From 85b25e9377341eb208435d3bc7820fcc91a158d4 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 12 Sep 2019 16:32:26 +0200
Subject: [PATCH] Add ext2 skeleton

SOLID library has to be in the same directory structure level as other
libraries (ie. `libbcar`).
---
 CMakeLists.txt | 5 +++++
 api/rrtext.h   | 9 +++++++++
 src/rrtext2.cc | 1 +
 3 files changed, 15 insertions(+)
 create mode 100644 src/rrtext2.cc

diff --git a/CMakeLists.txt b/CMakeLists.txt
index af161f2..c69bbec 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,17 +8,22 @@ include_directories(../bcar/api)
 link_directories(../../bcar/build)
 link_libraries(bcar)
 
+include_directories(../solid-2.1.0/include)
+link_directories(../../solid-2.1.0/lib)
+
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/incl)
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/api)
 
 add_library(rrts SHARED
         src/rrts.cc
         src/rrtext1.cc
+        src/rrtext2.cc
         src/reeds_shepp.cpp
 )
 set_target_properties(rrts PROPERTIES
         PUBLIC_HEADER api/rrts.h
 )
+target_link_libraries(rrts solid)
 
 include_directories(${CMAKE_CURRENT_SOURCE_DIR}/wvtest/cpp)
 ADD_DEFINITIONS(-DWVTEST_CONFIGURED)
diff --git a/api/rrtext.h b/api/rrtext.h
index bea7335..100cb73 100644
--- a/api/rrtext.h
+++ b/api/rrtext.h
@@ -3,6 +3,15 @@
 
 #include "rrts.h"
 
+/*! \brief Collision with SOLID.
+
+Use SOLID library for collision detection.
+
+\see http://solid.sourceforge.net/
+*/
+class RRTExt2 : public RRTS {
+};
+
 /*! \brief Different costs extension.
 
 Use different cost for bulding tree data structure and searching in the
diff --git a/src/rrtext2.cc b/src/rrtext2.cc
new file mode 100644
index 0000000..31eca53
--- /dev/null
+++ b/src/rrtext2.cc
@@ -0,0 +1 @@
+#include "rrtext.h"
-- 
2.39.2