api/rrtext.h

   1 #ifndef RRTEXT_H
   2 #define RRTEXT_H
   3
   4 #include "rrts.h"
   5 #include "SOLID/solid.h"
   6
   7 /*! \brief Collision with SOLID.
   8
   9 Use SOLID library for collision detection.
  10
  11 \see http://solid.sourceforge.net/
  12
  13 \param sr_bc Shape reference of bicycle car.
  14 \param bc Bicycle car used for collision computations.
  15 \param sr_obstacles Obstacles shape references.
  16 */
  17 class RRTExt2 : public RRTS {
  18         private:
  19                 BicycleCar bc_;
  20                 DtShapeRef sr_bc_;
  21                 Obstacle static_obstacle_;
  22                 DtShapeRef sr_static_obstacles_;
  23
  24                 // Collide RRT procedures
  25                 std::tuple<bool, unsigned int, unsigned int>
  26                 collide_steered_from(RRTNode &f);
  27
  28                 std::tuple<bool, unsigned int, unsigned int>
  29                 collide_two_nodes(RRTNode &f, RRTNode &t);
  30         public:
  31                 /*! \brief Initialize SOLID based extension.
  32                 */
  33                 void init_solid();
  34                 /*! \brief Deinitialize SOLID based extension.
  35                 */
  36                 void deinit_solid();
  37
  38                 // getters, setters
  39                 BicycleCar &bc() { return this->bc_; }
  40                 DtShapeRef &sr_bc() { return this->sr_bc_; }
  41                 Obstacle &static_obstacle() { return this->static_obstacle_; }
  42                 DtShapeRef &sr_static_obstacles()
  43                 {
  44                         return this->sr_static_obstacles_;
  45                 }
  46 };
  47
  48 /*! \brief Different costs extension.
  49
  50 Use different cost for bulding tree data structure and searching in the
  51 structure.
  52 */
  53 class RRTExt1 : public RRTS {
  54         public:
  55                 /*! \brief Reeds and Shepp path length.
  56                 */
  57                 double cost_build(RRTNode &f, RRTNode &t);
  58                 /*! \brief Matej's heuristics.
  59                 */
  60                 double cost_search(RRTNode &f, RRTNode &t);
  61 };
  62
  63 #endif /* RRTEXT_H */