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 for F1/10.
  25  *
  26  * TODO: change RRTExt2 to cost grid
  27  *
  28  * \ingroup planners
  29  */
  30 class P40 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  31                 public RRTExt15, public RRTExt19, public RRTExt17,
  32                 public RRTExt13 {
  33 public:
  34         Json::Value json() const
  35         {
  36                 auto jvo = RRTExt13::json();
  37                 auto json15 = RRTExt15::json();
  38                 jvo["log_path_cost"] = json15["log_path_cost"];
  39                 return jvo;
  40         }
  41         void json(Json::Value jvi)
  42         {
  43                 RRTExt2::json(jvi);
  44         }
  45         void reset()
  46         {
  47                 RRTExt8::reset();
  48                 RRTExt14::reset();
  49                 RRTExt13::reset();
  50         }
  51 };
  52
  53 /*! \brief Planner with optimization and reset.
  54  *
  55  * \ingroup planners
  56  */
  57 class P39 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  58                 public RRTExt15, public RRTExt16, public RRTExt17,
  59                 public RRTExt13 {
  60 public:
  61         Json::Value json() const
  62         {
  63                 auto jvo = RRTExt13::json();
  64                 auto json15 = RRTExt15::json();
  65                 jvo["log_path_cost"] = json15["log_path_cost"];
  66                 return jvo;
  67         }
  68         void json(Json::Value jvi)
  69         {
  70                 RRTExt2::json(jvi);
  71         }
  72         void reset()
  73         {
  74                 RRTExt8::reset();
  75                 RRTExt14::reset();
  76                 RRTExt13::reset();
  77         }
  78 };
  79
  80 class P38 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  81                 public RRTExt15, public RRTExt16, public RRTExt18,
  82                 public RRTExt13 {
  83 public:
  84         Json::Value json() const
  85         {
  86                 auto jvo = RRTExt13::json();
  87                 auto json15 = RRTExt15::json();
  88                 jvo["log_path_cost"] = json15["log_path_cost"];
  89                 return jvo;
  90         }
  91         void json(Json::Value jvi)
  92         {
  93                 RRTExt2::json(jvi);
  94         }
  95         void reset()
  96         {
  97                 RRTExt8::reset();
  98                 RRTExt14::reset();
  99                 RRTExt13::reset();
 100         }
 101 };
 102
 103 class P37 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
 104                 public RRTExt15, public RRTExt16, public RRTExt18 {
 105 public:
 106         Json::Value json() const
 107         {
 108                 return RRTExt15::json();
 109         }
 110         void json(Json::Value jvi)
 111         {
 112                 RRTExt2::json(jvi);
 113         }
 114         void reset()
 115         {
 116                 RRTExt8::reset();
 117                 RRTExt14::reset();
 118         }
 119 };
 120
 121 class P36 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
 122                 public RRTExt15, public RRTExt16, public RRTExt17 {
 123 public:
 124         Json::Value json() const
 125         {
 126                 return RRTExt15::json();
 127         }
 128         void json(Json::Value jvi)
 129         {
 130                 RRTExt2::json(jvi);
 131         }
 132         void reset()
 133         {
 134                 RRTExt8::reset();
 135                 RRTExt14::reset();
 136         }
 137 };
 138
 139 } // namespace rrts
 140 #endif /* RRTS_RRTSP_H */