src/rrts.cc

   1 #include <algorithm>
   2 #include "rrts.h"
   3
   4 #include "reeds_shepp.h"
   5
   6 template <typename T> int sgn(T val) {
   7         return (T(0) < val) - (val < T(0));
   8 }
   9
  10 double edist(RRTNode const& n1, RRTNode const& n2)
  11 {
  12     auto dx = n2.x() - n1.x();
  13     auto dy = n2.y() - n1.y();
  14     return sqrt(dx*dx + dy*dy);
  15 }
  16 double edist(RRTNode const* n1, RRTNode const* n2)
  17 {
  18     return edist(*n1, *n2);
  19 }
  20
  21 RRTNode::RRTNode()
  22 {
  23 }
  24
  25 RRTNode::RRTNode(const BicycleCar &bc)
  26 {
  27     this->x(bc.x());
  28     this->y(bc.y());
  29     this->h(bc.h());
  30     this->sp(bc.sp());
  31     this->st(bc.st());
  32 }
  33
  34 bool RRTNode::operator==(const RRTNode& n)
  35 {
  36         if (this == &n)
  37                 return true;
  38         return false;
  39 }
  40
  41 Obstacle::Obstacle()
  42 {
  43 }
  44
  45 double RRTS::elapsed()
  46 {
  47         std::chrono::duration<double> dt;
  48         dt = std::chrono::duration_cast<std::chrono::duration<double>>(
  49                 std::chrono::high_resolution_clock::now()
  50                 - this->tstart_
  51         );
  52         this->scnt_ = dt.count();
  53         return this->scnt_;
  54 }
  55
  56 void RRTS::log_path_cost()
  57 {
  58         this->log_path_cost_.push_back(cc(this->goals().front()));
  59         this->log_path_time_ += 0.1;
  60 }
  61
  62 bool RRTS::should_stop()
  63 {
  64         // the following counters must be updated, do not comment
  65         this->icnt_++;
  66         this->elapsed();
  67         // current iteration stop conditions
  68         if (this->should_finish()) return true;
  69         if (this->should_break()) return true;
  70         // but continue by default
  71         return false;
  72 }
  73
  74 bool RRTS::should_finish()
  75 {
  76         // decide finish conditions (maybe comment some lines)
  77         //if (this->icnt_ > 999) return true;
  78         if (this->scnt_ > 2) return true;
  79         if (this->finishit) return true;
  80         //if (this->gf()) return true;
  81         // but continue by default
  82         return false;
  83 }
  84
  85 bool RRTS::should_break()
  86 {
  87         // decide break conditions (maybe comment some lines)
  88         //if (this->scnt_ - this->pcnt_ > 2) return true;
  89         // but continue by default
  90         return false;
  91 }
  92
  93 bool RRTS::should_continue()
  94 {
  95         // decide the stop conditions (maybe comment some lines)
  96         // it is exact opposite of `should_stop`
  97         //if (this->icnt_ > 999) return false;
  98         if (this->scnt_ > 10) return false;
  99         if (this->gf()) return false;
 100         // and reset pause counter if should continue
 101         this->pcnt_ = this->scnt_;
 102         return true;
 103 }
 104
 105 void RRTS::store_node(RRTNode n)
 106 {
 107         this->nodes().push_back(n);
 108 }
 109
 110 // RRT procedures
 111 std::tuple<bool, unsigned int, unsigned int>
 112 RRTS::collide(std::vector<std::tuple<double, double>> &poly)
 113 {
 114         for (auto &o: this->obstacles())
 115                 if (std::get<0>(::collide(poly, o.poly())))
 116                         return ::collide(poly, o.poly());
 117         return std::make_tuple(false, 0, 0);
 118 }
 119
 120 std::tuple<bool, unsigned int, unsigned int>
 121 RRTS::collide_steered_from(RRTNode &f)
 122 {
 123         auto fbc = BicycleCar();
 124         fbc.x(f.x());
 125         fbc.y(f.y());
 126         fbc.h(f.h());
 127         std::vector<std::tuple<double, double>> s;
 128         s.push_back(std::make_tuple(fbc.x(), fbc.y()));
 129         for (auto &n: this->steered()) {
 130                 auto nbc = BicycleCar();
 131                 nbc.x(n.x());
 132                 nbc.y(n.y());
 133                 nbc.h(n.h());
