decision_control/rrtplanner.cc

   1 /*
   2 This file is part of I am car.
   3
   4 I am car is free software: you can redistribute it and/or modify
   5 it under the terms of the GNU General Public License as published by
   6 the Free Software Foundation, either version 3 of the License, or
   7 (at your option) any later version.
   8
   9 I am car is distributed in the hope that it will be useful,
  10 but WITHOUT ANY WARRANTY; without even the implied warranty of
  11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  12 GNU General Public License for more details.
  13
  14 You should have received a copy of the GNU General Public License
  15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
  16 */
  17
  18 #include <iostream>
  19 #include <cstdlib>
  20 #include <ctime>
  21 #include "compile.h"
  22 #include "nn.h"
  23 #include "nv.h"
  24 #include "sample.h"
  25 #include "steer.h"
  26 #include "rrtplanner.h"
  27 #include "cost.h"
  28
  29 #define CATI(a, b) a ## b
  30 #define CAT(a, b) CATI(a, b)
  31 #define KUWATA2008_CCOST CAT(c, CO)
  32 #define KUWATA2008_DCOST CO
  33
  34 LaValle1998::LaValle1998(RRTNode *init, RRTNode *goal):
  35         RRTBase(init, goal)
  36 {
  37         srand(static_cast<unsigned>(time(0)));
  38 }
  39
  40 bool LaValle1998::next()
  41 {
  42         RRTNode *rs;
  43 #if GOALFIRST > 0
  44         if (this->samples().size() == 0)
  45                 rs = this->goal();
  46         else
  47                 rs = this->sample();
  48 #else
  49         rs = this->sample();
  50 #endif
  51         this->samples().push_back(rs);
  52         RRTNode *nn = this->nn(rs);
  53         RRTNode *pn = nn;
  54         bool en_add = true;
  55         for (auto ns: this->steer(nn, rs)) {
  56                 if (!en_add) {
  57                         delete ns;
  58                 } else {
  59                         this->nodes().push_back(ns);
  60                         this->add_iy(ns);
  61                         pn->add_child(ns, this->cost(pn, ns));
  62                         if (this->collide(pn, ns)) {
  63                                 pn->children().pop_back();
  64                                 ns->remove_parent();
  65                                 this->iy_[IYI(ns->y())].pop_back();
  66                                 en_add = false;
  67                         } else {
  68                                 this->ocost(ns);
  69                                 pn = ns;
  70                                 if (this->goal_found(pn, CO)) {
  71                                         this->tlog(this->findt());
  72                                         en_add = false;
  73                                 }
  74                         }
  75                 }
  76         }
  77         return this->goal_found();
  78 }
  79
  80 Kuwata2008::Kuwata2008(RRTNode *init, RRTNode *goal):
  81         RRTBase(init, goal)
  82 {
  83         srand(static_cast<unsigned>(time(0)));
  84 }
  85
  86 bool Kuwata2008::next()
  87 {
  88         RRTNode *rs;
  89         if (this->samples().size() == 0) {
  90                 rs = this->goal();
  91         } else {
  92                 rs = this->sample();
  93         }
  94         this->samples().push_back(rs);
  95         float heur = static_cast<float>(rand()) / static_cast<float>(RAND_MAX);
  96         if (this->goal_found()) {
  97                 if (heur < 0.7)
  98                         {}//this->cost = &KUWATA2008_CCOST;
  99                 else
 100                         {}//this->cost = &KUWATA2008_DCOST;
 101         } else {
 102                 if (heur < 0.3)
 103                         {}//this->cost = &KUWATA2008_CCOST;
 104                 else
 105                         {}//this->cost = &KUWATA2008_DCOST;
 106         }
 107         RRTNode *nn = this->nn(rs);
 108         RRTNode *pn = nn;
 109         std::vector<RRTNode *> newly_added;
 110         bool en_add = true;
 111         for (auto ns: this->steer(nn, rs)) {
 112                 if (!en_add) {
 113                         delete ns;
 114                 } else {
 115                         this->nodes().push_back(ns);
 116                         this->add_iy(ns);
 117                         pn->add_child(ns, KUWATA2008_DCOST(pn, ns));
 118                         if (this->collide(pn, ns)) {
 119                                 pn->children().pop_back();
 120                                 ns->remove_parent();
 121                                 this->iy_[IYI(ns->y())].pop_back();
 122                                 en_add = false;
 123                         } else {
 124                                 this->ocost(ns);
 125                                 pn = ns;
 126                                 newly_added.push_back(pn);
