Merge branch 'occupancy-grid-collision-check'

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

diff --git a/incl/rrtext.hh b/incl/rrtext.hh
index 0c8cd06660ae2d4ecc9f058e1f0f3dd49182f996..87d39c4bc25d47f8915a96f906e60b60ec6164f2 100644 (file)
--- a/incl/rrtext.hh
+++ b/incl/rrtext.hh
@@ -38,6 +38,18 @@
 
 namespace rrts {
 
+/*! \brief Collision check based on occupancy grid.
+ *
+ * \ingroup ext-col
+ */
+class RRTExt20 : public virtual RRTS {
+private:
+       std::vector<bcar::Point> const *_points_to_check = nullptr;
+       bool collide_steered();
+public:
+       void set_points_to_check(std::vector<bcar::Point> const *p);
+};
+
 /*! \brief Use Dubins paths-based steering procedure.
  *
  * \ingroup ext-steer