From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Wed, 19 Jan 2022 12:02:44 +0000 (+0100)
Subject: Switch to RRT algorithm
X-Git-Tag: v0.9.0^0
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/commitdiff_plain/33e7eda368f5ec7ac3ec247ee15467b0577f8ab3

Switch to RRT algorithm

RRT* (RRTS) differst from RRT slightly. Therefore, it's possible to
"just" comment out some code of RRT* to make it RRT.

The reason to do this is to find out the performance of new search cost
that includes the number of backward-forward direction changes.
---

diff --git a/src/rrts.cc b/src/rrts.cc
index 15f2436..e08fed9 100644
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -8,6 +8,10 @@
 #include <cassert>
 #include "rrts.hh"
 
+#ifndef USE_RRTS
+#define USE_RRTS 0  // TODO improve, this solution isn't clear.
+#endif
+
 namespace rrts {
 
 void
@@ -140,6 +144,7 @@ RRTS::connect()
 {
 	RRTNode* f = this->nn_;
 	RRTNode* t = &this->steered_.front();
+#if USE_RRTS
 	double cost = f->cc() + this->cost_build(*f, *t);
 	for (auto n: this->nv_) {
 		double nc = n->cc() + this->cost_build(*n, *t);
@@ -155,6 +160,7 @@ RRTS::connect()
 	if (!this->bc_.drivable(*t)) {
 		f = this->nn_;
 	}
+#endif
 	this->store(this->steered_.front());
 	t = &this->nodes_.back();
 	t->p(*f);
@@ -337,11 +343,15 @@ RRTS::next()
 	if (this->collide_steered()) {
 		return this->should_continue();
 	}
+#if USE_RRTS
 	this->find_nv(this->steered_.front());
+#endif
 	if (!this->connect()) {
 		return this->should_continue();
 	}
+#if USE_RRTS
 	this->rewire();
+#endif
 	unsigned int ss = this->steered_.size();
 	this->join_steered(&this->nodes_.back());
 	RRTNode* just_added = &this->nodes_.back();