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  */
  16 #ifndef RRTS_RRTCE_H
  17 #define RRTS_RRTCE_H
  18
  19 #include "rrtext.hh"
  20
  21 namespace rrts {
  22
  23 class P39 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  24                 public RRTExt15, public RRTExt16, public RRTExt17,
  25                 public RRTExt13 {
  26 public:
  27         Json::Value json() const
  28         {
  29                 auto jvo = RRTExt13::json();
  30                 auto json15 = RRTExt15::json();
  31                 jvo["log_path_cost"] = json15["log_path_cost"];
  32                 return jvo;
  33         }
  34         void json(Json::Value jvi)
  35         {
  36                 RRTExt2::json(jvi);
  37         }
  38         void reset()
  39         {
  40                 RRTExt8::reset();
  41                 RRTExt14::reset();
  42                 RRTExt13::reset();
  43         }
  44 };
  45
  46 class P38 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  47                 public RRTExt15, public RRTExt16, public RRTExt18,
  48                 public RRTExt13 {
  49 public:
  50         Json::Value json() const
  51         {
  52                 auto jvo = RRTExt13::json();
  53                 auto json15 = RRTExt15::json();
  54                 jvo["log_path_cost"] = json15["log_path_cost"];
  55                 return jvo;
  56         }
  57         void json(Json::Value jvi)
  58         {
  59                 RRTExt2::json(jvi);
  60         }
  61         void reset()
  62         {
  63                 RRTExt8::reset();
  64                 RRTExt14::reset();
  65                 RRTExt13::reset();
  66         }
  67 };
  68
  69 class P37 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  70                 public RRTExt15, public RRTExt16, public RRTExt18 {
  71 public:
  72         Json::Value json() const
  73         {
  74                 return RRTExt15::json();
  75         }
  76         void json(Json::Value jvi)
  77         {
  78                 RRTExt2::json(jvi);
  79         }
  80         void reset()
  81         {
  82                 RRTExt8::reset();
  83                 RRTExt14::reset();
  84         }
  85 };
  86
  87 class P36 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  88                 public RRTExt15, public RRTExt16, public RRTExt17 {
  89 public:
  90         Json::Value json() const
  91         {
  92                 return RRTExt15::json();
  93         }
  94         void json(Json::Value jvi)
  95         {
  96                 RRTExt2::json(jvi);
  97         }
  98         void reset()
  99         {
 100                 RRTExt8::reset();
 101                 RRTExt14::reset();
 102         }
 103 };
 104
 105 } // namespace rrts
 106 #endif /* RRTS_RRTCE_H */