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/>.
29 float dcost_ = 0; // direct cost (of edge) to parent
30 float ccost_ = 0; // cumulative cost from root
32 RRTNode *parent_ = nullptr;
33 std::vector<RRTNode *> children_;
35 bool visited_ = false; // for DFS
38 RRTNode(float x, float y);
39 RRTNode(float x, float y, float h);
49 std::vector<RRTNode *> &children();
50 RRTNode *parent() const;
55 bool add_child(RRTNode *node, float cost);
57 float ccost(float cost);
58 float dcost(float cost);
60 bool parent(RRTNode *parent);
64 static bool comp_ccost(RRTNode *n1, RRTNode *n2);