Add planner 38

diff --git a/incl/rrtsp.hh b/incl/rrtsp.hh
index 0d9201a7c325f14393a7c91fdea8cccfcb4b78fa..f136449fbc9e888830b551b2002f98e1a8667df5 100644 (file)
--- a/incl/rrtsp.hh
+++ b/incl/rrtsp.hh
@@ -14,6 +14,29 @@
 
 namespace rrts {
 
+class P38 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
+               public RRTExt15, public RRTExt16, public RRTExt18,
+               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 P37 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
                public RRTExt15, public RRTExt16, public RRTExt18 {
 public: