5 #include "reeds_shepp.h"
7 WVTEST_MAIN("RRT extensions")
13 e1.goals().push_back(RRTNode());
14 // Test Matej's heuristics.
17 WVPASSEQ_DOUBLE(e1.cost_search(n1, n2), M_PI * bc.mtr(), 0.00001);
18 // Test Reeds and Shepp path length.
20 double q0[] = {n1.x(), n1.y(), n1.h()};
21 double q1[] = {n2.x(), n2.y(), n2.h()};
22 ReedsSheppStateSpace rsss(bc.mtr());
23 WVPASSEQ_DOUBLE(e1.cost_build(n1, n2), rsss.distance(q0, q1), 0.00001);