632                         }
 633                         if (ch_cost < dnodes[i].c) {
 634                                 dnodes[i].c = ch_cost;
 635                                 dnodes[i].pi = tmp.ni;
 636                                 if (!dnodes[i].vi())
 637                                         pq.push(dnodes[i]);
 638                         }
 639                         for (auto n: steered)
 640                                 delete n;
 641                 }
 642         }
 643         unsigned int tmpi = 0;
 644         for (auto n: dnodes) {
 645                 if (n.v && n.ni > tmpi)
 646                         tmpi = n.ni;
 647         }
 648         while (tmpi > 0) {
 649                 npi.push_back(tmpi);
 650                 tmpi = dnodes[tmpi].pi;
 651         }
 652         npi.push_back(tmpi);
 653         std::reverse(npi.begin(), npi.end());
 654         return true;
 655 }
 656
 657 bool RRTBase::optp_rrp(
 658                 std::vector<RRTNode *> &cusps,
 659                 std::vector<int> &npi)
 660 {
 661         std::vector<RRTNode *> steered;
 662         std::vector<int> candidates;
 663         RRTNode *x_j = nullptr;
 664         RRTNode *x_i = nullptr;
 665         int j = cusps.size() - 1;
 666         int i_min = 0;
 667         float c_min = 0;
 668         float cost = 0;
 669         float dx = 0;
 670         float dy = 0;
 671         float ed = 0;
 672         float th_i = 0;
 673         float th_j = 0;
 674         while (j > 0) {
 675                 npi.push_back(j);
 676                 steered.clear();
 677                 candidates.clear();
 678                 x_j = cusps[j];
 679                 for (int i = 0; i < j; i++) {
 680                         steered = this->steer(cusps[i], x_j);
 681                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 682                                 steered[k]->add_child(steered[k + 1], 1);
 683                         if (!this->collide(
 684                                         steered[0],
 685                                         steered[steered.size() - 1]))
 686                                 candidates.push_back(i);
 687                 }
 688                 if (candidates.size() <= 0)
 689                         return false;
 690                 i_min = candidates[0];
 691                 x_i = cusps[i_min];
 692                 c_min = 9999;
 693                 for (auto c: candidates) {
 694                         x_i = cusps[c];
 695                         dx = x_j->x() - x_i->x();
 696                         dy = x_j->y() - x_i->y();
 697                         ed = EDIST(x_i, x_j);
 698                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 699                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 700                         cost = th_i + th_j;
 701                         if (cost < c_min) {
 702                                 i_min = c;
 703                                 c_min = cost;
 704                         }
 705                 }
 706                 j = i_min;
 707
 708         }
 709         npi.push_back(j);
 710         std::reverse(npi.begin(), npi.end());
 711         return true;
 712 }
 713
 714 bool RRTBase::optp_smart(
 715                 std::vector<RRTNode *> &cusps,
 716                 std::vector<int> &npi)
 717 {
 718         std::vector<RRTNode *> steered;
 719         int li = cusps.size() - 1;
 720         int ai = li - 1;
 721         npi.push_back(li);
 722         while (ai > 1) {
 723                 steered = this->steer(cusps[ai - 1], cusps[li]);
 724                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 725                         steered[j]->add_child(steered[j + 1], 1);
 726                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 727                         npi.push_back(ai);
 728                         li = ai;
 729                 }
 730                 ai--;
 731                 for (auto n: steered)
 732                         delete n;
 733         }
 734         npi.push_back(0);
 735         std::reverse(npi.begin(), npi.end());
 736         return true;
 737 }
 738
 739 bool RRTBase::opt_path()
 740 {
 741         if (this->tlog().size() == 0)
 742                 return false;
 743         float oc = this->tlog().back().front()->ccost();
 744         std::vector<RRTNode *> tmp_cusps;
 745         for (auto n: this->tlog().back()) {
 746                 if (sgn(n->s()) == 0) {
 747                         tmp_cusps.push_back(n);
 748                 } else if (n->parent() &&
 749                                 sgn(n->s()) != sgn(n->parent()->s())) {
 750                         tmp_cusps.push_back(n);
 751                         tmp_cusps.push_back(n->parent());
 752                 }
 753                 //tmp_cusps.push_back(n);
 754         }
 755         if (tmp_cusps.size() < 2)
 756                 return false;
 757         std::vector<RRTNode *> cusps;
 758         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 759                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 760                         cusps.push_back(tmp_cusps[i]);
 761         }
 762         std::reverse(cusps.begin(), cusps.end());
 763         std::vector<int> npi; // new path indexes
 764         if (!this->optp_dijkstra(cusps, npi))
 765                 return false;
 766         RRTNode *pn = cusps[npi[0]];
 767         RRTNode *tmp = nullptr;
 768         bool en_add = true;
 769         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 770                 pn = cusps[npi[i]];
 771                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 772                         if (!en_add) {
 773                                 delete ns;
 774                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 775                                 tmp = ns;
 776                                 while (tmp && tmp != cusps[npi[i]]) {
