2 This file is part of I am car.
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.
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.
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/>.
18 #include "slotplanner.h"
20 ParallelSlot::ParallelSlot()
24 std::vector<std::vector<RRTNode *>> &ParallelSlot::cusp()
29 float ParallelSlot::DH() const
34 PolygonObstacle &ParallelSlot::slot()
40 RRTNode *ParallelSlot::fposecenter()
42 if (this->slot().bnodes().front()->y() >
43 this->slot().bnodes().back()->y())
44 return this->slot().bnodes().front();
46 return this->slot().bnodes().back();