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
  41 bool Cell::changed()
  42 {
  43         pthread_mutex_lock(&this->m_);
  44         bool ret = this->changed_;
  45         pthread_mutex_unlock(&this->m_);
  46         return ret;
  47 }
  48
  49 std::vector<RRTNode *> Cell::nodes()
  50 {
  51         pthread_mutex_lock(&this->m_);
  52         std::vector<RRTNode *> ret(this->nodes_);
  53         pthread_mutex_unlock(&this->m_);
  54         return ret;
  55 }
  56
  57 void Cell::add_node(RRTNode *n)
  58 {
  59         pthread_mutex_lock(&this->m_);
  60         this->nodes_.push_back(n);
  61         this->changed_ = true;
  62         pthread_mutex_unlock(&this->m_);
  63 }
  64
  65 RRTBase::~RRTBase()
  66 {
  67 // Fix heap-use-after-free error when T3 planner is used. If only T2 is used,
  68 // please uncommend the following code:
  69 //
  70 //        for (auto n: this->nodes_)
  71 //                if (n != this->root_)
  72 //                        delete n;
  73 //        for (auto n: this->dnodes_)
  74 //                if (n != this->root_ && n != this->goal_)
  75 //                        delete n;
  76 //        for (auto s: this->samples_)
  77 //                if (s != this->goal_)
  78 //                        delete s;
  79 //        for (auto edges: this->rlog_)
  80 //                for (auto e: edges)
  81 //                        delete e;
  82 //        delete this->root_;
  83 //        delete this->goal_;
  84 }
  85
  86 RRTBase::RRTBase():
  87         root_(new RRTNode()),
  88         goal_(new RRTNode())
  89 {
  90         this->nodes_.reserve(20000);
  91         this->nodes_.push_back(this->root_);
  92         this->add_iy(this->root_);
  93 }
  94
  95 RRTBase::RRTBase(RRTNode *init, RRTNode *goal):
  96         root_(init),
  97         goal_(goal)
  98 {
  99         this->nodes_.reserve(20000);
 100         this->nodes_.push_back(init);
 101         this->add_iy(init);
 102 }
 103
 104 // getter
 105 RRTNode *RRTBase::root()
 106 {
 107         return this->root_;
 108 }
 109
 110 RRTNode *RRTBase::goal()
 111 {
 112         return this->goal_;
 113 }
 114
 115 std::vector<RRTNode *> &RRTBase::nodes()
 116 {
 117         return this->nodes_;
 118 }
 119
 120 std::vector<RRTNode *> &RRTBase::dnodes()
 121 {
 122         return this->dnodes_;
 123 }
 124
 125 std::vector<RRTNode *> &RRTBase::samples()
 126 {
 127         return this->samples_;
 128 }
 129
 130 std::vector<CircleObstacle> *RRTBase::co()
 131 {
 132         return this->cobstacles_;
 133 }
 134
 135 std::vector<SegmentObstacle> *RRTBase::so()
 136 {
 137         return this->sobstacles_;
 138 }
 139
 140 std::vector<float> &RRTBase::clog()
 141 {
 142         return this->clog_;
 143 }
 144
 145 std::vector<float> &RRTBase::nlog()
 146 {
 147         return this->nlog_;
 148 }
 149
 150 std::vector<std::vector<RRTEdge *>> &RRTBase::rlog()
 151 {
 152         return this->rlog_;
 153 }
 154
 155 std::vector<float> &RRTBase::slog()
 156 {
 157         return this->slog_;
 158 }
 159
 160 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 161 {
 162         return this->tlog_;
 163 }
 164
 165 bool RRTBase::goal_found()
 166 {
 167         return this->goal_found_;
 168 }
 169
 170 float RRTBase::elapsed()
 171 {
 172         std::chrono::duration<float> dt;
 173         dt = std::chrono::duration_cast<std::chrono::duration<float>>(
 174                         this->tend_ - this->tstart_);
 175         return dt.count();
 176 }
 177
 178 // setter
 179 void RRTBase::root(RRTNode *node)
 180 {
 181         this->root_ = node;
 182 }
 183
 184 void RRTBase::goal(RRTNode *node)
 185 {
 186         this->goal_ = node;
 187 }
 188
 189 bool RRTBase::logr(RRTNode *root)
 190 {
 191         std::vector<RRTEdge *> e; // Edges to log
 192         std::vector<RRTNode *> s; // DFS stack
 193         std::vector<RRTNode *> r; // reset visited_
 194         RRTNode *tmp;
 195         s.push_back(root);
 196         while (s.size() > 0) {
 197                 tmp = s.back();
 198                 s.pop_back();
 199                 if (!tmp->visit()) {
 200                         r.push_back(tmp);
 201                         for (auto ch: tmp->children()) {
 202                                 s.push_back(ch);
 203                                 e.push_back(new RRTEdge(tmp, ch));
 204                         }
 205                 }
 206         }
 207         for (auto n: r)
