api/rrtext.h

   1 #ifndef RRTEXT_H
   2 #define RRTEXT_H
   3
   4 #include "rrts.h"
   5 #include "SOLID/solid.h"
   6
   7 /*! \brief Collision with SOLID.
   8
   9 Use SOLID library for collision detection.
  10
  11 \see http://solid.sourceforge.net/
  12
  13 \param sr_bc Shape reference of bicycle car.
  14 \param bc Bicycle car used for collision computations.
  15 \param sr_obstacles Obstacles shape references.
  16 */
  17 class RRTExt2 : public RRTS {
  18         private:
  19                 BicycleCar bc_;
  20                 DtShapeRef sr_bc_;
  21                 Obstacle static_obstacle_;
  22                 DtShapeRef sr_static_obstacles_;
  23         public:
  24                 /*! \brief Initialize SOLID based extension.
  25                 */
  26                 void init_solid();
  27                 /*! \brief Deinitialize SOLID based extension.
  28                 */
  29                 void deinit_solid();
  30
  31                 // getters, setters
  32                 BicycleCar &bc() { return this->bc_; }
  33                 DtShapeRef &sr_bc() { return this->sr_bc_; }
  34                 Obstacle &static_obstacle() { return this->static_obstacle_; }
  35                 DtShapeRef &sr_static_obstacles()
  36                 {
  37                         return this->sr_static_obstacles_;
  38                 }
  39 };
  40
  41 /*! \brief Different costs extension.
  42
  43 Use different cost for bulding tree data structure and searching in the
  44 structure.
  45 */
  46 class RRTExt1 : public RRTS {
  47         public:
  48                 /*! \brief Reeds and Shepp path length.
  49                 */
  50                 double cost_build(RRTNode &f, RRTNode &t);
  51                 /*! \brief Matej's heuristics.
  52                 */
  53                 double cost_search(RRTNode &f, RRTNode &t);
  54 };
  55
  56 #endif /* RRTEXT_H */