From 7b106d3938950d85604bf7b881341d3bb9da3dfe Mon Sep 17 00:00:00 2001
From: Jiri Hubacek <hubacji1@fel.cvut.cz>
Date: Fri, 21 Sep 2018 16:03:28 +0200
Subject: [PATCH] Rename cumulative cost functions

---
 decision_control/rrtplanner.cc |  4 +++-
 incl/compile.h                 |  4 ----
 incl/cost.h                    |  4 ++--
 vehicle_platform/cost.cc       | 12 ++++++------
 4 files changed, 11 insertions(+), 13 deletions(-)

diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc
index 7a08ac0..eeb19d9 100644
--- a/decision_control/rrtplanner.cc
+++ b/decision_control/rrtplanner.cc
@@ -25,7 +25,9 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #include "rrtplanner.h"
 #include "cost.h"
 
-#define KUWATA2008_CCOST CCO
+#define CATI(a, b) a ## b
+#define CAT(a, b) CATI(a, b)
+#define KUWATA2008_CCOST CAT(c, CO)
 #define KUWATA2008_DCOST CO
 
 LaValle1998::LaValle1998(RRTNode *init, RRTNode *goal):
diff --git a/incl/compile.h b/incl/compile.h
index 441a428..2ac1899 100644
--- a/incl/compile.h
+++ b/incl/compile.h
@@ -46,8 +46,4 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #define CO co1
 #endif
 
-#ifndef CCO
-#define CCO co3
-#endif
-
 #endif
diff --git a/incl/cost.h b/incl/cost.h
index 42ca4f3..ae3e118 100644
--- a/incl/cost.h
+++ b/incl/cost.h
@@ -21,8 +21,8 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #include "rrtnode.h"
 
 float co1(RRTNode *init, RRTNode *goal);
+float cco1(RRTNode *init, RRTNode *goal);
 float co2(RRTNode *init, RRTNode *goal);
-float co3(RRTNode *init, RRTNode *goal);
-float co4(RRTNode *init, RRTNode *goal);
+float cco2(RRTNode *init, RRTNode *goal);
 
 #endif
diff --git a/vehicle_platform/cost.cc b/vehicle_platform/cost.cc
index 31771d8..b26f5d3 100644
--- a/vehicle_platform/cost.cc
+++ b/vehicle_platform/cost.cc
@@ -27,6 +27,11 @@ float co1(RRTNode *init, RRTNode *goal)
         return pow(pow(dx, 2) + pow(dy, 2), 0.5);
 }
 
+float cco1(RRTNode *init, RRTNode *goal)
+{
+        return init->ccost() + co1(init, goal);
+}
+
 float co2(RRTNode *init, RRTNode *goal)
 {
         double q0[] = {init->x(), init->y(), init->h()};
@@ -35,12 +40,7 @@ float co2(RRTNode *init, RRTNode *goal)
         return static_cast<float>(rsss.distance(q0, q1));
 }
 
-float co3(RRTNode *init, RRTNode *goal)
-{
-        return init->ccost() + co1(init, goal);
-}
-
-float co4(RRTNode *init, RRTNode *goal)
+float cco2(RRTNode *init, RRTNode *goal)
 {
         return init->ccost() + co2(init, goal);
 }
-- 
2.39.2