 208                 n->visit(false);
 209         this->rlog_.push_back(e);
 210         return true;
 211 }
 212
 213 float RRTBase::ocost(RRTNode *n)
 214 {
 215         float dist = 9999;
 216         for (auto o: *this->cobstacles_)
 217                 if (o.dist_to(n) < dist)
 218                         dist = o.dist_to(n);
 219         for (auto o: *this->sobstacles_)
 220                 if (o.dist_to(n) < dist)
 221                         dist = o.dist_to(n);
 222         return n->ocost(dist);
 223 }
 224
 225 bool RRTBase::tlog(std::vector<RRTNode *> t)
 226 {
 227         if (t.size() > 0) {
 228                 this->slog_.push_back(this->elapsed());
 229                 this->clog_.push_back(t.front()->ccost() - t.back()->ccost());
 230                 this->nlog_.push_back(this->nodes_.size());
 231                 this->tlog_.push_back(t);
 232                 return true;
 233         } else {
 234                 return false;
 235         }
 236 }
 237
 238 void RRTBase::tstart()
 239 {
 240         this->tstart_ = std::chrono::high_resolution_clock::now();
 241 }
 242
 243 void RRTBase::tend()
 244 {
 245         this->tend_ = std::chrono::high_resolution_clock::now();
 246 }
 247
 248 bool RRTBase::link_obstacles(
 249                 std::vector<CircleObstacle> *cobstacles,
 250                 std::vector<SegmentObstacle> *sobstacles)
 251 {
 252         this->cobstacles_ = cobstacles;
 253         this->sobstacles_ = sobstacles;
 254         if (!this->cobstacles_ || !this->sobstacles_) {
 255                 return false;
 256         }
 257         return true;
 258 }
 259
 260 bool RRTBase::add_iy(RRTNode *n)
 261 {
 262         int i = IYI(n->y());
 263         if (i < 0)
 264                 i = 0;
 265         if (i >= IYSIZE)
 266                 i = IYSIZE - 1;
 267         this->iy_[i].push_back(n);
 268         return true;
 269 }
 270
 271 bool RRTBase::goal_found(bool f)
 272 {
 273         this->goal_found_ = f;
 274         return f;
 275 }
 276
 277 // other
 278 bool RRTBase::glplot()
 279 {
 280         glClear(GL_COLOR_BUFFER_BIT);
 281         glLineWidth(1);
 282         glPointSize(1);
 283         // Plot obstacles
 284         glBegin(GL_LINES);
 285         for (auto o: *this->sobstacles_) {
 286                 glColor3f(0, 0, 0);
 287                 glVertex2f(GLVERTEX(o.init()));
 288                 glVertex2f(GLVERTEX(o.goal()));
 289         }
 290         glEnd();
 291         // Plot root, goal
 292         glPointSize(8);
 293         glBegin(GL_POINTS);
 294         glColor3f(1, 0, 0);
 295         glVertex2f(GLVERTEX(this->root_));
 296         glVertex2f(GLVERTEX(this->goal_));
 297         glEnd();
 298         // Plot last sample
 299         if (this->samples_.size() > 0) {
 300                 glPointSize(8);
 301                 glBegin(GL_POINTS);
 302                 glColor3f(0, 1, 0);
 303                 glVertex2f(GLVERTEX(this->samples_.back()));
 304                 glEnd();
 305         }
 306         // Plot nodes
 307         std::vector<RRTNode *> s; // DFS stack
 308         std::vector<RRTNode *> r; // reset visited_
 309         RRTNode *tmp;
 310         glBegin(GL_LINES);
 311         s.push_back(this->root_);
 312         while (s.size() > 0) {
 313                 tmp = s.back();
 314                 s.pop_back();
 315                 if (!tmp->visit()) {
 316                         r.push_back(tmp);
 317                         for (auto ch: tmp->children()) {
 318                                 s.push_back(ch);
 319                                 glColor3f(0.5, 0.5, 0.5);
 320                                 glVertex2f(GLVERTEX(tmp));
 321                                 glVertex2f(GLVERTEX(ch));
 322                         }
 323                 }
 324         }
 325         glEnd();
 326         // Plot nodes (from goal)
 327         glBegin(GL_LINES);
 328         s.push_back(this->goal_);
 329         while (s.size() > 0) {
 330                 tmp = s.back();
 331                 s.pop_back();
 332                 if (!tmp->visit()) {
 333                         r.push_back(tmp);
 334                         for (auto ch: tmp->children()) {
 335                                 s.push_back(ch);
 336                                 glColor3f(0.5, 0.5, 0.5);
 337                                 glVertex2f(GLVERTEX(tmp));
 338                                 glVertex2f(GLVERTEX(ch));
