Merge branch 'simple-occupancy-grid'

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

diff --git a/incl/rrtext.hh b/incl/rrtext.hh
index 60eace15e6e4c33e30422a7fc080e5a189eab7b9..a10c1507754b528c008b5c8ee88db742c5975cb1 100644 (file)
--- a/incl/rrtext.hh
+++ b/incl/rrtext.hh
@@ -38,6 +38,40 @@
 
 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.
+ *
+ * This approach expects obstacles to be represented by points and the collision
+ * occures whenever the point is inside the frame given by the car pose and the
+ * car size.
+ *
+ * \ingroup ext-col
+ */
+class RRTExt20 : public virtual RRTS {
+private:
+       std::vector<bcar::Point> const *_points_to_check = nullptr;
+       bool collide_steered();
+public:
+       void set_points_to_check(std::vector<bcar::Point> const *p);
+};
+
 /*! \brief Use Dubins paths-based steering procedure.
  *
  * \ingroup ext-steer
@@ -414,6 +448,7 @@ public:
        RRTExt2();
        Json::Value json() const;
        void json(Json::Value jvi);
+       void reset();
 };
 
 /* \brief Different costs extension.