 127                                 if (this->goal_found(pn, &KUWATA2008_DCOST)) {
 128                                         this->tlog(this->findt());
 129                                         en_add = false;
 130                                 }
 131                         }
 132                 }
 133         }
 134         if (this->samples().size() <= 1)
 135                 return this->goal_found();
 136         for (auto na: newly_added) {
 137                 pn = na;
 138                 en_add = true;
 139                 for (auto ns: this->steer(na, this->goal())) {
 140                         if (!en_add) {
 141                                 delete ns;
 142                         } else {
 143                                 this->nodes().push_back(ns);
 144                                 this->add_iy(ns);
 145                                 pn->add_child(ns, KUWATA2008_DCOST(pn, ns));
 146                                 if (this->collide(pn, ns)) {
 147                                         pn->children().pop_back();
 148                                         ns->remove_parent();
 149                                         this->iy_[IYI(ns->y())].pop_back();
 150                                         en_add = false;
 151                                 } else {
 152                                         this->ocost(ns);
 153                                         pn = ns;
 154                                         if (this->goal_found(pn,
 155                                                         &KUWATA2008_DCOST)) {
 156                                                 this->tlog(this->findt());
 157                                                 en_add = false;
 158                                         }
 159                                 }
 160                         }
 161                 }
 162         }
 163         return this->goal_found();
 164 }
 165
 166 Karaman2011::Karaman2011()
 167 {
 168         srand(static_cast<unsigned>(time(0)));
 169 }
 170
 171 Karaman2011::Karaman2011(RRTNode *init, RRTNode *goal):
 172         RRTBase(init, goal)
 173 {
 174         srand(static_cast<unsigned>(time(0)));
 175 }
 176
 177 bool Karaman2011::next()
 178 {
 179         RRTNode *rs;
 180 #if GOALFIRST > 0
 181         if (this->samples().size() == 0)
 182                 rs = this->goal();
 183         else
 184                 rs = this->sample();
 185 #else
 186         rs = this->sample();
 187 #endif
 188         this->samples().push_back(rs);
 189         RRTNode *nn = this->nn(rs);
 190         RRTNode *pn = nn;
 191         std::vector<RRTNode *> nvs;
 192         bool en_add = true;
 193         bool skip = false;
 194         for (auto ns: this->steer(nn, rs)) {
 195                 if (!en_add) {
 196                         delete ns;
 197                 } else if (IS_NEAR(nn, ns)) {
 198                         delete ns;
 199                 } else {
 200                         if (IS_NEAR(ns, rs))
 201                                 en_add = false;
 202                         nvs = this->nv(ns,
 203                                         MIN(GAMMA_RRTSTAR(
 204                                                         this->nodes().size()),
 205                                                         0.2));
 206                         skip = false;
 207                         for (auto nv: nvs) {
 208                                 if (IS_NEAR(nv, ns))
 209                                         skip = true;
 210                         }
 211                         if (skip)
 212                                 continue;
 213                         this->nodes().push_back(ns);
 214                         this->add_iy(ns);
 215                         // connect
 216                         if (!this->connect(pn, ns, nvs)) {
 217                                 this->iy_[IYI(ns->y())].pop_back();
 218                                 en_add = false;
 219                         } else {
 220                                 // rewire
 221                                 this->rewire(nvs, ns);
 222                                 pn = ns;
 223                                 if (this->goal_found(pn, CO)) {
 224                                         this->tlog(this->findt());
 225                                         en_add = false;
 226                                 }
 227                         }
 228                 }
 229         }
 230         return this->goal_found();
 231 }
 232
 233 bool Karaman2011::connect(
 234                 RRTNode *pn,
 235                 RRTNode *ns,
 236                 std::vector<RRTNode *> nvs)
 237 {
 238         RRTNode *op; // old parent
 239         float od; // old direct cost
 240         float oc; // old cumulative cost
 241         bool connected = false;
