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 #define GOALFIRST 1
  26
  27 class LaValle1998: public RRTBase {
  28         public:
  29                 //using RRTBase::RRTBase;
  30                 LaValle1998(RRTNode *init, RRTNode *goal);
  31                 bool next();
  32 };
  33
  34 class Kuwata2008: public RRTBase {
  35         public:
  36                 Kuwata2008(RRTNode *init, RRTNode *goal);
  37                 bool next();
  38 };
  39
  40 class Karaman2011: public RRTBase {
  41         protected:
  42                 bool connect(
  43                                 RRTNode *pn,
  44                                 RRTNode *ns,
  45                                 std::vector<RRTNode *> nvs);
  46                 bool rewire(std::vector<RRTNode *> nvs, RRTNode *ns);
  47         public:
  48                 Karaman2011();
  49                 Karaman2011(RRTNode *init, RRTNode *goal);
  50                 bool next();
  51 };
  52
  53 class T1: public RRTBase {
  54         public:
  55                 T1(RRTNode *init, RRTNode *goal);
  56                 bool next();
  57 };
  58
  59 class T2: public Karaman2011 {
  60         public:
  61                 using Karaman2011::Karaman2011;
  62                 bool next();
  63                 float goal_cost();
  64 };
  65
  66 class T3: public RRTBase {
  67         protected:
  68         public:
  69                 T2 p_root_;
  70                 T2 p_goal_;
  71                 ~T3();
  72                 T3();
  73                 T3(RRTNode *init, RRTNode *goal);
  74                 bool next();
  75                 bool link_obstacles(
  76                                 std::vector<CircleObstacle> *cobstacles,
  77                                 std::vector<SegmentObstacle> *sobstacles);
  78                 bool connecttrees(RRTNode *rn, RRTNode *gn);
  79                 bool overlaptrees(RRTNode **ron, RRTNode **gon);
  80 };
  81
  82 class Klemm2015: public Karaman2011 {
  83         private:
  84                 RRTNode *orig_root_ = nullptr;
  85                 RRTNode *orig_goal_ = nullptr;
  86         protected:
  87                 int extendstar1(RRTNode *rs, RRTNode **xn);
  88                 int extendstarC(RRTNode *rs);
  89                 int connectstar(RRTNode *x);
  90                 void swap();
  91         public:
  92                 Klemm2015(RRTNode *init, RRTNode *goal);
  93                 bool next();
  94 };
  95
  96 #endif