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 Dijkstra algorithm to find the shorter path.
  10 */
  11 class RRTExt3 : public virtual RRTS {
  12         private:
  13                 std::vector<RRTNode *> orig_path_;
  14                 double orig_path_cost_;
  15         public:
  16                 std::vector<RRTNode *> path();
  17
  18                 // getter, setter
  19                 std::vector<RRTNode *> &orig_path()
  20                 {
  21                         return this->orig_path_;
  22                 };
  23                 double &orig_path_cost() { return this->orig_path_cost_; }
  24                 void orig_path_cost(double c) { this->orig_path_cost_ = c; }
  25 };
  26
  27 /*! \brief Use cute_c2 for collision detection.
  28
  29 \see https://github.com/RandyGaul/cute_headers/blob/master/cute_c2.h
  30 */
  31 class RRTExt2 : public virtual RRTS {
  32         private:
  33                 c2Poly c2_bc_;
  34                 c2x c2x_bc_;
  35                 std::vector<c2Poly> c2_obstacles_;
  36         public:
  37                 void init();
  38                 void deinit();
  39
  40                 // Collide RRT procedures
  41                 std::tuple<bool, unsigned int, unsigned int>
  42                 collide_steered_from(RRTNode &f);
  43
  44                 std::tuple<bool, unsigned int, unsigned int>
  45                 collide_two_nodes(RRTNode &f, RRTNode &t);
  46
  47                 // getters, setters
  48                 c2Poly &c2_bc() { return this->c2_bc_; }
  49                 c2x &c2x_bc() { return this->c2x_bc_; }
  50                 std::vector<c2Poly> &c2_obstacles() {
  51                         return this->c2_obstacles_;
  52                 };
  53 };
  54
  55 /*! \brief Different costs extension.
  56
  57 Use different cost for bulding tree data structure and searching in the
  58 structure.
  59 */
  60 class RRTExt1 : public virtual RRTS {
  61         public:
  62                 /*! \brief Reeds and Shepp path length.
  63                 */
  64                 double cost_build(RRTNode &f, RRTNode &t);
  65                 /*! \brief Matej's heuristics.
  66                 */
  67                 double cost_search(RRTNode &f, RRTNode &t);
  68 };
  69
  70 #endif /* RRTEXT_H */