 242         pn->add_child(ns, this->cost(pn, ns));
 243         if (this->collide(pn, ns)) {
 244                 pn->children().pop_back();
 245                 ns->remove_parent();
 246         } else {
 247                 this->ocost(ns);
 248                 connected = true;
 249         }
 250         for (auto nv: nvs) {
 251                 if (!connected || (nv->ccost() + this->cost(nv, ns) <
 252                                 ns->ccost())) {
 253                         op = ns->parent();
 254                         od = ns->dcost();
 255                         oc = ns->ccost();
 256                         nv->add_child(ns, this->cost(nv, ns));
 257                         if (this->collide(nv, ns)) {
 258                                 nv->children().pop_back();
 259                                 if (op)
 260                                         ns->parent(op);
 261                                 else
 262                                         ns->remove_parent();
 263                                 ns->dcost(od);
 264                                 ns->ccost(oc);
 265                         } else if (connected) {
 266                                 op->children().pop_back();
 267                         } else {
 268                                 this->ocost(ns);
 269                                 connected = true;
 270                         }
 271                 }
 272         }
 273         return connected;
 274 }
 275
 276 bool Karaman2011::rewire(std::vector<RRTNode *> nvs, RRTNode *ns)
 277 {
 278         RRTNode *op; // old parent
 279         float od; // old direct cost
 280         float oc; // old cumulative cost
 281         for (auto nv: nvs) {
 282                 if (ns->ccost() + this->cost(ns, nv) < nv->ccost()) {
 283                         op = nv->parent();
 284                         od = nv->dcost();
 285                         oc = nv->ccost();
 286                         ns->add_child(nv, this->cost(ns, nv));
 287                         if (this->collide(ns, nv)) {
 288                                 ns->children().pop_back();
 289                                 nv->parent(op);
 290                                 nv->dcost(od);
 291                                 nv->ccost(oc);
 292                         } else {
 293                                 op->rem_child(nv);
 294                         }
 295                 }
 296         }
 297         return true;
 298 }
 299
 300 T1::T1(RRTNode *init, RRTNode *goal):
 301         RRTBase(init, goal)
 302 {
 303         srand(static_cast<unsigned>(time(0)));
 304 }
 305
 306 bool T1::next()
 307 {
 308         RRTNode *rs;
 309         if (this->samples().size() == 0)
 310                 rs = this->goal();
 311         else
 312                 rs = this->sample();
 313         this->samples().push_back(rs);
 314         RRTNode *nn = this->nn(rs);
 315         RRTNode *pn = nn;
 316         std::vector<RRTNode *> nvs;
 317         bool connected;
 318         RRTNode *op; // old parent
 319         float od; // old direct cost
 320         float oc; // old cumulative cost
 321         std::vector<RRTNode *> steered = this->steer(nn, rs);
 322         // RRT* for first node
 323         RRTNode *ns = steered[0];
 324         {
 325                 nvs = this->nv(ns, MIN(
 326                                 GAMMA_RRTSTAR(this->nodes().size()),
 327                                 0.2)); // TODO const
 328                 this->nodes().push_back(ns);
 329                 this->add_iy(ns);
 330                 connected = false;
 331                 pn->add_child(ns, this->cost(pn, ns));
 332                 if (this->collide(pn, ns)) {
 333                         pn->children().pop_back();
 334                 } else {
 335                         connected = true;
 336                 }
 337                 // connect
 338                 for (auto nv: nvs) {
 339                         if (!connected || (nv->ccost() + this->cost(nv, ns) <
 340                                         ns->ccost())) {
 341                                 op = ns->parent();
 342                                 od = ns->dcost();
 343                                 oc = ns->ccost();
 344                                 nv->add_child(ns, this->cost(nv, ns));
 345                                 if (this->collide(nv, ns)) {
 346                                         nv->children().pop_back();
 347                                         ns->parent(op);
 348                                         ns->dcost(od);
 349                                         ns->ccost(oc);
 350                                 } else if (connected) {
 351                                         op->children().pop_back();
 352                                 } else {
