From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Fri, 23 Jul 2021 11:12:13 +0000 (+0200)
Subject: Rewrite rrtext6
X-Git-Tag: v0.8.0~1^2~3
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/commitdiff_plain/0ce338e2acc75a609d132bd9f584b25df843d809

Rewrite rrtext6
---

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 963aefc..910678f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,6 +25,7 @@ add_library(rrts STATIC
 	src/rrtext13.cc
 	src/rrtext10.cc
 	src/rrtext8.cc
+	src/rrtext6.cc
 	src/rrtext2.cc
 	src/reeds_shepp.cpp
 )
diff --git a/incl/rrtext.hh b/incl/rrtext.hh
index dba83fa..b09f1c4 100644
--- a/incl/rrtext.hh
+++ b/incl/rrtext.hh
@@ -231,16 +231,17 @@ class RRTExt7 : public virtual RRTS {
 		std::vector<RRTNode *> nv(RRTNode &t);
 };
 
-/*! \brief Reeds and Shepp cost for building and search.
-*/
+/*! \brief Reeds & Shepp (build, search).
+ *
+ * Use Reeds & Shepp path length for building tree data structure as well as for
+ * searching it.
+ *
+ * \ingroup ext-cost
+ */
 class RRTExt6 : public virtual RRTS {
-	public:
-		/*! \brief Reeds and Shepp path length.
-		*/
-		double cost_build(RRTNode &f, RRTNode &t);
-		/*! \brief Reeds and Shepp path length.
-		*/
-		double cost_search(RRTNode &f, RRTNode &t);
+private:
+	double cost_build(RRTNode const& f, RRTNode const& t) const;
+	double cost_search(RRTNode const& f, RRTNode const& t) const;
 };
 
 /*! \brief Different costs extension.
diff --git a/src/rrtext6.cc b/src/rrtext6.cc
index db7d661..934c871 100644
--- a/src/rrtext6.cc
+++ b/src/rrtext6.cc
@@ -1,18 +1,21 @@
-#include "rrtext.h"
+#include "rrtext.hh"
 #include "reeds_shepp.h"
 
-double RRTExt6::cost_build(RRTNode &f, RRTNode &t)
+namespace rrts {
+
+double
+RRTExt6::cost_build(RRTNode const& f, RRTNode const& t) const
 {
 	double q0[] = {f.x(), f.y(), f.h()};
 	double q1[] = {t.x(), t.y(), t.h()};
-	ReedsSheppStateSpace rsss(this->bc.mtr());
+	ReedsSheppStateSpace rsss(this->bc_.mtr());
 	return rsss.distance(q0, q1);
 }
 
-double RRTExt6::cost_search(RRTNode &f, RRTNode &t)
+double
+RRTExt6::cost_search(RRTNode const& f, RRTNode const& t) const
 {
-	double q0[] = {f.x(), f.y(), f.h()};
-	double q1[] = {t.x(), t.y(), t.h()};
-	ReedsSheppStateSpace rsss(this->bc.mtr());
-	return rsss.distance(q0, q1);
+	return this->cost_build(f, t);
 }
+
+} // namespace rrts