 339                         }
 340                 }
 341         }
 342         glEnd();
 343         std::vector<RRTNode *> cusps;
 344         // Plot last trajectory
 345         if (this->tlog().size() > 0) {
 346                 glLineWidth(2);
 347                 glBegin(GL_LINES);
 348                 for (auto n: this->tlog().back()) {
 349                         if (n->parent()) {
 350                                 glColor3f(0, 0, 1);
 351                                 glVertex2f(GLVERTEX(n));
 352                                 glVertex2f(GLVERTEX(n->parent()));
 353                                 if (sgn(n->s()) != sgn(n->parent()->s()))
 354                                         cusps.push_back(n);
 355                         }
 356                 }
 357                 glEnd();
 358         }
 359         // Plot cusps
 360         glPointSize(8);
 361         glBegin(GL_POINTS);
 362         for (auto n: cusps) {
 363                 glColor3f(0, 0, 1);
 364                 glVertex2f(GLVERTEX(n));
 365         }
 366         glEnd();
 367         SDL_GL_SwapWindow(gw);
 368         for (auto n: r)
 369                 n->visit(false);
 370         return true;
 371 }
 372
 373 bool RRTBase::goal_found(
 374                 RRTNode *node,
 375                 float (*cost)(RRTNode *, RRTNode* ))
 376 {
 377         if (IS_NEAR(node, this->goal_)) {
 378                 if (this->goal_found_) {
 379                         if (node->ccost() + this->cost(node, this->goal_) <
 380                                         this->goal_->ccost()) {
 381                                 RRTNode *op; // old parent
 382                                 float oc; // old cumulative cost
 383                                 float od; // old direct cost
 384                                 op = this->goal_->parent();
 385                                 oc = this->goal_->ccost();
 386                                 od = this->goal_->dcost();
 387                                 node->add_child(this->goal_,
 388                                                 this->cost(node, this->goal_));
 389                                 if (this->collide(node, this->goal_)) {
 390                                         node->children().pop_back();
 391                                         this->goal_->parent(op);
 392                                         this->goal_->ccost(oc);
 393                                         this->goal_->dcost(od);
 394                                 } else {
 395                                         op->rem_child(this->goal_);
 396                                         return true;
 397                                 }
 398                         } else {
 399                                 return false;
 400                         }
 401                 } else {
 402                         node->add_child(
 403                                         this->goal_,
 404                                         this->cost(node, this->goal_));
 405                         if (this->collide(node, this->goal_)) {
 406                                 node->children().pop_back();
 407                                 this->goal_->remove_parent();
 408                                 return false;
 409                         }
 410                         this->goal_found_ = true;
 411                         return true;
 412                 }
 413         }
 414         return false;
 415 }
 416
 417 bool RRTBase::collide(RRTNode *init, RRTNode *goal)
 418 {
 419         std::vector<RRTEdge *> edges;
 420         RRTNode *tmp = goal;
 421         volatile bool col = false;
 422         unsigned int i;
 423         while (tmp != init) {
 424                 BicycleCar bc(tmp->x(), tmp->y(), tmp->h());
 425                 std::vector<RRTEdge *> bcframe = bc.frame();
 426                 #pragma omp parallel for reduction(|: col)
 427                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 428                         if ((*this->cobstacles_)[i].collide(tmp)) {
 429                                 col = true;
 430                         }
 431                         for (auto &e: bcframe) {
 432                                 if ((*this->cobstacles_)[i].collide(e)) {
 433                                         col = true;
 434                                 }
 435                         }
 436                 }
 437                 if (col) {