 134                 s.push_back(std::make_tuple(nbc.lfx(), nbc.lfy()));
 135                 s.push_back(std::make_tuple(nbc.lrx(), nbc.lry()));
 136                 s.push_back(std::make_tuple(nbc.rrx(), nbc.rry()));
 137                 s.push_back(std::make_tuple(nbc.rfx(), nbc.rfy()));
 138         }
 139         auto col = this->collide(s);
 140         auto strip_from = this->steered().size() - std::get<1>(col) / 4;
 141         if (std::get<0>(col) && strip_from > 0) {
 142                 while (strip_from-- > 0) {
 143                         this->steered().pop_back();
 144                 }
 145                 return this->collide_steered_from(f);
 146         }
 147         return col;
 148 }
 149
 150 std::tuple<bool, unsigned int, unsigned int>
 151 RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
 152 {
 153         auto fbc = BicycleCar();
 154         fbc.x(f.x());
 155         fbc.y(f.y());
 156         fbc.h(f.h());
 157         auto tbc = BicycleCar();
 158         tbc.x(f.x());
 159         tbc.y(f.y());
 160         tbc.h(f.h());
 161         std::vector<std::tuple<double, double>> p;
 162         p.push_back(std::make_tuple(fbc.lfx(), fbc.lfy()));
 163         p.push_back(std::make_tuple(fbc.lrx(), fbc.lry()));
 164         p.push_back(std::make_tuple(fbc.rrx(), fbc.rry()));
 165         p.push_back(std::make_tuple(fbc.rfx(), fbc.rfy()));
 166         p.push_back(std::make_tuple(tbc.lfx(), tbc.lfy()));
 167         p.push_back(std::make_tuple(tbc.lrx(), tbc.lry()));
 168         p.push_back(std::make_tuple(tbc.rrx(), tbc.rry()));
 169         p.push_back(std::make_tuple(tbc.rfx(), tbc.rfy()));
 170         return this->collide(p);
 171 }
 172
 173 double RRTS::cost_build(RRTNode &f, RRTNode &t)
 174 {
 175         double cost = 0;
 176         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 177         return cost;
 178 }
 179
 180 double RRTS::cost_search(RRTNode &f, RRTNode &t)
 181 {
 182         double cost = 0;
 183         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
 184         return cost;
 185 }
 186
 187 void RRTS::sample()
 188 {
 189         double x = 0;
 190         double y = 0;
 191         double h = 0;
 192         switch (this->sample_dist_type()) {
 193         case 1: // uniform
 194                 x = this->udx_(this->gen_);
 195                 y = this->udy_(this->gen_);
 196                 h = this->udh_(this->gen_);
 197                 break;
 198         case 2: // uniform circle
 199         {
 200                 // see https://stackoverflow.com/questions/5837572/generate-a-random-point-within-a-circle-uniformly/50746409#50746409
 201                 double R = sqrt(
 202                         pow(
 203                                 this->nodes().front().x()
 204                                 - this->goals().front().x(),
 205                                 2
 206                         )
 207                         + pow(
 208                                 this->nodes().front().y()
 209                                 - this->goals().front().y(),
 210                                 2
 211                         )
 212                 );
 213                 double a = atan2(
 214                         this->goals().front().y() - this->nodes().front().y(),
 215                         this->goals().front().x() - this->nodes().front().x()
 216                 );
 217                 double cx = this->goals().front().x() - R/2 * cos(a);
 218                 double cy = this->goals().front().y() - R/2 * sin(a);
 219                 double r = R * sqrt(this->udx_(this->gen_));
 220                 double theta = this->udy_(this->gen_) * 2 * M_PI;
 221                 x = cx + r * cos(theta);
 222                 y = cy + r * sin(theta);
 223                 h = this->udh_(this->gen_);
 224         }
 225                 break;
 226         case 3: {
 227                 if (
