incl/rrtplanner.h

   1 /*
   2 This file is part of I am car.
   3
   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.
   8
   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.
  13
  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/>.
  16 */
  17
  18 #ifndef RRTPLANNER_H
  19 #define RRTPLANNER_H
  20
  21 #include <vector>
  22 #include "rrtbase.h"
  23 #include "rrtnode.h"
  24
  25 class LaValle1998: public RRTBase {
  26         public:
  27                 //using RRTBase::RRTBase;
  28                 LaValle1998(RRTNode *init, RRTNode *goal);
  29
  30                 // RRT framework
  31                 RRTNode *(*nn)(
  32                                 RRTNode *root,
  33                                 RRTNode *node,
  34                                 float (*cost)(RRTNode *, RRTNode *));
  35                 RRTNode *(*sample)();
  36                 std::vector<RRTNode *> (*steer)(
  37                                 RRTNode *init,
  38                                 RRTNode *goal);
  39                 float (*cost)(RRTNode *init, RRTNode *goal);
  40                 bool next();
  41 };
  42
  43 class Kuwata2008: public RRTBase {
  44         public:
  45                 Kuwata2008(RRTNode *init, RRTNode *goal);
  46
  47                 // RRT framework
  48                 RRTNode *(*nn)(
  49                                 RRTNode *root,
  50                                 RRTNode *node,
  51                                 float (*cost)(RRTNode *, RRTNode *));
  52                 RRTNode *(*sample)();
  53                 std::vector<RRTNode *> (*steer)(
  54                                 RRTNode *init,
  55                                 RRTNode *goal);
  56                 float (*cost)(RRTNode *init, RRTNode *goal);
  57                 bool next();
  58 };
  59
  60 class Karaman2011: public RRTBase {
  61         public:
  62                 Karaman2011(RRTNode *init, RRTNode *goal);
  63
  64                 // RRT framework
  65                 RRTNode *(*nn)(
  66                                 RRTNode *root,
  67                                 RRTNode *node,
  68                                 float (*cost)(RRTNode *, RRTNode *));
  69                 std::vector<RRTNode *> (*nv)(
  70                                 RRTNode *root,
  71                                 RRTNode *node,
  72                                 float (*cost)(RRTNode *, RRTNode *),
  73                                 float dist);
  74                 RRTNode *(*sample)();
  75                 std::vector<RRTNode *> (*steer)(
  76                                 RRTNode *init,
  77                                 RRTNode *goal);
  78                 float (*cost)(RRTNode *init, RRTNode *goal);
  79                 bool next();
  80 };
  81
  82 class T1: public RRTBase {
  83         public:
  84                 T1(RRTNode *init, RRTNode *goal);
  85
  86                 // RRT framework
  87                 RRTNode *(*nn)(
  88                                 RRTNode *root,
  89                                 RRTNode *node,
  90                                 float (*cost)(RRTNode *, RRTNode *));
  91                 std::vector<RRTNode *> (*nv)(
  92                                 RRTNode *root,
  93                                 RRTNode *node,
  94                                 float (*cost)(RRTNode *, RRTNode *),
  95                                 float dist);
  96                 RRTNode *(*sample)();
  97                 std::vector<RRTNode *> (*steer)(
  98                                 RRTNode *init,
  99                                 RRTNode *goal);
 100                 float (*cost)(RRTNode *init, RRTNode *goal);
 101                 bool next();
 102 };
 103
 104 #endif