 438                         for (auto e: bcframe) {
 439                                 delete e->init();
 440                                 delete e->goal();
 441                                 delete e;
 442                         }
 443                         for (auto e: edges) {
 444                                 delete e;
 445                         }
 446                         return true;
 447                 }
 448                 #pragma omp parallel for reduction(|: col)
 449                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 450                         for (auto &e: bcframe) {
 451                                 if ((*this->sobstacles_)[i].collide(e)) {
 452                                         col = true;
 453                                 }
 454                         }
 455                 }
 456                 if (col) {
 457                         for (auto e: bcframe) {
 458                                 delete e->init();
 459                                 delete e->goal();
 460                                 delete e;
 461                         }
 462                         for (auto e: edges) {
 463                                 delete e;
 464                         }
 465                         return true;
 466                 }
 467                 if (!tmp->parent()) {
 468                         break;
 469                 }
 470                 edges.push_back(new RRTEdge(tmp, tmp->parent()));
 471                 tmp = tmp->parent();
 472                 for (auto e: bcframe) {
 473                         delete e->init();
 474                         delete e->goal();
 475                         delete e;
 476                 }
 477         }
 478         for (auto &e: edges) {
 479                 #pragma omp parallel for reduction(|: col)
 480                 for (i = 0; i < (*this->cobstacles_).size(); i++) {
 481                         if ((*this->cobstacles_)[i].collide(e)) {
 482                                 col = true;
 483                         }
 484                 }
 485                 if (col) {
 486                         for (auto e: edges) {
 487                                 delete e;
 488                         }
 489                         return true;
 490                 }
 491                 #pragma omp parallel for reduction(|: col)
 492                 for (i = 0; i < (*this->sobstacles_).size(); i++) {
 493                         if ((*this->sobstacles_)[i].collide(e)) {
 494                                 col = true;
 495                         }
 496                 }
 497                 if (col) {
 498                         for (auto e: edges) {
 499                                 delete e;
 500                         }
 501                         return true;
 502                 }
 503         }
 504         for (auto e: edges) {
 505                 delete e;
 506         }
 507         return false;
 508 }
 509
 510 class RRTNodeDijkstra {
 511         public:
 512                 RRTNodeDijkstra(int i):
 513                         ni(i),
 514                         pi(0),
 515                         c(9999),
 516                         v(false)
 517                 {};
 518                 RRTNodeDijkstra(int i, float c):
 519                         ni(i),
 520                         pi(0),
 521                         c(c),
 522                         v(false)
 523                 {};
 524                 RRTNodeDijkstra(int i, int p, float c):
 525                         ni(i),
 526                         pi(p),
 527                         c(c),
 528                         v(false)
 529                 {};
 530                 unsigned int ni;
 531                 unsigned int pi;
 532                 float c;
 533                 bool v;
 534                 bool vi()
 535                 {
 536                         if (this->v)
 537                                 return true;
 538                         this->v = true;
 539                         return false;
 540                 };
 541 };
 542
 543 class RRTNodeDijkstraComparator {
 544         public:
 545                 int operator() (
 546                                 const RRTNodeDijkstra& n1,
 547                                 const RRTNodeDijkstra& n2)
 548                 {
 549                         return n1.c > n2.c;
 550                 }
 551 };
 552
