rrts/incl/rrtsp.hh

   1 /*
   2  * SPDX-FileCopyrightText: 2021 Jiri Vlasak <jiri.vlasak.2@cvut.cz>
   3  *
   4  * SPDX-License-Identifier: GPL-3.0-only
   5  */
   6
   7 /*! \brief RRT* planners.
   8  *
   9  * This file contains _to be used_ RRT* planners consisting of the RRT*
  10  * extensions.
  11  *
  12  * RRT* planners have no implementation.
  13  *
  14  * \file
  15  * \defgroup planners RRTS Planners
  16  */
  17 #ifndef RRTS_RRTSP_H
  18 #define RRTS_RRTSP_H
  19
  20 #include "rrtext.hh"
  21
  22 namespace rrts {
  23
  24 /*! \brief Planner for F1/10.
  25  *
  26  * \ingroup planners
  27  */
  28 class P40 : public RRTExt21, public RRTExt8, public RRTExt10, public RRTExt14,
  29                 public RRTExt15, public RRTExt19, public RRTExt17,
  30                 public RRTExt13 {
  31 public:
  32         Json::Value json() const
  33         {
  34                 auto jvo = RRTExt13::json();
  35                 auto json15 = RRTExt15::json();
  36                 jvo["log_path_cost"] = json15["log_path_cost"];
  37                 return jvo;
  38         }
  39         void reset()
  40         {
  41                 RRTExt8::reset();
  42                 RRTExt14::reset();
  43                 RRTExt13::reset();
  44         }
  45 };
  46
  47 /*! \brief Planner with optimization and reset.
  48  *
  49  * \ingroup planners
  50  */
  51 class P39 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  52                 public RRTExt15, public RRTExt16, public RRTExt17,
  53                 public RRTExt13 {
  54 public:
  55         Json::Value json() const
  56         {
  57                 auto jvo = RRTExt13::json();
  58                 auto json15 = RRTExt15::json();
  59                 jvo["log_path_cost"] = json15["log_path_cost"];
  60                 return jvo;
  61         }
  62         void json(Json::Value jvi)
  63         {
  64                 RRTExt2::json(jvi);
  65         }
  66         void reset()
  67         {
  68                 RRTExt8::reset();
  69                 RRTExt14::reset();
  70                 RRTExt13::reset();
  71                 RRTExt2::reset();
  72         }
  73 };
  74
  75 class P38 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  76                 public RRTExt15, public RRTExt16, public RRTExt18,
  77                 public RRTExt13 {
  78 public:
  79         Json::Value json() const
  80         {
  81                 auto jvo = RRTExt13::json();
  82                 auto json15 = RRTExt15::json();
  83                 jvo["log_path_cost"] = json15["log_path_cost"];
  84                 return jvo;
  85         }
  86         void json(Json::Value jvi)
  87         {
  88                 RRTExt2::json(jvi);
  89         }
  90         void reset()
  91         {
  92                 RRTExt8::reset();
  93                 RRTExt14::reset();
  94                 RRTExt13::reset();
  95                 RRTExt2::reset();
  96         }
  97 };
  98
  99 class P37 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
 100                 public RRTExt15, public RRTExt16, public RRTExt18 {
 101 public:
 102         Json::Value json() const
 103         {
 104                 return RRTExt15::json();
 105         }
 106         void json(Json::Value jvi)
 107         {
 108                 RRTExt2::json(jvi);
 109         }
 110         void reset()
 111         {
 112                 RRTExt8::reset();
 113                 RRTExt14::reset();
 114                 RRTExt2::reset();
 115         }
 116 };
 117
 118 class P36 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
 119                 public RRTExt15, public RRTExt16, public RRTExt17 {
 120 public:
 121         Json::Value json() const
 122         {
 123                 return RRTExt15::json();
 124         }
 125         void json(Json::Value jvi)
 126         {
 127                 RRTExt2::json(jvi);
 128         }
 129         void reset()
 130         {
 131                 RRTExt8::reset();
 132                 RRTExt14::reset();
 133                 RRTExt2::reset();
 134         }
 135 };
 136
 137 } // namespace rrts
 138 #endif /* RRTS_RRTSP_H */