Add different steer extensions

[hubacji1/rrts.git] / api / rrtext.h

diff --git a/api/rrtext.h b/api/rrtext.h
index 43212e565e88ef1bd581a474b17a948b2b01331d..5768778cb2e1a0dbf3d637db7812a1a58b39723e 100644 (file)
--- a/api/rrtext.h
+++ b/api/rrtext.h
@@ -16,6 +16,15 @@
 // ext9
 #define GRID_MAX_HI 60
 
+/*! \brief Different `steer` procedures.
+
+Use sampling in control input for `steer1`. Use R&S steering for `steer2`.
+*/
+class RRTExt12 : public virtual RRTS {
+        protected:
+                void steer1(RRTNode &f, RRTNode &t);
+};
+
 /*! \brief Goal Zone.
 
 */