 228                         this->steered1_.size() == 0
 229                         && this->steered2_.size() == 0
 230                 ) {
 231                         x = this->nodes().front().x();
 232                         y = this->nodes().front().y();
 233                         h = this->nodes().front().h();
 234                 } else {
 235                         this->udi1_ = std::uniform_int_distribution<unsigned int>(
 236                                 0,
 237                                 this->steered1_.size() - 1
 238                         );
 239                         this->udi2_ = std::uniform_int_distribution<unsigned int>(
 240                                 0,
 241                                 this->steered2_.size() - 1
 242                         );
 243                         auto ind1 = this->udi1_(this->gen_);
 244                         auto ind2 = this->udi2_(this->gen_);
 245                         if (
 246                                 this->steered2_.size() == 0
 247                         ) {
 248                                 auto n1 = this->steered1_[ind1];
 249                                 x = n1->x();
 250                                 y = n1->y();
 251                                 h = n1->h();
 252                         } else if (
 253                                 this->steered1_.size() == 0
 254                         ) {
 255                                 auto n2 = this->steered2_[ind2];
 256                                 x = n2->x();
 257                                 y = n2->y();
 258                                 h = n2->h();
 259                         } else {
 260                                 auto n1 = this->steered1_[ind1];
 261                                 auto n2 = this->steered2_[ind2];
 262                                 auto which = this->udx_(this->gen_);
 263                                 if (which > 0.5) {
 264                                         x = n1->x();
 265                                         y = n1->y();
 266                                         h = n1->h();
 267                                 } else {
 268                                         x = n2->x();
 269                                         y = n2->y();
 270                                         h = n2->h();
 271                                 }
 272                         }
 273                 }
 274                 break;
 275                 }
 276         default: // normal
 277                 x = this->ndx_(this->gen_);
 278                 y = this->ndy_(this->gen_);
 279                 h = this->ndh_(this->gen_);
 280         }
 281         this->samples().push_back(RRTNode());
 282         this->samples().back().x(x);
 283         this->samples().back().y(y);
 284         this->samples().back().h(h);
 285 }
 286
 287 RRTNode *RRTS::nn(RRTNode &t)
 288 {
 289         RRTNode *nn = &this->nodes().front();
 290         double cost = this->cost_search(*nn, t);
 291         for (auto &f: this->nodes()) {
 292                 if (this->cost_search(f, t) < cost) {
 293                         nn = &f;
 294                         cost = this->cost_search(f, t);
 295                 }
 296         }
 297         return nn;
 298 }
 299
 300 std::vector<RRTNode *> RRTS::nv(RRTNode &t)
 301 {
 302         std::vector<RRTNode *> nv;
 303         double cost = std::min(GAMMA(this->nodes().size()), ETA);
 304         for (auto &f: this->nodes())
 305                 if (this->cost_search(f, t) < cost)
 306                         nv.push_back(&f);
 307         return nv;
 308 }
 309
 310 int cb_rs_steer(double q[4], void *user_data)
 311 {
 312         std::vector<RRTNode> *nodes = (std::vector<RRTNode> *) user_data;
 313         nodes->push_back(RRTNode());
 314         nodes->back().x(q[0]);
 315         nodes->back().y(q[1]);
 316         nodes->back().h(q[2]);