 553 bool RRTBase::optp_dijkstra(
 554                 std::vector<RRTNode *> &cusps,
 555                 std::vector<int> &npi)
 556 {
 557         std::vector<RRTNodeDijkstra> dnodes;
 558         for (unsigned int i = 0; i < cusps.size(); i++)
 559                 if (i > 0)
 560                         dnodes.push_back(RRTNodeDijkstra(
 561                                                 i,
 562                                                 i - 1,
 563                                                 cusps[i]->ccost()));
 564                 else
 565                         dnodes.push_back(RRTNodeDijkstra(
 566                                                 i,
 567                                                 cusps[i]->ccost()));
 568         dnodes[0].vi();
 569         std::priority_queue<
 570                 RRTNodeDijkstra,
 571                 std::vector<RRTNodeDijkstra>,
 572                 RRTNodeDijkstraComparator> pq;
 573         RRTNodeDijkstra tmp = dnodes[0];
 574         pq.push(tmp);
 575         float ch_cost = 9999;
 576         std::vector<RRTNode *> steered;
 577         while (!pq.empty()) {
 578                 tmp = pq.top();
 579                 pq.pop();
 580                 for (unsigned int i = tmp.ni + 1; i < cusps.size(); i++) {
 581                         ch_cost = dnodes[tmp.ni].c +
 582                                 this->cost(cusps[tmp.ni], cusps[i]);
 583                         steered = this->steer(cusps[tmp.ni], cusps[i]);
 584                         for (unsigned int j = 0; j < steered.size() - 1; j++)
 585                                 steered[j]->add_child(steered[j + 1], 1);
 586                         if (this->collide(
 587                                         steered[0],
 588                                         steered[steered.size() - 1])) {
 589                                 for (auto n: steered)
 590                                         delete n;
 591                                 continue;
 592                         }
 593                         if (ch_cost < dnodes[i].c) {
 594                                 dnodes[i].c = ch_cost;
 595                                 dnodes[i].pi = tmp.ni;
 596                                 if (!dnodes[i].vi())
 597                                         pq.push(dnodes[i]);
 598                         }
 599                         for (auto n: steered)
 600                                 delete n;
 601                 }
 602         }
 603         unsigned int tmpi = 0;
 604         for (auto n: dnodes) {
 605                 if (n.v && n.ni > tmpi)
 606                         tmpi = n.ni;
 607         }
 608         while (tmpi > 0) {
 609                 npi.push_back(tmpi);
 610                 tmpi = dnodes[tmpi].pi;
 611         }
 612         npi.push_back(tmpi);
 613         std::reverse(npi.begin(), npi.end());
 614         return true;
 615 }
 616
 617 bool RRTBase::optp_rrp(
 618                 std::vector<RRTNode *> &cusps,
 619                 std::vector<int> &npi)
 620 {
 621         std::vector<RRTNode *> steered;
 622         std::vector<int> candidates;
 623         RRTNode *x_j = nullptr;
 624         RRTNode *x_i = nullptr;
 625         int j = cusps.size() - 1;
 626         int i_min = 0;
 627         float c_min = 0;
 628         float cost = 0;
 629         float dx = 0;
 630         float dy = 0;
 631         float ed = 0;
 632         float th_i = 0;
 633         float th_j = 0;
 634         while (j > 0) {
 635                 npi.push_back(j);
 636                 steered.clear();
 637                 candidates.clear();
 638                 x_j = cusps[j];
 639                 for (int i = 0; i < j; i++) {
 640                         steered = this->steer(cusps[i], x_j);
 641                         for (unsigned int k = 0; k < steered.size() - 1; k++)
 642                                 steered[k]->add_child(steered[k + 1], 1);
 643                         if (!this->collide(
 644                                         steered[0],
 645                                         steered[steered.size() - 1]))
 646                                 candidates.push_back(i);
 647                 }
 648                 if (candidates.size() <= 0)
 649                         return false;
 650                 i_min = candidates[0];
 651                 x_i = cusps[i_min];
 652                 c_min = 9999;
 653                 for (auto c: candidates) {
