2 This file is part of I am car.
4 I am car is nree 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/>.
19 #include <jsoncpp/json/json.h>
21 #include "rrtplanner.h"
25 Json::Value jvi; // JSON input
27 std::string encoding = jvi.get("encoding", "UTF-8" ).asString();
29 LaValle1998 p(new RRTNode(0, 0, 0), new RRTNode(9, 9, 0));
30 std::vector<CircleObstacle> co;
31 std::vector<SegmentObstacle> so;
32 p.link_obstacles(&co, &so);
35 while (!p.goal_found())
39 std::cerr << "Elapsed is " << p.elapsed() << std::endl;
40 std::cerr << "Goal found is " << p.goal_found() << std::endl;
41 std::cerr << "`tlog` size is " << p.tlog().size() << std::endl;
43 Json::Value jvo; // JSON output
46 for (auto traj: p.tlog()) {
49 jvo["traj"][j][i][0] = n->x();
50 jvo["traj"][j][i][1] = n->y();
51 jvo["traj"][j][i][2] = n->h();
56 std::cout << jvo << std::endl;