 317         nodes->back().sp(q[3]);
 318         if (nodes->back().sp() == 0) {
 319                 nodes->back().set_t(RRTNodeType::cusp);
 320         } else if (nodes->size() >= 2) {
 321                 RRTNode* lln = nodes->back().p();
 322                 RRTNode* ln = &nodes->back();
 323                 if (lln != nullptr && ln != nullptr && sgn(lln->sp()) != sgn(ln->sp()))
 324                         ln->set_t(RRTNodeType::cusp);
 325         }
 326         return 0;
 327 }
 328
 329 void RRTS::steer(RRTNode &f, RRTNode &t)
 330 {
 331         this->steered().clear();
 332         double q0[] = {f.x(), f.y(), f.h()};
 333         double q1[] = {t.x(), t.y(), t.h()};
 334         ReedsSheppStateSpace rsss(this->bc.mtr());
 335         rsss.sample(q0, q1, 0.2, cb_rs_steer, &this->steered());
 336 }
 337 void RRTS::tmp_steer(RRTNode &f, RRTNode &t)
 338 {
 339     this->tmp_steered_.clear();
 340     double q0[] = {f.x(), f.y(), f.h()};
 341     double q1[] = {t.x(), t.y(), t.h()};
 342     ReedsSheppStateSpace rsss(this->bc.mtr());
 343     rsss.sample(q0, q1, 0.2, cb_rs_steer, &this->tmp_steered_);
 344 }
 345
 346 void RRTS::steer1(RRTNode &f, RRTNode &t)
 347 {
 348     return this->steer(f, t);
 349 }
 350
 351 void RRTS::steer2(RRTNode &f, RRTNode &t)
 352 {
 353     return this->steer(f, t);
 354 }
 355
 356 void RRTS::join_steered(RRTNode *f)
 357 {
 358         while (this->steered().size() > 0) {
 359                 this->store_node(this->steered().front());
 360                 RRTNode *t = &this->nodes().back();
 361                 t->p(f);
 362                 t->c(this->cost_build(*f, *t));
 363                 this->steered().erase(this->steered().begin());
 364                 f = t;
 365         }
 366 }
 367 void RRTS::join_tmp_steered(RRTNode *f)
 368 {
 369         while (this->tmp_steered_.size() > 0) {
 370                 this->store_node(this->tmp_steered_.front());
 371                 RRTNode *t = &this->nodes().back();
 372                 t->p(f);
 373                 t->c(this->cost_build(*f, *t));
 374                 this->tmp_steered_.erase(this->tmp_steered_.begin());
 375                 f = t;
 376         }
 377 }
 378
 379 bool RRTS::goal_found(RRTNode &f)
 380 {
 381         auto &g = this->goals().front();
 382         double cost = this->cost_build(f, g);
 383         double edist = sqrt(
 384                 pow(f.x() - g.x(), 2)
 385                 + pow(f.y() - g.y(), 2)
 386         );
 387         double adist = std::abs(f.h() - g.h());
 388         if (edist < 0.05 && adist < M_PI / 32) {
 389                 if (g.p() == nullptr || cc(f) + cost < cc(g)) {
 390                         g.p(&f);
 391                         g.c(cost);
 392                 }
 393                 return true;
 394         }
 395         return false;
 396 }
 397
 398 // RRT* procedures
 399 bool RRTS::connect()
 400 {
 401         RRTNode *t = &this->steered().front();
 402         RRTNode *f = this->nn(this->samples().back());
 403         double cost = this->cost_search(*f, *t);
 404         for (auto n: this->nv(*t)) {
 405                 if (
 406                         !std::get<0>(this->collide_two_nodes(*n, *t))
 407                         && this->cost_search(*n, *t) < cost
 408                 ) {
 409                         f = n;
 410                         cost = this->cost_search(*n, *t);
 411                 }
 412         }
 413         // steer from f->t and then continue with the steered.
 414         this->tmp_steer(*f, *t);
 415         if (this->tmp_steered_.size() > 0) {
 416                 auto col = this->collide_tmp_steered_from(*f);
 417                 if (std::get<0>(col))
 418                         return false;
 419                 this->join_tmp_steered(f);
 420                 f = &this->nodes().back();
 421         }
 422         if (edist(f, t) > 0.2)
 423                 return false;
 424         // cont.