 353                                         connected = true;
 354                                 }
 355                         }
 356                 }
 357                 if (!connected)
 358                         return false;
 359                 // rewire
 360                 for (auto nv: nvs) {
 361                         if (ns->ccost() + this->cost(ns, nv) < nv->ccost()) {
 362                                 op = nv->parent();
 363                                 od = nv->dcost();
 364                                 oc = nv->ccost();
 365                                 ns->add_child(nv, this->cost(ns, nv));
 366                                 if (this->collide(ns, nv)) {
 367                                         ns->children().pop_back();
 368                                         nv->parent(op);
 369                                         nv->dcost(od);
 370                                         nv->ccost(oc);
 371                                 } else {
 372                                         op->rem_child(nv);
 373                                 }
 374                         }
 375                 }
 376                 pn = ns;
 377                 if (this->goal_found(pn, CO)) {
 378                         this->tlog(this->findt());
 379                 }
 380         }
 381         unsigned int i = 0;
 382         for (i = 1; i < steered.size(); i++) {
 383                 ns = steered[i];
 384                 this->nodes().push_back(ns);
 385                 this->add_iy(ns);
 386                 pn->add_child(ns, this->cost(pn, ns));
 387                 if (this->collide(pn, ns)) {
 388                         pn->children().pop_back();
 389                         break;
 390                 }
 391                 pn = ns;
 392                 if (this->goal_found(pn, CO)) {
 393                         this->tlog(this->findt());
 394                         break;
 395                 }
 396         }
 397         return this->goal_found();
 398 }
 399
 400 bool T2::next()
 401 {
 402         RRTNode *rs;
 403 #if GOALFIRST > 0
 404         if (this->samples().size() == 0)
 405                 rs = this->goal();
 406         else
 407                 rs = this->sample();
 408 #else
 409         rs = this->sample();
 410 #endif
 411         this->samples().push_back(rs);
 412         RRTNode *nn = this->nn(rs);
 413         if (!nn)
 414                 return false;
 415         RRTNode *pn = nn;
 416         std::vector<RRTNode *> nvs;
 417         std::vector<RRTNode *> newly_added;
 418         bool en_add = true;
 419         int cusps = 0;
 420         for (auto ns: this->steer(nn, rs)) {
 421                 if (!en_add) {
 422                         delete ns;
 423                 } else if (IS_NEAR(pn, ns)) {
 424                         delete ns;
 425                 } else {
 426                         if (sgn(ns->s()) == 0 || sgn(pn->s()) != sgn(ns->s()))
 427                                 cusps++;
 428                         if (cusps > 4)
 429                                 en_add = false;
 430                         nvs = this->nv(
 431                                         ns,
 432                                         MIN(
 433                                                 GAMMA_RRTSTAR(
 434                                                         this->nodes().size()),
 435                                                 0.2)); // TODO const
 436                         this->nodes().push_back(ns);
 437                         this->add_iy(ns);
 438                         // connect
 439                         if (!this->connect(pn, ns, nvs)) {
 440                                 this->iy_[IYI(ns->y())].pop_back();
 441                                 this->nodes().pop_back();
 442                                 delete ns;
 443                                 en_add = false;
 444                         } else {
 445                                 this->add_ixy(ns);
 446                                 // rewire
 447                                 this->rewire(nvs, ns);
 448                                 pn = ns;
 449                                 newly_added.push_back(pn);
 450                                 if (this->goal_found(pn, CO)) {
 451                                         this->goal_cost();
 452                                         this->tlog(this->findt());
 453                                         en_add = false;
 454                                 }
 455                         }
 456                 }
 457         }
 458         en_add = true;
 459         cusps = 0;
 460         for (auto ns: this->steer(pn, rs, 0.01)) {
 461                 if (!en_add) {
 462                         delete ns;
 463                 } else if (IS_NEAR(pn, ns)) {
