Add next NN/NV VERSION

[hubacji1/iamcar.git] / incl / rrtplanner.h

diff --git a/incl/rrtplanner.h b/incl/rrtplanner.h
index 336a3e8f839e03fd98da54b53ae845c0e95cf113..bbe019bcae36e14a283bf5f938962fb530f8d297 100644 (file)
--- a/incl/rrtplanner.h
+++ b/incl/rrtplanner.h
@@ -37,7 +37,11 @@ class LaValle1998: public RRTBase {
                                 std::vector<RRTNode *> &nodes,
 #endif
                                 RRTNode *node,
-                                float (*cost)(RRTNode *, RRTNode *));
+                                float (*cost)(RRTNode *, RRTNode *)
+#if NNVERSION>2
+                                , char tree
+#endif
+                                );
                 RRTNode *(*sample)();
                 std::vector<RRTNode *> (*steer)(
                                 RRTNode *init,
@@ -58,7 +62,11 @@ class Kuwata2008: public RRTBase {
                                 std::vector<RRTNode *> &nodes,
 #endif
                                 RRTNode *node,
-                                float (*cost)(RRTNode *, RRTNode *));
+                                float (*cost)(RRTNode *, RRTNode *)
+#if NNVERSION>2
+                                , char tree
+#endif
+                                );
                 RRTNode *(*sample)();
                 std::vector<RRTNode *> (*steer)(
                                 RRTNode *init,
@@ -85,7 +93,11 @@ class Karaman2011: public RRTBase {
                                 std::vector<RRTNode *> &nodes,
 #endif
                                 RRTNode *node,
-                                float (*cost)(RRTNode *, RRTNode *));
+                                float (*cost)(RRTNode *, RRTNode *)
+#if NNVERSION>2
+                                , char tree
+#endif
+                                );
                 std::vector<RRTNode *> (*nv)(
 #if NVVERSION>1
                                 std::vector<RRTNode *> (&nodes)[IYSIZE],
@@ -94,7 +106,11 @@ class Karaman2011: public RRTBase {
 #endif
                                 RRTNode *node,
                                 float (*cost)(RRTNode *, RRTNode *),
-                                float dist);
+                                float dist
+#if NVVERSION>2
+                                , char tree
+#endif
+                                );
                 RRTNode *(*sample)();
                 std::vector<RRTNode *> (*steer)(
                                 RRTNode *init,
@@ -115,7 +131,11 @@ class T1: public RRTBase {
                                 std::vector<RRTNode *> &nodes,
 #endif
                                 RRTNode *node,
-                                float (*cost)(RRTNode *, RRTNode *));
+                                float (*cost)(RRTNode *, RRTNode *)
+#if NNVERSION>2
+                                , char tree
+#endif
+                                );
                 std::vector<RRTNode *> (*nv)(
 #if NVVERSION>1
                                 std::vector<RRTNode *> (&nodes)[IYSIZE],
@@ -124,7 +144,11 @@ class T1: public RRTBase {
 #endif
                                 RRTNode *node,
                                 float (*cost)(RRTNode *, RRTNode *),
-                                float dist);
+                                float dist
+#if NVVERSION>2
+                                , char tree
+#endif
+                                );
                 RRTNode *(*sample)();
                 std::vector<RRTNode *> (*steer)(
                                 RRTNode *init,
@@ -174,7 +198,11 @@ class Klemm2015: public Karaman2011 {
                                 std::vector<RRTNode *> &nodes,
 #endif
                                 RRTNode *node,
-                                float (*cost)(RRTNode *, RRTNode *));
+                                float (*cost)(RRTNode *, RRTNode *)
+#if NNVERSION>2
+                                , char tree
+#endif
+                                );
                 std::vector<RRTNode *> (*nv)(
 #if NVVERSION>1
                                 std::vector<RRTNode *> (&nodes)[IYSIZE],
@@ -183,7 +211,11 @@ class Klemm2015: public Karaman2011 {
 #endif
                                 RRTNode *node,
                                 float (*cost)(RRTNode *, RRTNode *),
-                                float dist);
+                                float dist
+#if NVVERSION>2
+                                , char tree
+#endif
+                                );
                 RRTNode *(*sample)();
                 std::vector<RRTNode *> (*steer)(
                                 RRTNode *init,