incl/rrtsp.hh

   1 /*! \brief RRT* planners.
   2  *
   3  * This file contains _to be used_ RRT* planners consisting of the RRT*
   4  * extensions.
   5  *
   6  * RRT* planners have no implementation.
   7  *
   8  * \file
   9  */
  10 #ifndef RRTS_RRTCE_H
  11 #define RRTS_RRTCE_H
  12
  13 #include "rrtext.hh"
  14
  15 namespace rrts {
  16
  17 class P39 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  18                 public RRTExt15, public RRTExt16, public RRTExt17,
  19                 public RRTExt13 {
  20 public:
  21         Json::Value json() const
  22         {
  23                 auto jvo = RRTExt13::json();
  24                 auto json15 = RRTExt15::json();
  25                 jvo["log_path_cost"] = json15["log_path_cost"];
  26                 return jvo;
  27         }
  28         void json(Json::Value jvi)
  29         {
  30                 RRTExt2::json(jvi);
  31         }
  32         void reset()
  33         {
  34                 RRTExt8::reset();
  35                 RRTExt14::reset();
  36                 RRTExt13::reset();
  37         }
  38 };
  39
  40 class P38 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  41                 public RRTExt15, public RRTExt16, public RRTExt18,
  42                 public RRTExt13 {
  43 public:
  44         Json::Value json() const
  45         {
  46                 auto jvo = RRTExt13::json();
  47                 auto json15 = RRTExt15::json();
  48                 jvo["log_path_cost"] = json15["log_path_cost"];
  49                 return jvo;
  50         }
  51         void json(Json::Value jvi)
  52         {
  53                 RRTExt2::json(jvi);
  54         }
  55         void reset()
  56         {
  57                 RRTExt8::reset();
  58                 RRTExt14::reset();
  59                 RRTExt13::reset();
  60         }
  61 };
  62
  63 class P37 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  64                 public RRTExt15, public RRTExt16, public RRTExt18 {
  65 public:
  66         Json::Value json() const
  67         {
  68                 return RRTExt15::json();
  69         }
  70         void json(Json::Value jvi)
  71         {
  72                 RRTExt2::json(jvi);
  73         }
  74         void reset()
  75         {
  76                 RRTExt8::reset();
  77                 RRTExt14::reset();
  78         }
  79 };
  80
  81 class P36 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  82                 public RRTExt15, public RRTExt16, public RRTExt17 {
  83 public:
  84         Json::Value json() const
  85         {
  86                 return RRTExt15::json();
  87         }
  88         void json(Json::Value jvi)
  89         {
  90                 RRTExt2::json(jvi);
  91         }
  92         void reset()
  93         {
  94                 RRTExt8::reset();
  95                 RRTExt14::reset();
  96         }
  97 };
  98
  99 } // namespace rrts
 100 #endif /* RRTS_RRTCE_H */