Add simple occupancy grid collision check

[hubacji1/rrts.git] / incl / rrtext.hh

diff --git a/incl/rrtext.hh b/incl/rrtext.hh
index 87d39c4bc25d47f8915a96f906e60b60ec6164f2..e285fa2796c4d287067a96a6f26aa2da2c043520 100644 (file)
--- a/incl/rrtext.hh
+++ b/incl/rrtext.hh
@@ -38,6 +38,24 @@
 
 namespace rrts {
 
+/*! \brief Collision check based on enlarged occupancy grid.
+ *
+ */
+class RRTExt21 : public virtual RRTS {
+private:
+       unsigned int _grid_width = 0;
+       unsigned int _grid_height = 0;
+       float _grid_res = 0.0;
+       int8_t const *_grid_data = nullptr;
+       double _origin_x = 0.0;
+       double _origin_y = 0.0;
+       bool collide(RRTNode const &n);
+       bool collide_steered();
+public:
+       void set_grid_to_check(unsigned int w, unsigned int h, float r,
+                       int8_t const *d, double x, double y);
+};
+
 /*! \brief Collision check based on occupancy grid.
  *
  * \ingroup ext-col