From f87f0d2eb7701a3b6952fc41d1121afff565b386 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Fri, 13 Sep 2019 10:22:28 +0200
Subject: [PATCH] Add ext2 collide method skeletons

---
 api/rrtext.h   |  7 +++++++
 api/rrts.h     |  4 ++--
 src/rrtext2.cc | 12 ++++++++++++
 3 files changed, 21 insertions(+), 2 deletions(-)

diff --git a/api/rrtext.h b/api/rrtext.h
index 561b6a1..7b61bf5 100644
--- a/api/rrtext.h
+++ b/api/rrtext.h
@@ -20,6 +20,13 @@ class RRTExt2 : public RRTS {
                 DtShapeRef sr_bc_;
                 Obstacle static_obstacle_;
                 DtShapeRef sr_static_obstacles_;
+
+                // Collide RRT procedures
+                std::tuple<bool, unsigned int, unsigned int>
+                collide_steered_from(RRTNode &f);
+
+                std::tuple<bool, unsigned int, unsigned int>
+                collide_two_nodes(RRTNode &f, RRTNode &t);
         public:
                 /*! \brief Initialize SOLID based extension.
                 */
diff --git a/api/rrts.h b/api/rrts.h
index abd43bb..27b969c 100644
--- a/api/rrts.h
+++ b/api/rrts.h
@@ -65,9 +65,9 @@ class RRTS {
                 // RRT procedures
                 std::tuple<bool, unsigned int, unsigned int>
                 collide(std::vector<std::tuple<double, double>> &poly);
-                std::tuple<bool, unsigned int, unsigned int>
+                virtual std::tuple<bool, unsigned int, unsigned int>
                 collide_steered_from(RRTNode &f);
-                std::tuple<bool, unsigned int, unsigned int>
+                virtual std::tuple<bool, unsigned int, unsigned int>
                 collide_two_nodes(RRTNode &f, RRTNode &t);
                 virtual double cost_build(RRTNode &f, RRTNode &t);
                 virtual double cost_search(RRTNode &f, RRTNode &t);
diff --git a/src/rrtext2.cc b/src/rrtext2.cc
index d572c4d..2f693db 100644
--- a/src/rrtext2.cc
+++ b/src/rrtext2.cc
@@ -1,6 +1,18 @@
 #include "rrtext.h"
 #include "3D/Quaternion.h"
 
+std::tuple<bool, unsigned int, unsigned int>
+RRTExt2::collide_steered_from(RRTNode &f)
+{
+        return std::make_tuple(false, 0, 0);
+}
+
+std::tuple<bool, unsigned int, unsigned int>
+RRTExt2::collide_two_nodes(RRTNode &f, RRTNode &t)
+{
+        return std::make_tuple(false, 0, 0);
+}
+
 void solid_collide(
         void * client_data,
         DtObjectRef obj1,
-- 
2.39.2