Merge branch 'simple-occupancy-grid'

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

diff --git a/incl/rrtsp.hh b/incl/rrtsp.hh
index 728ebf9770fb2b3c487737e6e85f828699505452..da509bfd3bc1fe74d449b0d42c43c452774dbc65 100644 (file)
--- a/incl/rrtsp.hh
+++ b/incl/rrtsp.hh
@@ -22,12 +22,10 @@
 namespace rrts {
 
 /*! \brief Planner for F1/10.
- *
- * TODO: change RRTExt2 to cost grid
  *
  * \ingroup planners
  */
-class P40 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
+class P40 : public RRTExt21, public RRTExt8, public RRTExt10, public RRTExt14,
                public RRTExt15, public RRTExt19, public RRTExt17,
                public RRTExt13 {
 public:
@@ -38,10 +36,6 @@ public:
                jvo["log_path_cost"] = json15["log_path_cost"];
                return jvo;
        }
-       void json(Json::Value jvi)
-       {
-               RRTExt2::json(jvi);
-       }
        void reset()
        {
                RRTExt8::reset();
@@ -74,6 +68,7 @@ public:
                RRTExt8::reset();
                RRTExt14::reset();
                RRTExt13::reset();
+               RRTExt2::reset();
        }
 };
 
@@ -97,6 +92,7 @@ public:
                RRTExt8::reset();
                RRTExt14::reset();
                RRTExt13::reset();
+               RRTExt2::reset();
        }
 };
 
@@ -115,6 +111,7 @@ public:
        {
                RRTExt8::reset();
                RRTExt14::reset();
+               RRTExt2::reset();
        }
 };
 
@@ -133,6 +130,7 @@ public:
        {
                RRTExt8::reset();
                RRTExt14::reset();
+               RRTExt2::reset();
        }
 };