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
  32                 // RRT framework
  33                 std::vector<RRTNode *> (*steer)(
  34                                 RRTNode *init,
  35                                 RRTNode *goal);
  36                 bool next();
  37 };
  38
  39 class Kuwata2008: public RRTBase {
  40         public:
  41                 Kuwata2008(RRTNode *init, RRTNode *goal);
  42
  43                 // RRT framework
  44                 std::vector<RRTNode *> (*steer)(
  45                                 RRTNode *init,
  46                                 RRTNode *goal);
  47                 bool next();
  48 };
  49
  50 class Karaman2011: public RRTBase {
  51         protected:
  52                 bool connect(
  53                                 RRTNode *pn,
  54                                 RRTNode *ns,
  55                                 std::vector<RRTNode *> nvs);
  56                 bool rewire(std::vector<RRTNode *> nvs, RRTNode *ns);
  57         public:
  58                 Karaman2011(RRTNode *init, RRTNode *goal);
  59
  60                 // RRT framework
  61                 std::vector<RRTNode *> (*steer)(
  62                                 RRTNode *init,
  63                                 RRTNode *goal);
  64                 bool next();
  65 };
  66
  67 class T1: public RRTBase {
  68         public:
  69                 T1(RRTNode *init, RRTNode *goal);
  70
  71                 // RRT framework
  72                 std::vector<RRTNode *> (*steer)(
  73                                 RRTNode *init,
  74                                 RRTNode *goal);
  75                 bool next();
  76 };
  77
  78 class T2: public Karaman2011 {
  79         public:
  80                 using Karaman2011::Karaman2011;
  81
  82                 bool next();
  83                 float goal_cost();
  84 };
  85
  86 class T3: public RRTBase {
  87         protected:
  88                 T2 p_root_;
  89                 T2 p_goal_;
  90         public:
  91                 T3(RRTNode *init, RRTNode *goal);
  92                 bool next();
  93                 bool link_obstacles(
  94                                 std::vector<CircleObstacle> *cobstacles,
  95                                 std::vector<SegmentObstacle> *sobstacles);
  96                 bool connecttrees(RRTNode *rn, RRTNode *gn);
  97                 bool overlaptrees(RRTNode **ron, RRTNode **gon);
  98 };
  99
 100 class Klemm2015: public Karaman2011 {
 101         private:
 102                 RRTNode *orig_root_ = nullptr;
 103                 RRTNode *orig_goal_ = nullptr;
 104         protected:
 105                 int extendstar1(RRTNode *rs, RRTNode **xn);
 106                 int extendstarC(RRTNode *rs);
 107                 int connectstar(RRTNode *x);
 108                 void swap();
 109         public:
 110                 Klemm2015(RRTNode *init, RRTNode *goal);
 111
 112                 // RRT framework
 113                 std::vector<RRTNode *> (*steer)(
 114                                 RRTNode *init,
 115                                 RRTNode *goal);
 116                 bool next();
 117 };
 118
 119 #endif