#include "bcar.h"
#include "obstacle.h"
+#define EDIST(a, b) ({ __typeof__ (a) _a = (a); \
+ __typeof__ (b) _b = (b); \
+ pow(pow((_b)->x() - (_a)->x(), 2) + \
+ pow((_b)->y() - (_a)->y(), 2), 0.5); })
+
+enum SlotType {
+ PARALLEL,
+ PERPENDICULAR
+};
+
class ParallelSlot {
private:
float DH_ = 0.01;
std::vector<std::vector<RRTNode *>> cusp_;
PolygonObstacle slot_;
+ SlotType slotType_;
public:
ParallelSlot();
std::vector<std::vector<RRTNode *>> &cusp();
float DH() const;
PolygonObstacle &slot();
+ SlotType slotType();
// setter
void DH(float dh);