 464                         delete ns;
 465                 } else {
 466                         if (sgn(ns->s()) == 0 || sgn(pn->s()) != sgn(ns->s()))
 467                                 cusps++;
 468                         if (cusps > 4)
 469                                 en_add = false;
 470                         nvs = this->nv(
 471                                         ns,
 472                                         MIN(
 473                                                 GAMMA_RRTSTAR(
 474                                                         this->nodes().size()),
 475                                                 0.2)); // TODO const
 476                         this->nodes().push_back(ns);
 477                         this->add_iy(ns);
 478                         // connect
 479                         if (!this->connect(pn, ns, nvs)) {
 480                                 this->iy_[IYI(ns->y())].pop_back();
 481                                 this->nodes().pop_back();
 482                                 delete ns;
 483                                 en_add = false;
 484                         } else {
 485                                 this->add_ixy(ns);
 486                                 // rewire
 487                                 this->rewire(nvs, ns);
 488                                 pn = ns;
 489                                 newly_added.push_back(pn);
 490                                 if (this->goal_found(pn, CO)) {
 491                                         this->goal_cost();
 492                                         this->tlog(this->findt());
 493                                         en_add = false;
 494                                 }
 495                         }
 496                 }
 497         }
 498         if (this->samples().size() <= 1)
 499                 return this->goal_found();
 500         for (auto na: newly_added) {
 501                 pn = na;
 502                 en_add = true;
 503                 cusps = 0;
 504                 for (auto ns: this->steer(na, this->goal())) {
 505                         if (!en_add) {
 506                                 delete ns;
 507                         } else if (IS_NEAR(pn, ns)) {
 508                                 delete ns;
 509                         } else {
 510                                 if (sgn(pn->s()) != sgn(ns->s()))
 511                                         cusps++;
 512                                 if (cusps > 4)
 513                                         en_add = false;
 514                                 this->nodes().push_back(ns);
 515                                 this->add_iy(ns);
 516                                 pn->add_child(ns, this->cost(pn, ns));
 517                                 if (this->collide(pn, ns)) {
 518                                         pn->children().pop_back();
 519                                         ns->remove_parent();
 520                                         this->iy_[IYI(ns->y())].pop_back();
 521                                         this->nodes().pop_back();
 522                                         delete ns;
 523                                         en_add = false;
 524                                 } else {
 525                                         this->add_ixy(ns);
 526                                         this->ocost(ns);
 527                                         pn = ns;
 528                                         if (this->goal_found(pn, CO)) {
 529                                                 this->goal_cost();
 530                                                 this->tlog(this->findt());
 531                                                 en_add = false;
 532                                         }
 533                                 }
 534                         }
 535                 }
 536                 en_add = true;
 537                 cusps = 0;
 538                 for (auto ns: this->steer(pn, this->goal(), 0.01)) {
 539                         if (!en_add) {
 540                                 delete ns;
 541                         } else if (IS_NEAR(pn, ns)) {
 542                                 delete ns;
 543                         } else {
 544                                 if (sgn(pn->s()) != sgn(ns->s()))
 545                                         cusps++;
 546                                 if (cusps > 4)
 547                                         en_add = false;
 548                                 this->nodes().push_back(ns);
 549                                 this->add_iy(ns);
 550                                 pn->add_child(ns, this->cost(pn, ns));
 551                                 if (this->collide(pn, ns)) {
 552                                         pn->children().pop_back();