 654                         x_i = cusps[c];
 655                         dx = x_j->x() - x_i->x();
 656                         dy = x_j->y() - x_i->y();
 657                         ed = EDIST(x_i, x_j);
 658                         th_i = (cos(x_i->h()) * dx + sin(x_i->h()) * dy) / ed;
 659                         th_j = (cos(x_j->h()) * dx + sin(x_j->h()) * dy) / ed;
 660                         cost = th_i + th_j;
 661                         if (cost < c_min) {
 662                                 i_min = c;
 663                                 c_min = cost;
 664                         }
 665                 }
 666                 j = i_min;
 667
 668         }
 669         npi.push_back(j);
 670         std::reverse(npi.begin(), npi.end());
 671         return true;
 672 }
 673
 674 bool RRTBase::optp_smart(
 675                 std::vector<RRTNode *> &cusps,
 676                 std::vector<int> &npi)
 677 {
 678         std::vector<RRTNode *> steered;
 679         int li = cusps.size() - 1;
 680         int ai = li - 1;
 681         npi.push_back(li);
 682         while (ai > 1) {
 683                 steered = this->steer(cusps[ai - 1], cusps[li]);
 684                 for (unsigned int j = 0; j < steered.size() - 1; j++)
 685                         steered[j]->add_child(steered[j + 1], 1);
 686                 if (this->collide(steered[0], steered[steered.size() - 1])) {
 687                         npi.push_back(ai);
 688                         li = ai;
 689                 }
 690                 ai--;
 691                 for (auto n: steered)
 692                         delete n;
 693         }
 694         npi.push_back(0);
 695         std::reverse(npi.begin(), npi.end());
 696         return true;
 697 }
 698
 699 bool RRTBase::opt_path()
 700 {
 701         if (this->tlog().size() == 0)
 702                 return false;
 703         float oc = this->tlog().back().front()->ccost();
 704         std::vector<RRTNode *> tmp_cusps;
 705         for (auto n: this->tlog().back()) {
 706                 if (sgn(n->s()) == 0) {
 707                         tmp_cusps.push_back(n);
 708                 } else if (n->parent() &&
 709                                 sgn(n->s()) != sgn(n->parent()->s())) {
 710                         tmp_cusps.push_back(n);
 711                         tmp_cusps.push_back(n->parent());
 712                 }
 713                 //tmp_cusps.push_back(n);
 714         }
 715         if (tmp_cusps.size() < 2)
 716                 return false;
 717         std::vector<RRTNode *> cusps;
 718         for (unsigned int i = 0; i < tmp_cusps.size(); i++) {
 719                 if (tmp_cusps[i] != tmp_cusps[(i + 1) % tmp_cusps.size()])
 720                         cusps.push_back(tmp_cusps[i]);
 721         }
 722         std::reverse(cusps.begin(), cusps.end());
 723         std::vector<int> npi; // new path indexes
 724         if (!this->optp_dijkstra(cusps, npi))
 725                 return false;
 726         RRTNode *pn = cusps[npi[0]];
 727         RRTNode *tmp = nullptr;
 728         bool en_add = true;
 729         for (unsigned int i = 0; i < npi.size() - 1; i++) {
 730                 pn = cusps[npi[i]];
 731                 for (auto ns: this->steer(cusps[npi[i]], cusps[npi[i + 1]])) {
 732                         if (!en_add) {
 733                                 delete ns;
 734                         } else if (IS_NEAR(cusps[npi[i]], ns)) {
 735                                 tmp = ns;
 736                                 while (tmp && tmp != cusps[npi[i]]) {
 737                                         pn = tmp->parent();
 738                                         delete tmp;
 739                                         tmp = pn;
 740                                 }
 741                                 pn = cusps[npi[i]];
 742                         } else if (IS_NEAR(ns, cusps[npi[i + 1]])) {
 743                                 delete ns;
 744                                 cusps[npi[i + 1]]->parent()->rem_child(
 745                                                 cusps[npi[i + 1]]);
 746                                 pn->add_child(
 747                                         cusps[npi[i + 1]],
 748                                         this->cost(pn, cusps[npi[i + 1]]));
 749                                 en_add = false;
 750                         } else if (IS_NEAR(pn, ns)) {
 751                                 delete ns;
