From 7047eca9d47fe201101207b95cc7011e6c08df88 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Wed, 28 Jul 2021 21:52:20 +0200
Subject: [PATCH] Add rrttext19 todo

---
 incl/rrtext.hh  | 18 ++++++++++++++++++
 incl/rrtsp.hh   | 18 ++++++++++++++++++
 src/rrtext19.cc | 39 +++++++++++++++++++++++++++++++++++++++
 3 files changed, 75 insertions(+)
 create mode 100644 src/rrtext19.cc

diff --git a/incl/rrtext.hh b/incl/rrtext.hh
index 02cb9c6..56bbda2 100644
--- a/incl/rrtext.hh
+++ b/incl/rrtext.hh
@@ -38,6 +38,24 @@
 
 namespace rrts {
 
+/*! \brief Use Spatialite (SQLite with GIS) for collision detection.
+ *
+ * The database file `wo.db` is accessed in RAII idiom style -- opened in the
+ * constructor and closed in the destructor. It's not possible to have multiple
+ * instances of `RRTExt19` running (for now.)
+ *
+ * \ingroup ext-col
+ */
+class RRTExt19 : public virtual RRTS {
+private:
+       bool collide_steered();
+public:
+       ~RRTExt19();
+       RRTExt19();
+       Json::Value json() const;
+       void json(Json::Value jvi);
+};
+
 /*! \brief Finish when more than 1000 iterations.
  *
  * \ingroup ext-aux
diff --git a/incl/rrtsp.hh b/incl/rrtsp.hh
index c79fdc0..5e74372 100644
--- a/incl/rrtsp.hh
+++ b/incl/rrtsp.hh
@@ -20,6 +20,24 @@
 
 namespace rrts {
 
+class P40 : public RRTExt8, public RRTExt10, public RRTExt14, public RRTExt15,
+               public RRTExt16, public RRTExt17, RRTExt19 {
+public:
+       Json::Value json() const
+       {
+               return RRTExt15::json();
+       }
+       void json(Json::Value jvi)
+       {
+               RRTExt19::json(jvi);
+       }
+       void reset()
+       {
+               RRTExt8::reset();
+               RRTExt14::reset();
+       }
+};
+
 class P39 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
 		public RRTExt15, public RRTExt16, public RRTExt17,
 		public RRTExt13 {
diff --git a/src/rrtext19.cc b/src/rrtext19.cc
new file mode 100644
index 0000000..67508f1
--- /dev/null
+++ b/src/rrtext19.cc
@@ -0,0 +1,39 @@
+#include <cassert>
+#include "rrtext.hh"
+
+namespace rrts {
+
+bool
+RRTExt19::collide_steered()
+{
+	// TODO store this->steered_ to db as multipolygon
+	// TODO request db for collision between steered and obstacles
+}
+
+RRTExt19::~RRTExt19()
+{
+	// TODO close db (file)
+}
+
+RRTExt19::RRTExt19()
+{
+	// TODO open db (file)
+}
+
+RRTExt19::json() const
+{
+	return RRTS::json();
+}
+
+void
+RRTExt19::json(Json::Value jvi)
+{
+	RRTS::json(jvi);
+	assert(jvi["obst"] != Json::nullValue);
+	for (auto& o: jvi["obst"]) {
+		// TODO load polygon (to db?)
+		// TODO create multipolygon in db
+	}
+}
+
+} // namespace rrts
-- 
2.39.2