 425         this->store_node(this->steered().front());
 426         t = &this->nodes().back();
 427         t->p(f);
 428         t->c(this->cost_build(*f, *t));
 429         t->set_t(RRTNodeType::connected);
 430         return true;
 431 }
 432
 433 void RRTS::rewire()
 434 {
 435         RRTNode *f = &this->nodes().back();
 436         for (auto n: this->nv(*f)) {
 437                 if (
 438                         !std::get<0>(this->collide_two_nodes(*f, *n))
 439                         && cc(*f) + this->cost_search(*f, *n) < cc(*n)
 440                 ) {
 441                         n->p(f);
 442                         n->c(this->cost_build(*f, *n));
 443                 }
 444         }
 445 }
 446
 447 // API
 448 void RRTS::init()
 449 {
 450 }
 451
 452 void RRTS::deinit()
 453 {
 454         this->nodes().clear();
 455         this->samples().clear();
 456         this->steered().clear();
 457         this->store_node(RRTNode()); // root
 458         this->icnt_ = 0;
 459         this->scnt_ = 0;
 460         this->pcnt_ = 0;
 461         this->gf_ = false;
 462 }
 463
 464 std::vector<RRTNode *> RRTS::path()
 465 {
 466         std::vector<RRTNode *> path;
 467         if (this->goals().size() == 0)
 468                 return path;
 469         RRTNode *goal = &this->goals().back();
 470         if (goal->p() == nullptr)
 471                 return path;
 472         while (goal != nullptr) {
 473                 path.push_back(goal);
 474                 goal = goal->p();
 475         }
 476         std::reverse(path.begin(), path.end());
 477         return path;
 478 }
 479
 480 bool RRTS::next()
 481 {
 482         if (this->icnt_ == 0)
 483                 this->tstart_ = std::chrono::high_resolution_clock::now();
 484         bool next = true;
 485         if (this->scnt_ > this->log_path_time_)
 486             this->log_path_cost();
 487         if (this->should_stop())
 488                 return false;
 489         if (this->samples().size() == 0) {
 490                 this->samples().push_back(RRTNode());
 491                 this->samples().back().x(this->goals().front().x());
 492                 this->samples().back().y(this->goals().front().y());
 493                 this->samples().back().h(this->goals().front().h());
 494         } else {
 495                 this->sample();
 496         }
 497         this->steer1(
 498                 *this->nn(this->samples().back()),
 499                 this->samples().back()
 500         );
 501         if (this->steered().size() == 0)
 502                 return next;
 503         auto col = this->collide_steered_from(
 504                 *this->nn(this->samples().back())
 505         );
 506         if (std::get<0>(col)) {
 507                 auto rcnt = this->steered().size() - std::get<1>(col);
 508                 while (rcnt-- > 0) {
 509                         this->steered().pop_back();
 510                 }
 511         }
 512         if (!this->connect())
 513                 return next;
 514         this->rewire();
 515         unsigned scnt = this->steered().size();
 516         this->join_steered(&this->nodes().back());
 517         RRTNode *just_added = &this->nodes().back();
 518         while (scnt > 0) {
 519                 // store all the steered1 nodes
 520                 this->steered1_.push_back(just_added);
 521                 scnt--;
 522                 auto &g = this->goals().front();
 523                 this->steer2(*just_added, g);
 524                 auto col = this->collide_steered_from(*just_added);
 525                 if (std::get<0>(col)) {
 526                         auto rcnt = this->steered().size() - std::get<1>(col);
 527                         while (rcnt-- > 0) {
 528                                 this->steered().pop_back();
 529                         }
 530                 }
 531                 this->join_steered(just_added);
 532                 // store all the steered2 nodes
 533                 RRTNode* jap = &this->nodes().back();
 534                 while (jap != just_added) {
 535                         this->steered2_.push_back(jap);
 536                         jap = jap->p();
 537                 }
 538                 this->gf(this->goal_found(this->nodes().back()));
 539                 just_added = just_added->p();
 540         }
 541         return next;
 542 }
 543
 544 void RRTS::set_sample_normal(
 545         double mx, double dx,
 546         double my, double dy,
 547         double mh, double dh
 548 )
 549 {
 550         this->ndx_ = std::normal_distribution<double>(mx, dx);
 551         this->ndy_ = std::normal_distribution<double>(my, dy);
 552         this->ndh_ = std::normal_distribution<double>(mh, dh);
 553 }
 554 void RRTS::set_sample_uniform(
 555         double xmin, double xmax,
 556         double ymin, double ymax,