 553                                         ns->remove_parent();
 554                                         this->iy_[IYI(ns->y())].pop_back();
 555                                         this->nodes().pop_back();
 556                                         delete ns;
 557                                         en_add = false;
 558                                 } else {
 559                                         this->add_ixy(ns);
 560                                         this->ocost(ns);
 561                                         pn = ns;
 562                                         if (this->goal_found(pn, CO)) {
 563                                                 this->goal_cost();
 564                                                 this->tlog(this->findt());
 565                                                 en_add = false;
 566                                         }
 567                                 }
 568                         }
 569                 }
 570         }
 571         return this->goal_found();
 572 }
 573
 574 float T2::goal_cost()
 575 {
 576         std::vector<RRTNode *> nvs;
 577         nvs = this->nv(this->goal(), 0.2);
 578         for (auto nv: nvs) {
 579                 if (std::abs(this->goal()->h() - nv->h()) >=
 580                                 this->GOAL_FOUND_ANGLE)
 581                         continue;
 582                 if (nv->ccost() + this->cost(nv, this->goal()) >=
 583                                 this->goal()->ccost())
 584                         continue;
 585                 RRTNode *op; // old parent
 586                 float oc; // old cumulative cost
 587                 float od; // old direct cost
 588                 op = this->goal()->parent();
 589                 oc = this->goal()->ccost();
 590                 od = this->goal()->dcost();
 591                 nv->add_child(this->goal(),
 592                                 this->cost(nv, this->goal()));
 593                 if (this->collide(nv, this->goal())) {
 594                         nv->children().pop_back();
 595                         this->goal()->parent(op);
 596                         this->goal()->ccost(oc);
 597                         this->goal()->dcost(od);
 598                 } else {
 599                         op->rem_child(this->goal());
 600                 }
 601         }
 602         return this->goal()->ccost();
 603 }
 604
 605 T3::~T3()
 606 {
 607         for (auto n: this->p_root_.nodes())
 608                 if (n != this->p_root_.root() && n != this->p_root_.goal())
 609                         delete n;
 610         for (auto n: this->p_root_.dnodes())
 611                 if (n != this->p_root_.root() && n != this->p_root_.goal())
 612                         delete n;
 613         for (auto s: this->p_root_.samples())
 614                 if (s != this->p_root_.goal())
 615                         delete s;
 616         for (auto edges: this->p_root_.rlog())
 617                 for (auto e: edges)
 618                         delete e;
 619
 620         for (auto n: this->p_goal_.nodes())
 621                 if (n != this->p_goal_.root() && n != this->p_goal_.goal())
 622                         delete n;
 623         for (auto n: this->p_goal_.dnodes())
 624                 if (n != this->p_goal_.root() && n != this->p_goal_.goal())
 625                         delete n;
 626         for (auto s: this->p_goal_.samples())
 627                 if (s != this->p_goal_.goal())
 628                         delete s;
 629         for (auto edges: this->p_goal_.rlog())
 630                 for (auto e: edges)
 631                         delete e;
 632
 633         for (auto n: this->nodes())
 634                 if (n != this->root())
 635                         delete n;
 636         for (auto n: this->dnodes())
 637                 if (n != this->root() && n != this->goal())
 638                         delete n;
 639         for (auto s: this->samples())
 640                 if (s != this->goal())
 641                         delete s;
 642         for (auto edges: this->rlog())
 643                 for (auto e: edges)
 644                         delete e;
 645
 646         delete this->root();
 647         delete this->goal();
 648 }
 649
 650 T3::T3()
 651 {
 652         srand(static_cast<unsigned>(time(0)));
 653 }
 654
 655 T3::T3(RRTNode *init, RRTNode *goal):
 656         RRTBase(init, goal),
 657         p_root_(init, goal),
 658         p_goal_(goal, init)
 659 {
 660         srand(static_cast<unsigned>(time(0)));
 661 }
 662
 663 bool T3::next()
 664 {
 665         RRTNode *ron = nullptr;
 666         RRTNode *gon = nullptr;
 667         bool ret = false;
 668         ret = this->p_root_.next();
 669         ret |= this->p_goal_.next();
