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 RRTS {
  14         private:
  15                 c2Poly c2_bc_;
  16                 std::vector<c2Poly> c2_obstacles_;
  17         public:
  18                 void init();
  19                 void deinit();
  20
  21                 // Collide RRT procedures
  22                 std::tuple<bool, unsigned int, unsigned int>
  23                 collide_steered_from(RRTNode &f);
  24
  25                 std::tuple<bool, unsigned int, unsigned int>
  26                 collide_two_nodes(RRTNode &f, RRTNode &t);
  27
  28                 // getters, setters
  29                 c2Poly &c2_bc() { return this->c2_bc_; }
  30                 std::vector<c2Poly> &c2_obstacles() {
  31                         return this->c2_obstacles_;
  32                 };
  33 };
  34
  35 /*! \brief Different costs extension.
  36
  37 Use different cost for bulding tree data structure and searching in the
  38 structure.
  39 */
  40 class RRTExt1 : public RRTS {
  41         public:
  42                 /*! \brief Reeds and Shepp path length.
  43                 */
  44                 double cost_build(RRTNode &f, RRTNode &t);
  45                 /*! \brief Matej's heuristics.
  46                 */
  47                 double cost_search(RRTNode &f, RRTNode &t);
  48 };
  49
  50 #endif /* RRTEXT_H */