When reset, reset bc, too

[hubacji1/rrts.git] / src / rrts.cc

diff --git a/src/rrts.cc b/src/rrts.cc
index 15f2436e8d3142bb2f61b876428e124bac0b799e..03787b133d2c2d139dc985541debe5c1d8e5481a 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -8,6 +8,10 @@
 #include <cassert>
 #include "rrts.hh"
 
+#ifndef USE_RRTS
+#define USE_RRTS 0  // TODO improve, this solution isn't clear.
+#endif
+
 namespace rrts {
 
 void
@@ -140,6 +144,7 @@ RRTS::connect()
 {
        RRTNode* f = this->nn_;
        RRTNode* t = &this->steered_.front();
+#if USE_RRTS
        double cost = f->cc() + this->cost_build(*f, *t);
        for (auto n: this->nv_) {
                double nc = n->cc() + this->cost_build(*n, *t);
@@ -155,6 +160,7 @@ RRTS::connect()
        if (!this->bc_.drivable(*t)) {
                f = this->nn_;
        }
+#endif
        this->store(this->steered_.front());
        t = &this->nodes_.back();
        t->p(*f);
@@ -251,7 +257,7 @@ RRTS::compute_path()
        std::reverse(this->path_.begin(), this->path_.end());
 }
 
-RRTS::RRTS() : gen_(std::random_device{}()), goal_(0.0, 0.0, 0.0, 0.0)
+RRTS::RRTS() : goal_(0.0, 0.0, 0.0, 0.0), gen_(std::random_device{}())
 {
        this->nodes_.reserve(4000000);
        this->steered_.reserve(1000);
@@ -260,6 +266,48 @@ RRTS::RRTS() : gen_(std::random_device{}()), goal_(0.0, 0.0, 0.0, 0.0)
        this->store(RRTNode()); // root
 }
 
+BicycleCar &
+RRTS::bc()
+{
+       return this->bc_;
+}
+
+void
+RRTS::set_imax_reset(unsigned int i)
+{
+       this->_imax = i;
+}
+
+void
+RRTS::set_goal(double x, double y, double b, double e)
+{
+       this->goal_ = RRTGoal(x, y, b, e);
+}
+
+void
+RRTS::set_start(double x, double y, double h)
+{
+       this->nodes_.front().x(x);
+       this->nodes_.front().y(y);
+       this->nodes_.front().h(h);
+}
+
+std::vector<Pose>
+RRTS::get_path() const
+{
+       std::vector<Pose> path;
+       for (auto n: this->path_) {
+               path.push_back(Pose(n->x(), n->y(), n->h()));
+       }
+       return path;
+}
+
+double
+RRTS::get_path_cost() const
+{
+       return this->goal_.cc();
+}
+
 unsigned int
 RRTS::icnt() const
 {
@@ -278,6 +326,18 @@ RRTS::scnt() const
        return this->ter_.scnt();
 }
 
+double
+RRTS::eta() const
+{
+       return this->eta_;
+}
+
+void
+RRTS::eta(double e)
+{
+       this->eta_ = e;
+}
+
 Json::Value
 RRTS::json() const
 {
@@ -337,11 +397,15 @@ RRTS::next()
        if (this->collide_steered()) {
                return this->should_continue();
        }
+#if USE_RRTS
        this->find_nv(this->steered_.front());
+#endif
        if (!this->connect()) {
                return this->should_continue();
        }
+#if USE_RRTS
        this->rewire();
+#endif
        unsigned int ss = this->steered_.size();
        this->join_steered(&this->nodes_.back());
        RRTNode* just_added = &this->nodes_.back();
@@ -394,6 +458,9 @@ RRTS::reset()
        this->nodes_.erase(this->nodes_.begin() + 1, this->nodes_.end());
        this->nv_.clear();
        this->nn_ = nullptr;
+       this->bc_.x(0);
+       this->bc_.y(0);
+       this->bc_.h(0);
 }
 
 } // namespace rrts