2 This file is part of I am car.
4 I am car is free software: you can redistribute it and/or modify
5 it under the terms of the GNU General Public License as published by
6 the Free Software Foundation, either version 3 of the License, or
7 (at your option) any later version.
9 I am car is distributed in the hope that it will be useful,
10 but WITHOUT ANY WARRANTY; without even the implied warranty of
11 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 GNU General Public License for more details.
14 You should have received a copy of the GNU General Public License
15 along with I am car. If not, see <http://www.gnu.org/licenses/>.
23 #define IS_NEAR(a, b) ({ __typeof__ (a) _a = (a); \
24 __typeof__ (b) _b = (b); \
25 pow(pow(_b->x() - _a->x(), 2) + \
26 pow(_b->y() - _a->y(), 2), 0.5) < 0.2 && \
27 std::abs(_b->h() - _a->h()) < M_PI / 32 ? true : false; })
31 float dcost_ = 0; // direct cost (of edge) to parent
32 float ccost_ = 0; // cumulative cost from root
33 float ocost_ = 0; // distance to the nearest obstacle
35 RRTNode *parent_ = nullptr;
36 std::vector<RRTNode *> children_;
38 bool visited_ = false; // for DFS
46 RRTNode(float x, float y);
47 RRTNode(float x, float y, float h);
48 RRTNode(float x, float y, float h, float t);
60 std::vector<RRTNode *> &children();
61 RRTNode *parent() const;
67 bool add_child(RRTNode *node, float cost);
68 bool add_child(RRTNode *node, float cost, float time);
69 bool rem_child(RRTNode *node);
71 float ccost(float cost);
72 float dcost(float cost);
73 float ocost(float cost);
76 bool parent(RRTNode *parent);
80 static bool comp_ccost(RRTNode *n1, RRTNode *n2);
90 RRTEdge(RRTNode *init, RRTNode *goal);
92 RRTNode *init() const;
93 RRTNode *goal() const;