/*! Use Dijkstra-based path optimization, goal zone for interesting nodes. */
class RRTExt13 : public virtual RRTS {
private:
+ public:
+ void reset();
std::vector<RRTNode *> orig_path_;
double orig_path_cost_ = 9999;
std::vector<RRTNode *> first_optimized_path_;
double first_optimized_path_cost_ = 9999;
- public:
- std::vector<RRTNode *> first_path_optimization();
- std::vector<RRTNode *> second_path_optimization();
- std::vector<RRTNode *> path();
+ void first_path_optimization();
+ void second_path_optimization();
+ void compute_path();
Json::Value json();
void json(Json::Value jvi);
void delete_kd_nodes(KdNode *n);
void store_node(RRTNode *n, KdNode *&r, int l);
void nn(RRTNode *&n, RRTNode &t, KdNode *r, int l, double &d);
+ void nv(
+ std::vector<RRTNode*>& n,
+ RRTNode &t,
+ KdNode *r,
+ int l,
+ double const& d
+ );
public:
+ void delete_kd_nodes()
+ {
+ this->delete_kd_nodes(this->kdroot_);
+ this->kdroot_ = nullptr;
+ }
void init();
+ void reset();
void deinit();
void store_node(RRTNode n);
RRTNode *nn(RRTNode &t);
*/
class RRTExt3 : public virtual RRTS {
private:
+ public:
+ void reset();
std::vector<RRTNode *> orig_path_;
double orig_path_cost_ = 9999;
std::vector<RRTNode *> first_optimized_path_;
double first_optimized_path_cost_ = 9999;
- public:
- std::vector<RRTNode *> first_path_optimization();
- std::vector<RRTNode *> second_path_optimization();
- std::vector<RRTNode *> path();
+ void first_path_optimization();
+ void second_path_optimization();
+ void compute_path();
Json::Value json();
void json(Json::Value jvi);