Add extension with dubins paths

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

diff --git a/incl/rrtsp.hh b/incl/rrtsp.hh
index 255da02f336c163651589681ae804a8669b1ecb7..728ebf9770fb2b3c487737e6e85f828699505452 100644 (file)
--- a/incl/rrtsp.hh
+++ b/incl/rrtsp.hh
@@ -21,6 +21,35 @@
 
 namespace rrts {
 
+/*! \brief Planner for F1/10.
+ *
+ * TODO: change RRTExt2 to cost grid
+ *
+ * \ingroup planners
+ */
+class P40 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
+               public RRTExt15, public RRTExt19, public RRTExt17,
+               public RRTExt13 {
+public:
+       Json::Value json() const
+       {
+               auto jvo = RRTExt13::json();
+               auto json15 = RRTExt15::json();
+               jvo["log_path_cost"] = json15["log_path_cost"];
+               return jvo;
+       }
+       void json(Json::Value jvi)
+       {
+               RRTExt2::json(jvi);
+       }
+       void reset()
+       {
+               RRTExt8::reset();
+               RRTExt14::reset();
+               RRTExt13::reset();
+       }
+};
+
 /*! \brief Planner with optimization and reset.
  *
  * \ingroup planners