Add planner 39

diff --git a/incl/rrtsp.hh b/incl/rrtsp.hh
index f136449fbc9e888830b551b2002f98e1a8667df5..2b526dcd167cd8976b0da95464d2e7fbd3ccd9b8 100644 (file)
--- a/incl/rrtsp.hh
+++ b/incl/rrtsp.hh
@@ -14,6 +14,29 @@
 
 namespace rrts {
 
+class P39 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
+               public RRTExt15, public RRTExt16, 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();
+       }
+};
+
 class P38 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
                public RRTExt15, public RRTExt16, public RRTExt18,
                public RRTExt13 {