 670         if (this->overlaptrees(&ron, &gon)) {
 671                 if (this->connecttrees(ron, gon))
 672                         this->goal_found(true);
 673                 this->tlog(this->findt());
 674                 ret |= true;
 675         }
 676         return ret;
 677 }
 678
 679 bool T3::link_obstacles(
 680         std::vector<CircleObstacle> *cobstacles,
 681         std::vector<SegmentObstacle> *sobstacles)
 682 {
 683         bool ret = false;
 684         ret = RRTBase::link_obstacles(cobstacles, sobstacles);
 685         ret &= this->p_root_.link_obstacles(cobstacles, sobstacles);
 686         ret &= this->p_goal_.link_obstacles(cobstacles, sobstacles);
 687         return ret;
 688 }
 689
 690 bool T3::connecttrees(RRTNode *rn, RRTNode *gn)
 691 {
 692         while (gn != this->goal()) {
 693                 this->p_root_.nodes().push_back(new RRTNode(
 694                                 gn->x(),
 695                                 gn->y(),
 696                                 gn->h()));
 697                 rn->add_child(
 698                                 this->p_root_.nodes().back(),
 699                                 this->p_root_.cost(
 700                                                 rn,
 701                                                 this->p_root_.nodes().back()));
 702                 rn = this->p_root_.nodes().back();
 703                 gn = gn->parent();
 704         }
 705         rn->add_child(this->goal(), this->p_root_.cost(rn, this->goal()));
 706         return true;
 707 }
 708
 709 bool T3::overlaptrees(RRTNode **ron, RRTNode **gon)
 710 {
 711         for (auto rn: this->p_root_.nodes()) {
 712                 if (rn->parent() == nullptr)
 713                         continue;
 714                 for (auto gn: this->p_goal_.nodes()) {
 715                         if (gn->parent() == nullptr)
 716                                 continue;
 717                         if (IS_NEAR(rn, gn)) {
 718                                 *ron = rn;
 719                                 *gon = gn;
 720                                 return true;
 721                         }
 722                 }
 723         }
 724         return false;
 725 }
 726
 727 Klemm2015::Klemm2015(RRTNode *init, RRTNode *goal):
 728         Karaman2011(init, goal),
 729         orig_root_(init),
 730         orig_goal_(goal)
 731 {
 732         srand(static_cast<unsigned>(time(0)));
 733         this->root()->tree('R');
 734         this->goal()->tree('G');
 735         this->add_iy(this->goal());
 736 }
 737
 738 bool Klemm2015::next()
 739 {
 740         RRTNode *xn = nullptr;
 741         RRTNode *rs;
 742         int ret = 0;
 743 #if GOALFIRST > 0
 744         if (this->samples().size() == 0)
 745                 rs = this->goal();
 746         else
 747                 rs = this->sample();
 748 #else
 749         rs = this->sample();
 750 #endif
 751         this->samples().push_back(rs);
 752         //std::cerr << "next" << std::endl;
 753         if (this->extendstar1(rs, &xn) != 2) {
 754         //        if (xn) {
 755         //                std::cerr << "- xn: " << xn->x() << ", " << xn->y();
 756         //                std::cerr << std::endl;
 757         //        } else {
 758         //                std::cerr << "- xn: nullptr" << std::endl;
 759         //        }
 760                 this->swap();
 761                 ret = this->connectstar(xn);
 762         } else {
 763                 this->swap();
 764         }
 765         if (ret == 1) {
 766                 this->tlog(this->findt());
 767                 return true;
 768         }
 769         return this->goal_found();
 770 }
 771
 772 int Klemm2015::extendstar1(RRTNode *rs, RRTNode **xn)
 773 {
 774         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 775         char tree = this->root()->tree();
 776         //std::cerr << "extend*1" << std::endl;
 777         //std::cerr << "- tree is " << tree << std::endl;
 778         //std::cerr << "  - rs: " << rs->x() << ", " << rs->y() << std::endl;
 779         //if (xn && *xn) {
 780         //        std::cerr << "  - xn: " << (*xn)->x() << ", " << (*xn)->y();
 781         //        std::cerr << std::endl;
 782         //}
 783         //for (int i = 0; i < IYSIZE; i++) {
 784         //        if (this->iy_[i].size() > 0) {
 785         //                RRTNode *tmpn = this->iy_[i].back();
 786         //                float tmpd = EDIST(tmpn, this->goal());
 787
 788         //                std::cerr << i << ": " << tmpn->x();
 789         //                std::cerr << ", " << tmpn->y();
 790         //                std::cerr << ", " << tmpn->tree();
 791         //                std::cerr << " (" << tmpd << ")";
 792
 793         //                if (tmpn == this->root())