 557         double hmin, double hmax
 558 )
 559 {
 560         this->udx_ = std::uniform_real_distribution<double>(xmin,xmax);
 561         this->udy_ = std::uniform_real_distribution<double>(ymin,ymax);
 562         this->udh_ = std::uniform_real_distribution<double>(hmin,hmax);
 563 }
 564 void RRTS::set_sample_uniform_circle()
 565 {
 566         this->udx_ = std::uniform_real_distribution<double>(0, 1);
 567         this->udy_ = std::uniform_real_distribution<double>(0, 1);
 568         this->udh_ = std::uniform_real_distribution<double>(0, 2 * M_PI);
 569 }
 570 void RRTS::set_sample(
 571         double x1, double x2,
 572         double y1, double y2,
 573         double h1, double h2
 574 )
 575 {
 576         switch (this->sample_dist_type()) {
 577         case 1: // uniform
 578                 x1 += this->nodes().front().x();
 579                 x2 += this->nodes().front().x();
 580                 y1 += this->nodes().front().y();
 581                 y2 += this->nodes().front().y();
 582                 this->set_sample_uniform(x1, x2, y1, y2, h1, h2);
 583                 break;
 584         case 2: // uniform circle
 585                 this->set_sample_uniform_circle();
 586                 break;
 587         case 3: // uniform index of node in nodes
 588                 this->set_sample_uniform_circle();
 589                 break;
 590         default: // normal
 591                 this->set_sample_normal(x1, x2, y1, y2, h1, h2);
 592         }
 593 }
 594
 595 Json::Value RRTS::json()
 596 {
 597         Json::Value jvo;
 598         {
 599                 jvo["time"] = this->scnt();
 600         }
 601         {
 602                 jvo["iterations"] = this->icnt();
 603         }
 604         {
 605                 jvo["init"][0] = this->nodes().front().x();
 606                 jvo["init"][1] = this->nodes().front().y();
 607                 jvo["init"][2] = this->nodes().front().h();
 608         }
 609         {
 610                 jvo["path_cost_before_opt"] = this->path_cost_before_opt_;
 611         }
 612         {
 613                 if (this->path().size() > 0) {
 614                         jvo["cost"] = cc(*this->path().back());
 615                         jvo["entry"][0] = this->goals().front().x();
 616                         jvo["entry"][1] = this->goals().front().y();
 617                         jvo["entry"][2] = this->goals().front().h();
 618                         jvo["goal"][0] = this->goals().back().x();
 619                         jvo["goal"][1] = this->goals().back().y();
 620                         jvo["goal"][2] = this->goals().back().h();
 621                 }
 622         }
 623         {
 624                 unsigned int cu = 0;
 625                 unsigned int co = 0;
 626                 unsigned int pcnt = 0;
 627                 for (auto n: this->path()) {
 628                         jvo["path"][pcnt][0] = n->x();
 629                         jvo["path"][pcnt][1] = n->y();
 630                         jvo["path"][pcnt][2] = n->h();
 631                         if (n->t(RRTNodeType::cusp))
 632                                 cu++;
 633                         if (n->t(RRTNodeType::connected))
 634                                 co++;
 635                         pcnt++;
 636                 }
 637                 jvo["cusps-in-path"] = cu;
 638                 jvo["connecteds-in-path"] = co;
 639         }
 640         {
 641                 unsigned int gcnt = 0;
 642                 for (auto g: this->goals()) {
 643                         jvo["goals"][gcnt][0] = g.x();
 644                         jvo["goals"][gcnt][1] = g.y();
 645                         jvo["goals"][gcnt][2] = g.h();
 646                         gcnt++;
 647                 }
 648         }
 649         {
 650                 unsigned int ocnt = 0;
 651                 for (auto o: this->obstacles()) {
 652                         unsigned int ccnt = 0;
 653                         for (auto c: o.poly()) {
 654                                 jvo["obst"][ocnt][ccnt][0] = std::get<0>(c);
 655                                 jvo["obst"][ocnt][ccnt][1] = std::get<1>(c);
 656                                 ccnt++;
 657                         }
 658                         ocnt++;
 659                 }
 660         }
 661         {
 662                 jvo["nodes"] = (unsigned int) this->nodes().size();
 663         }
 664         {
 665                 unsigned int cnt = 0;
 666                 for (auto i: this->log_path_cost_)
 667                         jvo["log_path_cost"][cnt++] = i;
 668         }
 669         //{
 670         //        unsigned int ncnt = 0;
 671         //        for (auto n: this->nodes()) {
 672         //                jvo["nodes_x"][ncnt] = n.x();
 673         //                jvo["nodes_y"][ncnt] = n.y();
