namespace rrts {
-RRTExt13::DijkstraNode::DijkstraNode(RRTNode* n) : node(n)
-{
-}
-
-bool
-RRTExt13::DijkstraNode::vi()
-{
- if (this->v) {
- return true;
- }
- this->v = true;
- return false;
-}
-
-int
-RRTExt13::DijkstraNodeComparator::operator() (DijkstraNode const& n1,
- DijkstraNode const& n2)
-{
- return n1.node->cc() > n2.node->cc();
-}
-
-int
-RRTExt13::DijkstraNodeBackwardComparator::operator() (DijkstraNode const& n1,
- DijkstraNode const& n2)
-{
- return n1.d > n2.d;
-}
-
void
RRTExt13::interesting_forward()
{
pq.push(this->dn_.front());
while (!pq.empty()) {
DijkstraNode fd = pq.top();
- RRTNode& f = *fd.node;
+ RRTNode& f = *fd.p_rrtnode;
pq.pop();
this->set_bc_pose_to(f);
for (unsigned int i = fd.i + 1; i < this->dn_.size(); i++) {
- RRTNode& t = *this->dn_[i].node;
+ RRTNode& t = *this->dn_[i].p_rrtnode;
if (!this->_bc.drivable(t)) {
continue;
}
pq.push(this->dn_.front());
while (!pq.empty()) {
DijkstraNode td = pq.top();
- RRTNode& t = *td.node;
+ RRTNode& t = *td.p_rrtnode;
pq.pop();
this->set_bc_pose_to(t);
for (unsigned int i = td.i; i > 0; i--) {
DijkstraNode& fd = this->dn_[i];
- RRTNode& f = *this->dn_[i].node;
+ RRTNode& f = *this->dn_[i].p_rrtnode;
if (!this->_bc.drivable(f)) {
continue;
}
}
void
-RRTExt13::compute_path()
+RRTExt13::compute_path(void)
{
RRTS::compute_path();
if (this->_goal.cc() == 0.0 || this->_path.size() == 0) {
}
Json::Value
-RRTExt13::json() const
+RRTExt13::json(void) const
{
auto jvo = RRTS::json();
unsigned int i = 0;
}
void
-RRTExt13::reset()
+RRTExt13::reset(void)
{
RRTS::reset();
this->opath_.clear();