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 #if NNVERSION>1
  35                                 std::vector<RRTNode *> (&nodes)[IYSIZE],
  36 #else
  37                                 std::vector<RRTNode *> &nodes,
  38 #endif
  39                                 RRTNode *node,
  40                                 float (*cost)(RRTNode *, RRTNode *));
  41                 RRTNode *(*sample)();
  42                 std::vector<RRTNode *> (*steer)(
  43                                 RRTNode *init,
  44                                 RRTNode *goal);
  45                 float (*cost)(RRTNode *init, RRTNode *goal);
  46                 bool next();
  47 };
  48
  49 class Kuwata2008: public RRTBase {
  50         public:
  51                 Kuwata2008(RRTNode *init, RRTNode *goal);
  52
  53                 // RRT framework
  54                 RRTNode *(*nn)(
  55 #if NNVERSION>1
  56                                 std::vector<RRTNode *> (&nodes)[IYSIZE],
  57 #else
  58                                 std::vector<RRTNode *> &nodes,
  59 #endif
  60                                 RRTNode *node,
  61                                 float (*cost)(RRTNode *, RRTNode *));
  62                 RRTNode *(*sample)();
  63                 std::vector<RRTNode *> (*steer)(
  64                                 RRTNode *init,
  65                                 RRTNode *goal);
  66                 float (*cost)(RRTNode *init, RRTNode *goal);
  67                 bool next();
  68 };
  69
  70 class Karaman2011: public RRTBase {
  71         public:
  72                 Karaman2011(RRTNode *init, RRTNode *goal);
  73
  74                 // RRT framework
  75                 RRTNode *(*nn)(
  76 #if NNVERSION>1
  77                                 std::vector<RRTNode *> (&nodes)[IYSIZE],
  78 #else
  79                                 std::vector<RRTNode *> &nodes,
  80 #endif
  81                                 RRTNode *node,
  82                                 float (*cost)(RRTNode *, RRTNode *));
  83                 std::vector<RRTNode *> (*nv)(
  84                                 RRTNode *root,
  85                                 RRTNode *node,
  86                                 float (*cost)(RRTNode *, RRTNode *),
  87                                 float dist);
  88                 RRTNode *(*sample)();
  89                 std::vector<RRTNode *> (*steer)(
  90                                 RRTNode *init,
  91                                 RRTNode *goal);
  92                 float (*cost)(RRTNode *init, RRTNode *goal);
  93                 bool next();
  94 };
  95
  96 class T1: public RRTBase {
  97         public:
  98                 T1(RRTNode *init, RRTNode *goal);
  99
 100                 // RRT framework
 101                 RRTNode *(*nn)(
 102 #if NNVERSION>1
 103                                 std::vector<RRTNode *> (&nodes)[IYSIZE],
 104 #else
 105                                 std::vector<RRTNode *> &nodes,
 106 #endif
 107                                 RRTNode *node,
 108                                 float (*cost)(RRTNode *, RRTNode *));
 109                 std::vector<RRTNode *> (*nv)(
 110                                 RRTNode *root,
 111                                 RRTNode *node,
 112                                 float (*cost)(RRTNode *, RRTNode *),
 113                                 float dist);
 114                 RRTNode *(*sample)();
 115                 std::vector<RRTNode *> (*steer)(
 116                                 RRTNode *init,
 117                                 RRTNode *goal);
 118                 float (*cost)(RRTNode *init, RRTNode *goal);
 119                 bool next();
 120 };
 121
 122 #endif