Improve docs for (collision) ext 20

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

diff --git a/incl/rrtext.hh b/incl/rrtext.hh
index 6842312a2a32a31338d47fbd66b172ac4659d39a..d8bcfd6eed1c4bcd4a37da59b0950b4a04123927 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 +38,32 @@
 
 namespace rrts {
 
+/*! \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
+ * \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
@@ -155,7 +187,8 @@ 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
@@ -397,6 +430,7 @@ public:
        RRTExt2();
        Json::Value json() const;
        void json(Json::Value jvi);
+       void reset();
 };
 
 /* \brief Different costs extension.