RRTExt2::deinit();
RRTExt8::deinit();
}
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt13::reset();
+ }
};
class RRTCE34
: public RRTExt2
RRTExt2::deinit();
RRTExt8::deinit();
}
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE33
: public RRTExt2
RRTExt2::deinit();
RRTExt8::deinit();
}
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE32
: public RRTExt2
RRTExt2::deinit();
RRTExt8::deinit();
}
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE31
: public RRTExt2
RRTExt2::deinit();
RRTExt8::deinit();
}
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE30
: public RRTExt2
RRTExt2::deinit();
RRTExt8::deinit();
}
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE29
RRTExt2::deinit();
RRTExt8::deinit();
}
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE13
: public RRTExt2
RRTExt2::deinit();
RRTExt8::deinit();
}
+ void reset()
+ {
+ RRTExt8::reset();
+ RRTExt3::reset();
+ }
};
class RRTCE12
: public RRTExt2
class RRTExt13 : public virtual RRTS {
private:
public:
+ void reset();
std::vector<RRTNode *> orig_path_;
double orig_path_cost_ = 9999;
std::vector<RRTNode *> first_optimized_path_;
this->kdroot_ = nullptr;
}
void init();
+ void reset();
void deinit();
void store_node(RRTNode n);
RRTNode *nn(RRTNode &t);
class RRTExt3 : public virtual RRTS {
private:
public:
+ void reset();
std::vector<RRTNode *> orig_path_;
double orig_path_cost_ = 9999;
std::vector<RRTNode *> first_optimized_path_;
#include <queue>
#include "rrtext.h"
-#include <iostream>
+
+void RRTExt13::reset()
+{
+ RRTS::reset();
+ this->orig_path().clear();
+ this->first_optimized_path().clear();
+ this->orig_path_cost_ = 9999.9;
+ this->first_optimized_path_cost_ = 9999.9;
+}
+
void RRTExt13::first_path_optimization()
{
if (this->orig_path().size() == 0) {
jbc.y(op[j]->y());
jbc.h(op[j]->h());
if (!jbc.drivable(ibc)) {
- //std::cerr<<*op[i];
- //std::cerr<<" to ";
- //std::cerr<<*op[j];
- //std::cerr<<std::endl;
dn.push_back(DijkstraNode(*op[j-1]));
dn.back().cc = op[j-1]->cc;
dn.back().s = &dn.back();
jbc.y(op[j]->y());
jbc.h(op[j]->h());
if (!jbc.drivable(ibc)) {
- //std::cerr<<*op[i];
- //std::cerr<<" to ";
- //std::cerr<<*op[j];
- //std::cerr<<std::endl;
dn.push_back(DijkstraNode(*op[j-1]));
dn.back().cc = op[j-1]->cc;
dn.back().s = &dn.back();
#include <queue>
#include "rrtext.h"
+void RRTExt3::reset()
+{
+ RRTS::reset();
+ this->orig_path().clear();
+ this->first_optimized_path().clear();
+ this->orig_path_cost_ = 9999.9;
+ this->first_optimized_path_cost_ = 9999.9;
+}
+
void RRTExt3::first_path_optimization()
{
if (this->orig_path().size() == 0) {
{
}
+void RRTExt8::reset()
+{
+ RRTS::reset();
+ this->delete_kd_nodes();
+}
+
void RRTExt8::deinit()
{
this->delete_kd_nodes(this->kdroot_);