9 /*! \brief Use cute_c2 for collision detection.
11 \see https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
13 class RRTExt2 : public RRTS {
15 // Collide RRT procedures
16 std::tuple<bool, unsigned int, unsigned int>
17 collide_steered_from(RRTNode &f);
19 std::tuple<bool, unsigned int, unsigned int>
20 collide_two_nodes(RRTNode &f, RRTNode &t);
23 /*! \brief Different costs extension.
25 Use different cost for bulding tree data structure and searching in the
28 class RRTExt1 : public RRTS {
30 /*! \brief Reeds and Shepp path length.
32 double cost_build(RRTNode &f, RRTNode &t);
33 /*! \brief Matej's heuristics.
35 double cost_search(RRTNode &f, RRTNode &t);