Add code for dubins paths

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

diff --git a/incl/rrtext.hh b/incl/rrtext.hh
index 6842312a2a32a31338d47fbd66b172ac4659d39a..4f20a7937897435e698b6b7a69e2d0753e6dcd2a 100644 (file)
--- a/incl/rrtext.hh
+++ b/incl/rrtext.hh
@@ -1,3 +1,9 @@
+/*
+ * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
+ *
+ * SPDX-License-Identifier: GPL-3.0-only
+ */
+
 /*! \brief RRT* extensions.
  *
  * The extensions are used to implement or change the default behavior of the
@@ -32,6 +38,14 @@
 
 namespace rrts {
 
+/*! \brief Use Dubins paths-based steering procedure.
+ *
+ * \ingroup ext-steer
+ * \see https://github.com/AndrewWalker/Dubins-Curves
+ */
+class RRTExt19 : public virtual RRTS {
+};
+
 /*! \brief Finish when more than 1000 iterations.
  *
  * \ingroup ext-aux
@@ -155,7 +169,8 @@ class RRTExt11 : public virtual RRTS {
 /*! \brief Reeds & Shepp (build) and Euclidean + abs angle (search).
  *
  * Use Reeds & Shepp path length for building tree data structure and Euclidean
- * distance plus (abs) heading difference for searching it.
+ * distance + (abs) heading difference + 0.1 * backward-forward direction
+ * changes for searching it.
  *
  * \ingroup ext-cost
  * \see https://doi.org/10.1109/TITS.2015.2477355