incl/rrtsp.hh

   1 /*
   2  * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
   3  *
   4  * SPDX-License-Identifier: GPL-3.0-only
   5  */
   6
   7 /*! \brief RRT* planners.
   8  *
   9  * This file contains _to be used_ RRT* planners consisting of the RRT*
  10  * extensions.
  11  *
  12  * RRT* planners have no implementation.
  13  *
  14  * \file
  15  * \defgroup planners RRTS Planners
  16  */
  17 #ifndef RRTS_RRTSP_H
  18 #define RRTS_RRTSP_H
  19
  20 #include "rrtext.hh"
  21
  22 namespace rrts {
  23
  24 /*! \brief Planner with optimization and reset.
  25  *
  26  * \ingroup planners
  27  */
  28 class P39 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  29                 public RRTExt15, public RRTExt16, public RRTExt17,
  30                 public RRTExt13 {
  31 public:
  32         Json::Value json() const
  33         {
  34                 auto jvo = RRTExt13::json();
  35                 auto json15 = RRTExt15::json();
  36                 jvo["log_path_cost"] = json15["log_path_cost"];
  37                 return jvo;
  38         }
  39         void json(Json::Value jvi)
  40         {
  41                 RRTExt2::json(jvi);
  42         }
  43         void reset()
  44         {
  45                 RRTExt8::reset();
  46                 RRTExt14::reset();
  47                 RRTExt13::reset();
  48         }
  49 };
  50
  51 class P38 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  52                 public RRTExt15, public RRTExt16, public RRTExt18,
  53                 public RRTExt13 {
  54 public:
  55         Json::Value json() const
  56         {
  57                 auto jvo = RRTExt13::json();
  58                 auto json15 = RRTExt15::json();
  59                 jvo["log_path_cost"] = json15["log_path_cost"];
  60                 return jvo;
  61         }
  62         void json(Json::Value jvi)
  63         {
  64                 RRTExt2::json(jvi);
  65         }
  66         void reset()
  67         {
  68                 RRTExt8::reset();
  69                 RRTExt14::reset();
  70                 RRTExt13::reset();
  71         }
  72 };
  73
  74 class P37 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  75                 public RRTExt15, public RRTExt16, public RRTExt18 {
  76 public:
  77         Json::Value json() const
  78         {
  79                 return RRTExt15::json();
  80         }
  81         void json(Json::Value jvi)
  82         {
  83                 RRTExt2::json(jvi);
  84         }
  85         void reset()
  86         {
  87                 RRTExt8::reset();
  88                 RRTExt14::reset();
  89         }
  90 };
  91
  92 class P36 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  93                 public RRTExt15, public RRTExt16, public RRTExt17 {
  94 public:
  95         Json::Value json() const
  96         {
  97                 return RRTExt15::json();
  98         }
  99         void json(Json::Value jvi)
 100         {
 101                 RRTExt2::json(jvi);
 102         }
 103         void reset()
 104         {
 105                 RRTExt8::reset();
 106                 RRTExt14::reset();
 107         }
 108 };
 109
 110 } // namespace rrts
 111 #endif /* RRTS_RRTSP_H */