 794         //                        std::cerr << " root";
 795         //                if (tmpn == this->goal())
 796         //                        std::cerr << " goal";
 797         //                std::cerr << std::endl;
 798         //        }
 799         //}
 800         RRTNode *nn = this->nn(rs);
 801         //std::cerr << "  - nn: " << nn->x() << ", " << nn->y() << std::endl;
 802         std::vector<RRTNode *> nvs;
 803         std::vector<RRTNode *> steered = this->steer(nn, rs);
 804         RRTNode *ns = steered[1];
 805         ns->tree(tree);
 806         nvs = this->nv(
 807                         ns,
 808                         MIN(
 809                                 GAMMA_RRTSTAR(
 810                                         this->nodes().size()),
 811                                 0.2)); // TODO const
 812         this->nodes().push_back(ns);
 813         this->add_iy(ns);
 814         // connect
 815         if (!this->connect(nn, ns, nvs)) {
 816                 this->iy_[IYI(ns->y())].pop_back();
 817                 ret = 2;
 818         } else {
 819                 // rewire
 820                 this->rewire(nvs, ns);
 821         }
 822         for (auto n: steered) {
 823                 if (n != steered[1])
 824                         delete n;
 825         }
 826         *xn = ns;
 827         //std::cerr << "  - xn: " << (*xn)->x() << ", " << (*xn)->y();
 828         //std::cerr << std::endl;
 829         return ret;
 830 }
 831
 832 int Klemm2015::extendstarC(RRTNode *rs)
 833 {
 834         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 835         char tree = this->root()->tree();
 836         //std::cerr << "extend*C" << std::endl;
 837         //std::cerr << "- tree is " << tree << std::endl;
 838         //std::cerr << "  - rs: " << rs->x() << ", " << rs->y() << std::endl;
 839         RRTNode *nn = this->nn(rs);
 840         RRTNode *pn = nn;
 841         std::vector<RRTNode *> nvs;
 842         bool en_add = true;
 843         for (auto ns: this->steer(nn, rs)) {
 844                 if (!en_add) {
 845                         delete ns;
 846                 } else {
 847                         nvs = this->nv(
 848                                         ns,
 849                                         MIN(
 850                                                 GAMMA_RRTSTAR(
 851                                                         this->nodes().size()),
 852                                                 0.2)); // TODO const
 853                         this->nodes().push_back(ns);
 854                         this->add_iy(ns);
 855                         // connect
 856                         if (!this->connect(pn, ns, nvs)) {
 857                                 this->iy_[IYI(ns->y())].pop_back();
 858                                 en_add = false;
 859                                 ret = 2;
 860                         } else {
 861                                 // rewire
 862                                 this->rewire(nvs, ns);
 863                                 pn = ns;
 864 if (IS_NEAR(pn, rs)) { // GOAL FOUND !
 865         RRTNode *tmp;
 866         if (this->orig_root_ == this->root()) { // rs is in G tree
 867                 // add all rs parents to pn
 868                 tmp = rs->parent();
 869         } else { // rs is in R tree
 870                 tmp = pn->parent();
 871                 pn = rs;
 872                 this->swap();
 873         }
 874         while (tmp != this->goal()) {
 875                 this->nodes().push_back(new RRTNode(
 876                                 tmp->x(),
 877                                 tmp->y(),
 878                                 tmp->h()));
 879                 this->nodes().back()->s(tmp->s());
 880                 this->nodes().back()->tree('R');
 881                 pn->add_child(
 882                                 this->nodes().back(),
 883                                 this->cost(pn, this->nodes().back()));
 884                 pn = this->nodes().back();
 885                 tmp = tmp->parent();
 886         }
 887         pn->add_child(tmp, this->cost(pn, tmp)); // add goal()
 888         en_add = false;
 889         ret = 1;
 890 }
 891                         }
 892                 }
 893         }
 894         return ret;
 895 }
 896
 897 int Klemm2015::connectstar(RRTNode *x)
 898 {
 899         int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
 900         //std::cerr << "connect* (start)" << std::endl;
 901         ret = this->extendstarC(x);
 902         //std::cerr << "connect* (end)" << std::endl;
 903         return ret;
 904 }
 905
 906 void Klemm2015::swap()
 907 {
 908         RRTNode *tmp;
 909         tmp = this->root();
 910         this->root(this->goal());
 911         this->goal(tmp);
 912 }