 674         //                //jvo["nodes_h"][ncnt] = n.h();
 675         //                ncnt++;
 676         //        }
 677         //}
 678         //{
 679         //        unsigned int ncnt = 0;
 680         //        for (auto n: this->steered1_) {
 681         //                jvo["steered1_x"][ncnt] = n->x();
 682         //                jvo["steered1_y"][ncnt] = n->y();
 683         //                //jvo["nodes_h"][ncnt] = n.h();
 684         //                ncnt++;
 685         //        }
 686         //        ncnt = 0;
 687         //        for (auto n: this->steered2_) {
 688         //                jvo["steered2_x"][ncnt] = n->x();
 689         //                jvo["steered2_y"][ncnt] = n->y();
 690         //                //jvo["nodes_h"][ncnt] = n.h();
 691         //                ncnt++;
 692         //        }
 693         //}
 694         return jvo;
 695 }
 696
 697 void RRTS::json(Json::Value jvi)
 698 {
 699         assert(jvi["init"] != Json::nullValue);
 700         assert(jvi["goals"] != Json::nullValue);
 701         assert(jvi["obst"] != Json::nullValue);
 702
 703         this->nodes().front().x(jvi["init"][0].asDouble());
 704         this->nodes().front().y(jvi["init"][1].asDouble());
 705         this->nodes().front().h(jvi["init"][2].asDouble());
 706         {
 707                 RRTNode* gp = nullptr;
 708                 if (jvi["entry"] != Json::nullValue) {
 709                         this->entry_set = true;
 710                         this->entry.x = jvi["entry"][0].asDouble();
 711                         this->entry.y = jvi["entry"][1].asDouble();
 712                         this->entry.b = jvi["entry"][2].asDouble();
 713                         this->entry.e = jvi["entry"][3].asDouble();
 714                         RRTNode tmp_node;
 715                         tmp_node.x(this->entry.x);
 716                         tmp_node.y(this->entry.y);
 717                         tmp_node.h((this->entry.b + this->entry.e) / 2.0);
 718                         this->goals().push_back(tmp_node);
 719                         this->goals().back().p(gp);
 720                         gp = &this->goals().back();
 721                 }
 722                 for (auto g: jvi["goals"]) {
 723                         RRTNode tmp_node;
 724                         tmp_node.x(g[0].asDouble());
 725                         tmp_node.y(g[1].asDouble());
 726                         tmp_node.h(g[2].asDouble());
 727                         this->goals().push_back(tmp_node);
 728                         this->goals().back().p(gp);
 729                         gp = &this->goals().back();
 730                 }
 731                 this->goals().front().set_t(RRTNodeType::cusp);
 732                 this->goals().back().set_t(RRTNodeType::cusp);
 733         }
 734         {
 735                 Obstacle tmp_obstacle;
 736                 for (auto o: jvi["obst"]) {
 737                         tmp_obstacle.poly().clear();
 738                         for (auto c: o) {
 739                                 double tmp_x = c[0].asDouble();
 740                                 double tmp_y = c[1].asDouble();
 741                                 auto tmp_tuple = std::make_tuple(tmp_x, tmp_y);
 742                                 tmp_obstacle.poly().push_back(tmp_tuple);
 743                         }
 744                         this->obstacles().push_back(tmp_obstacle);
 745                 }
 746         }
 747         {
 748                 double edist_init_goal = sqrt(
 749                         pow(
 750                                 this->nodes().front().x()
 751                                 - this->goals().front().x(),
 752                                 2
 753                         )
 754                         + pow(
 755                                 this->nodes().front().y()
 756                                 - this->goals().front().y(),
 757                                 2
 758                         )
 759                 );
 760                 this->set_sample(
 761                         this->nodes().front().x(), edist_init_goal,
 762                         this->nodes().front().y(), edist_init_goal,
 763                         0, 2 * M_PI
 764                 );
 765         }
 766 }
 767
 768 RRTS::RRTS()
 769         : gen_(std::random_device{}())
 770 {
 771         this->goals().reserve(100);
 772         this->nodes().reserve(4000000);
 773         this->samples().reserve(1000);
 774         this->steered().reserve(20000);
 775         this->store_node(RRTNode()); // root
 776 }
 777
 778 double cc(RRTNode &t)
 779 {
 780         RRTNode *n = &t;
 781         double cost = 0;
 782         while (n != nullptr) {
 783                 cost += n->c();
 784                 n = n->p();
 785         }
 786         return cost;
 787 }