7 /*! \brief RRT node basic class.
9 \param c Cumulative cost from RRT data structure root.
10 \param p Pointer to parent RRT node.
11 \param ch The vector of pointers to children RRT nodes.
13 class RRTNode : public BicycleCar {
16 RRTNode *p_ = nullptr;
19 double c() const { return this->c_; }
20 void c(double c) { this->c_ = c; }
22 RRTNode *p() const { return this->p_; }
23 void p(RRTNode *p) { this->p_ = p; }
28 /*! \brief RRT* algorithm basic class.