Add reset to rrtext 2

[hubacji1/rrts.git] / incl / rrtext.hh

diff --git a/incl/rrtext.hh b/incl/rrtext.hh
index 3cee13bbf0219aeae311a8e07929b20dafefb606..0c8cd06660ae2d4ecc9f058e1f0f3dd49182f996 100644 (file)
--- a/incl/rrtext.hh
+++ b/incl/rrtext.hh
@@ -38,6 +38,16 @@
 
 namespace rrts {
 
+/*! \brief Use Dubins paths-based steering procedure.
+ *
+ * \ingroup ext-steer
+ * \see https://github.com/AndrewWalker/Dubins-Curves
+ */
+class RRTExt19 : public virtual RRTS {
+private:
+       void steer(RRTNode const &f, RRTNode const &t);
+};
+
 /*! \brief Finish when more than 1000 iterations.
  *
  * \ingroup ext-aux
@@ -404,6 +414,7 @@ public:
        RRTExt2();
        Json::Value json() const;
        void json(Json::Value jvi);
+       void reset();
 };
 
 /* \brief Different costs extension.