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  * TODO: change RRTExt2 to cost grid
  27  *
  28  * \ingroup planners
  29  */
  30 class P40 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  31                 public RRTExt15, public RRTExt19, public RRTExt17,
  32                 public RRTExt13 {
  33 public:
  34         Json::Value json() const
  35         {
  36                 auto jvo = RRTExt13::json();
  37                 auto json15 = RRTExt15::json();
  38                 jvo["log_path_cost"] = json15["log_path_cost"];
  39                 return jvo;
  40         }
  41         void json(Json::Value jvi)
  42         {
  43                 RRTExt2::json(jvi);
  44         }
  45         void reset()
  46         {
  47                 RRTExt8::reset();
  48                 RRTExt14::reset();
  49                 RRTExt13::reset();
  50                 RRTExt2::reset();
  51         }
  52 };
  53
  54 /*! \brief Planner with optimization and reset.
  55  *
  56  * \ingroup planners
  57  */
  58 class P39 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  59                 public RRTExt15, public RRTExt16, public RRTExt17,
  60                 public RRTExt13 {
  61 public:
  62         Json::Value json() const
  63         {
  64                 auto jvo = RRTExt13::json();
  65                 auto json15 = RRTExt15::json();
  66                 jvo["log_path_cost"] = json15["log_path_cost"];
  67                 return jvo;
  68         }
  69         void json(Json::Value jvi)
  70         {
  71                 RRTExt2::json(jvi);
  72         }
  73         void reset()
  74         {
  75                 RRTExt8::reset();
  76                 RRTExt14::reset();
  77                 RRTExt13::reset();
  78                 RRTExt2::reset();
  79         }
  80 };
  81
  82 class P38 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
  83                 public RRTExt15, public RRTExt16, public RRTExt18,
  84                 public RRTExt13 {
  85 public:
  86         Json::Value json() const
  87         {
  88                 auto jvo = RRTExt13::json();
  89                 auto json15 = RRTExt15::json();
  90                 jvo["log_path_cost"] = json15["log_path_cost"];
  91                 return jvo;
  92         }
  93         void json(Json::Value jvi)
  94         {
  95                 RRTExt2::json(jvi);
  96         }
  97         void reset()
  98         {
  99                 RRTExt8::reset();
 100                 RRTExt14::reset();
 101                 RRTExt13::reset();
 102                 RRTExt2::reset();
 103         }
 104 };
 105
 106 class P37 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
 107                 public RRTExt15, public RRTExt16, public RRTExt18 {
 108 public:
 109         Json::Value json() const
 110         {
 111                 return RRTExt15::json();
 112         }
 113         void json(Json::Value jvi)
 114         {
 115                 RRTExt2::json(jvi);
 116         }
 117         void reset()
 118         {
 119                 RRTExt8::reset();
 120                 RRTExt14::reset();
 121                 RRTExt2::reset();
 122         }
 123 };
 124
 125 class P36 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
 126                 public RRTExt15, public RRTExt16, public RRTExt17 {
 127 public:
 128         Json::Value json() const
 129         {
 130                 return RRTExt15::json();
 131         }
 132         void json(Json::Value jvi)
 133         {
 134                 RRTExt2::json(jvi);
 135         }
 136         void reset()
 137         {
 138                 RRTExt8::reset();
 139                 RRTExt14::reset();
 140                 RRTExt2::reset();
 141         }
 142 };
 143
 144 } // namespace rrts
 145 #endif /* RRTS_RRTSP_H */