api/rrtext.h

   1 #ifndef RRTEXT_H
   2 #define RRTEXT_H
   3
   4 #include "rrts.h"
   5
   6 // ext2
   7 #include "cute_c2.h"
   8
   9 /*! \brief Use cute_c2 for collision detection.
  10
  11 \see https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
  12 */
  13 class RRTExt2 : public RRTS {
  14         public:
  15                 void init();
  16                 void deinit();
  17
  18                 // Collide RRT procedures
  19                 std::tuple<bool, unsigned int, unsigned int>
  20                 collide_steered_from(RRTNode &f);
  21
  22                 std::tuple<bool, unsigned int, unsigned int>
  23                 collide_two_nodes(RRTNode &f, RRTNode &t);
  24 };
  25
  26 /*! \brief Different costs extension.
  27
  28 Use different cost for bulding tree data structure and searching in the
  29 structure.
  30 */
  31 class RRTExt1 : public RRTS {
  32         public:
  33                 /*! \brief Reeds and Shepp path length.
  34                 */
  35                 double cost_build(RRTNode &f, RRTNode &t);
  36                 /*! \brief Matej's heuristics.
  37                 */
  38                 double cost_search(RRTNode &f, RRTNode &t);
  39 };
  40
  41 #endif /* RRTEXT_H */