incl/rrtplanner.h

   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 #ifndef RRTPLANNER_H
  19 #define RRTPLANNER_H
  20
  21 #include <vector>
  22 #include "rrtbase.h"
  23 #include "rrtnode.h"
  24
  25 #define GOALFIRST 1
  26
  27 class LaValle1998: public RRTBase {
  28         public:
  29                 //using RRTBase::RRTBase;
  30                 LaValle1998(RRTNode *init, RRTNode *goal);
  31
  32                 // RRT framework
  33                 RRTNode *(*nn)(
  34                                 std::vector<RRTNode *> &nodes,
  35                                 RRTNode *node,
  36                                 float (*cost)(RRTNode *, RRTNode *));
  37                 RRTNode *(*sample)();
  38                 std::vector<RRTNode *> (*steer)(
  39                                 RRTNode *init,
  40                                 RRTNode *goal);
  41                 float (*cost)(RRTNode *init, RRTNode *goal);
  42                 bool next();
  43 };
  44
  45 class Kuwata2008: public RRTBase {
  46         public:
  47                 Kuwata2008(RRTNode *init, RRTNode *goal);
  48
  49                 // RRT framework
  50                 RRTNode *(*nn)(
  51                                 std::vector<RRTNode *> &nodes,
  52                                 RRTNode *node,
  53                                 float (*cost)(RRTNode *, RRTNode *));
  54                 RRTNode *(*sample)();
  55                 std::vector<RRTNode *> (*steer)(
  56                                 RRTNode *init,
  57                                 RRTNode *goal);
  58                 float (*cost)(RRTNode *init, RRTNode *goal);
  59                 bool next();
  60 };
  61
  62 class Karaman2011: public RRTBase {
  63         public:
  64                 Karaman2011(RRTNode *init, RRTNode *goal);
  65
  66                 // RRT framework
  67                 RRTNode *(*nn)(
  68                                 std::vector<RRTNode *> &nodes,
  69                                 RRTNode *node,
  70                                 float (*cost)(RRTNode *, RRTNode *));
  71                 std::vector<RRTNode *> (*nv)(
  72                                 RRTNode *root,
  73                                 RRTNode *node,
  74                                 float (*cost)(RRTNode *, RRTNode *),
  75                                 float dist);
  76                 RRTNode *(*sample)();
  77                 std::vector<RRTNode *> (*steer)(
  78                                 RRTNode *init,
  79                                 RRTNode *goal);
  80                 float (*cost)(RRTNode *init, RRTNode *goal);
  81                 bool next();
  82 };
  83
  84 class T1: public RRTBase {
  85         public:
  86                 T1(RRTNode *init, RRTNode *goal);
  87
  88                 // RRT framework
  89                 RRTNode *(*nn)(
  90                                 std::vector<RRTNode *> &nodes,
  91                                 RRTNode *node,
  92                                 float (*cost)(RRTNode *, RRTNode *));
  93                 std::vector<RRTNode *> (*nv)(
  94                                 RRTNode *root,
  95                                 RRTNode *node,
  96                                 float (*cost)(RRTNode *, RRTNode *),
  97                                 float dist);
  98                 RRTNode *(*sample)();
  99                 std::vector<RRTNode *> (*steer)(
 100                                 RRTNode *init,
 101                                 RRTNode *goal);
 102                 float (*cost)(RRTNode *init, RRTNode *goal);
 103                 bool next();
 104 };
 105
 106 #endif