Merge branch 'dubins'

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

diff --git a/incl/rrtext.hh b/incl/rrtext.hh
index 3cee13bbf0219aeae311a8e07929b20dafefb606..60eace15e6e4c33e30422a7fc080e5a189eab7b9 100644 (file)
--- a/incl/rrtext.hh
+++ b/incl/rrtext.hh
@@ -38,6 +38,16 @@
 
 namespace rrts {
 
+/*! \brief Use Dubins paths-based steering procedure.
+ *
+ * \ingroup ext-steer
+ * \see https://github.com/AndrewWalker/Dubins-Curves
+ */
+class RRTExt19 : public virtual RRTS {
+private:
+       void steer(RRTNode const &f, RRTNode const &t);
+};
+
 /*! \brief Finish when more than 1000 iterations.
  *
  * \ingroup ext-aux