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