 777                                         pn = tmp->parent();
 778                                         delete tmp;
 779                                         tmp = pn;
 780                                 }
 781                                 pn = cusps[npi[i]];
 782                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 783                                 delete ns;
 784                                 cusps[npi[i + 1]]->parent()->rem_child(
 785                                                 cusps[npi[i + 1]]);
 786                                 pn->add_child(
 787                                         cusps[npi[i + 1]],
 788                                         this->cost(pn, cusps[npi[i + 1]]));
 789                                 en_add = false;
 790                         } else if (IS_NEAR(pn, ns)) {
 791                                 delete ns;
 792                         } else {
 793                                 this->nodes().push_back(ns);
 794                                 this->add_iy(ns);
 795                                 this->add_ixy(ns);
 796                                 pn->add_child(ns, this->cost(pn, ns));
 797                                 pn = ns;
 798                         }
 799                 }
 800         }
 801         this->root()->update_ccost();
 802         if (this->tlog().back().front()->ccost() < oc)
 803                 return true;
 804         return false;
 805 }
 806
 807 bool RRTBase::rebase(RRTNode *nr)
 808 {
 809         if (!nr || this->goal_ == nr || this->root_ == nr)
 810                 return false;
 811         std::vector<RRTNode *> s; // DFS stack
 812         RRTNode *tmp;
 813         unsigned int i = 0;
 814         unsigned int to_del = 0;
 815         int iy = 0;
 816         s.push_back(this->root_);
 817         while (s.size() > 0) {
 818                 tmp = s.back();
 819                 s.pop_back();
 820                 for (auto ch: tmp->children()) {
 821                         if (ch != nr)
 822                                 s.push_back(ch);
 823                 }
 824                 to_del = this->nodes_.size();
 825                 #pragma omp parallel for reduction(min: to_del)
 826                 for (i = 0; i < this->nodes_.size(); i++) {
 827                         if (this->nodes_[i] == tmp)
 828                                 to_del = i;
 829                 }
 830                 if (to_del < this->nodes_.size())
 831                         this->nodes_.erase(this->nodes_.begin() + to_del);
 832                 iy = IYI(tmp->y());
 833                 to_del = this->iy_[iy].size();
 834                 #pragma omp parallel  for reduction(min: to_del)
 835                 for (i = 0; i < this->iy_[iy].size(); i++) {
 836                         if (this->iy_[iy][i] == tmp)
 837                                 to_del = i;
 838                 }
 839                 if (to_del < this->iy_[iy].size())
 840                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 841                 this->dnodes().push_back(tmp);
 842         }
 843         this->root_ = nr;
 844         this->root_->remove_parent();
 845         return true;
 846 }
 847
 848 std::vector<RRTNode *> RRTBase::findt()
 849 {
 850         return this->findt(this->goal_);
 851 }
 852
 853 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 854 {
 855         std::vector<RRTNode *> nodes;
 856         if (!n || !n->parent())
 857                 return nodes;
 858         while (n) {
 859                 nodes.push_back(n);
 860                 n = n->parent();
 861         }
 862         return nodes;
 863 }
 864
 865 // RRT Framework
 866 RRTNode *RRTBase::sample()
 867 {
 868         std::normal_distribution<float> xdist(
 869                 0,
 870                 BCAR_WIDTH / 3
 871         );
 872         float x = this->samplingInfo_.x
 873                 + BCAR_WIDTH / 2
 874                 + std::abs(xdist(this->gen_));
 875         std::normal_distribution<float> ydist(
 876                 0,
 877                 BCAR_LENGTH / 3
 878         );
 879         float y = this->samplingInfo_.y + ydist(this->gen_);
 880         std::normal_distribution<float> hdist(
 881                 0,
 882                 this->samplingInfo_.h / 3
 883         );
 884         float h = std::abs(hdist(this->gen_));
 885         return new RRTNode(x, y, M_PI / 2 - h);
 886 }
 887
 888 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 889 {
 890         return co2(init, goal);
 891 }
 892
 893 RRTNode *RRTBase::nn(RRTNode *rs)
 894 {
 895         return nn4(this->iy_, rs, nullptr);
 896         //return nn3(this->iy_, rs, nullptr);
 897 }
 898
 899 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 900 {
 901         std::vector<RRTNode *> nvs;
 902         unsigned int iy = IYI(node->y());
 903         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 904         unsigned int i = 0; // vector index
 905         unsigned int j = 0; // array index
 906         unsigned int jmin = 0; // minimal j index
 907         unsigned int jmax = 0; // maximal j index
 908         jmin = iy - iy_dist;
 909         jmin = (jmin > 0) ? jmin : 0;
 910         jmax = iy + iy_dist + 1;
 911         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 912         #pragma omp parallel for reduction(merge: nvs)
 913         for (j = jmin; j < jmax; j++) {
 914                 #pragma omp parallel for reduction(merge: nvs)
 915                 for (i = 0; i < this->iy_[j].size(); i++) {
 916                         if (this->cost(this->iy_[j][i], node) < dist) {
 917                                 nvs.push_back(this->iy_[j][i]);
 918                         }
 919                 }
 920         }
 921         return nvs;
 922 }
 923
 924 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 925 {
 926         return st3(init, goal);
 927 }
 928
 929 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 930 {
 931         return st3(init, goal, step);
 932 }