api/rrtext.h

   1 #ifndef RRTEXT_H
   2 #define RRTEXT_H
   3
   4 #include "rrts.h"
   5
   6 // ext2
   7 #include "cute_c2.h"
   8
   9 /*! \brief Use cute_c2 for collision detection.
  10
  11 \see https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
  12 */
  13 class RRTExt2 : public virtual RRTS {
  14         private:
  15                 c2Poly c2_bc_;
  16                 c2x c2x_bc_;
  17                 std::vector<c2Poly> c2_obstacles_;
  18         public:
  19                 void init();
  20                 void deinit();
  21
  22                 // Collide RRT procedures
  23                 std::tuple<bool, unsigned int, unsigned int>
  24                 collide_steered_from(RRTNode &f);
  25
  26                 std::tuple<bool, unsigned int, unsigned int>
  27                 collide_two_nodes(RRTNode &f, RRTNode &t);
  28
  29                 // getters, setters
  30                 c2Poly &c2_bc() { return this->c2_bc_; }
  31                 c2x &c2x_bc() { return this->c2x_bc_; }
  32                 std::vector<c2Poly> &c2_obstacles() {
  33                         return this->c2_obstacles_;
  34                 };
  35 };
  36
  37 /*! \brief Different costs extension.
  38
  39 Use different cost for bulding tree data structure and searching in the
  40 structure.
  41 */
  42 class RRTExt1 : public virtual RRTS {
  43         public:
  44                 /*! \brief Reeds and Shepp path length.
  45                 */
  46                 double cost_build(RRTNode &f, RRTNode &t);
  47                 /*! \brief Matej's heuristics.
  48                 */
  49                 double cost_search(RRTNode &f, RRTNode &t);
  50 };
  51
  52 #endif /* RRTEXT_H */