Use occupancy grid-based collision check in planner

diff --git a/incl/rrtsp.hh b/incl/rrtsp.hh
index 24f329f1c72223319fa496e16a3bf28dd4d2b255..ed2da64bae956260e76d312f6f4bdd988a14fc33 100644 (file)
--- a/incl/rrtsp.hh
+++ b/incl/rrtsp.hh
@@ -22,12 +22,10 @@
 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,
+class P40 : public RRTExt20, public RRTExt8, public RRTExt10, public RRTExt14,
                public RRTExt15, public RRTExt19, public RRTExt17,
                public RRTExt13 {
 public:
@@ -38,16 +36,11 @@ public:
                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();
-               RRTExt2::reset();
        }
 };