1 #include "reeds_shepp.h"
7 cb_steer(double q[4], void *w)
9 std::vector<RRTNode>* st = (std::vector<RRTNode>*) w;
10 st->push_back(RRTNode());
19 RRTExt16::steer(RRTNode const& f, RRTNode const& t)
21 this->steered_.clear();
22 double q0[] = {f.x(), f.y(), f.h()};
23 double q1[] = {t.x(), t.y(), t.h()};
24 ReedsSheppStateSpace rsss(this->bc_.mtr());
25 rsss.sample(q0, q1, this->eta_, cb_steer, &this->steered_);