 752                         } else {
 753                                 this->nodes().push_back(ns);
 754                                 this->add_iy(ns);
 755                                 pn->add_child(ns, this->cost(pn, ns));
 756                                 pn = ns;
 757                         }
 758                 }
 759         }
 760         this->root()->update_ccost();
 761         if (this->tlog().back().front()->ccost() < oc)
 762                 return true;
 763         return false;
 764 }
 765
 766 bool RRTBase::rebase(RRTNode *nr)
 767 {
 768         if (!nr || this->goal_ == nr || this->root_ == nr)
 769                 return false;
 770         std::vector<RRTNode *> s; // DFS stack
 771         RRTNode *tmp;
 772         unsigned int i = 0;
 773         unsigned int to_del = 0;
 774         int iy = 0;
 775         s.push_back(this->root_);
 776         while (s.size() > 0) {
 777                 tmp = s.back();
 778                 s.pop_back();
 779                 for (auto ch: tmp->children()) {
 780                         if (ch != nr)
 781                                 s.push_back(ch);
 782                 }
 783                 to_del = this->nodes_.size();
 784                 #pragma omp parallel for reduction(min: to_del)
 785                 for (i = 0; i < this->nodes_.size(); i++) {
 786                         if (this->nodes_[i] == tmp)
 787                                 to_del = i;
 788                 }
 789                 if (to_del < this->nodes_.size())
 790                         this->nodes_.erase(this->nodes_.begin() + to_del);
 791                 iy = IYI(tmp->y());
 792                 to_del = this->iy_[iy].size();
 793                 #pragma omp parallel  for reduction(min: to_del)
 794                 for (i = 0; i < this->iy_[iy].size(); i++) {
 795                         if (this->iy_[iy][i] == tmp)
 796                                 to_del = i;
 797                 }
 798                 if (to_del < this->iy_[iy].size())
 799                         this->iy_[iy].erase(this->iy_[iy].begin() + to_del);
 800                 this->dnodes().push_back(tmp);
 801         }
 802         this->root_ = nr;
 803         this->root_->remove_parent();
 804         return true;
 805 }
 806
 807 std::vector<RRTNode *> RRTBase::findt()
 808 {
 809         return this->findt(this->goal_);
 810 }
 811
 812 std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
 813 {
 814         std::vector<RRTNode *> nodes;
 815         if (!n || !n->parent())
 816                 return nodes;
 817         while (n) {
 818                 nodes.push_back(n);
 819                 n = n->parent();
 820         }
 821         return nodes;
 822 }
 823
 824 // RRT Framework
 825 RRTNode *RRTBase::sample()
 826 {
 827         return sa1();
 828 }
 829
 830 float RRTBase::cost(RRTNode *init, RRTNode *goal)
 831 {
 832         return co2(init, goal);
 833 }
 834
 835 RRTNode *RRTBase::nn(RRTNode *rs)
 836 {
 837         return nn4(this->iy_, rs, nullptr);
 838         //return nn3(this->iy_, rs, nullptr);
 839 }
 840
 841 std::vector<RRTNode *> RRTBase::nv(RRTNode *node, float dist)
 842 {
 843         std::vector<RRTNode *> nvs;
 844         unsigned int iy = IYI(node->y());
 845         unsigned int iy_dist = floor(dist / IYSTEP) + 1;
 846         unsigned int i = 0; // vector index
 847         unsigned int j = 0; // array index
 848         unsigned int jmin = 0; // minimal j index
 849         unsigned int jmax = 0; // maximal j index
 850         jmin = iy - iy_dist;
 851         jmin = (jmin > 0) ? jmin : 0;
 852         jmax = iy + iy_dist + 1;
 853         jmax = (jmax < IYSIZE) ? jmax : IYSIZE;
 854         #pragma omp parallel for reduction(merge: nvs)
 855         for (j = jmin; j < jmax; j++) {
 856                 #pragma omp parallel for reduction(merge: nvs)
 857                 for (i = 0; i < this->iy_[j].size(); i++) {
 858                         if (this->cost(this->iy_[j][i], node) < dist) {
 859                                 nvs.push_back(this->iy_[j][i]);
 860                         }
 861                 }
 862         }
 863         return nvs;
 864 }
 865
 866 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal)
 867 {
 868         return st3(init, goal);
 869 }
 870
 871 std::vector<RRTNode *> RRTBase::steer(RRTNode *init, RRTNode *goal, float step)
 872 {
 873         return st3(init, goal, step);
 874 }