From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Fri, 19 Aug 2022 10:02:15 +0000 (+0200)
Subject: Merge branch 'simple-occupancy-grid'
X-Git-Tag: v0.13.0^0
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/commitdiff_plain/d6037a6acd843c98970ba5cb6e1d0973a5e98930

Merge branch 'simple-occupancy-grid'
---

d6037a6acd843c98970ba5cb6e1d0973a5e98930
diff --cc incl/rrtext.hh
index d8bcfd6,e285fa2..a10c150
--- a/incl/rrtext.hh
+++ b/incl/rrtext.hh
@@@ -38,11 -38,25 +38,29 @@@
  
  namespace rrts {
  
+ /*! \brief Collision check based on enlarged occupancy grid.
+  *
+  */
+ class RRTExt21 : public virtual RRTS {
+ private:
+ 	unsigned int _grid_width = 0;
+ 	unsigned int _grid_height = 0;
+ 	float _grid_res = 0.0;
+ 	int8_t const *_grid_data = nullptr;
+ 	double _origin_x = 0.0;
+ 	double _origin_y = 0.0;
+ 	bool collide(RRTNode const &n);
+ 	bool collide_steered();
+ public:
+ 	void set_grid_to_check(unsigned int w, unsigned int h, float r,
+ 			int8_t const *d, double x, double y);
+ };
+ 
  /*! \brief Collision check based on occupancy grid.
 + *
 + * This approach expects obstacles to be represented by points and the collision
 + * occures whenever the point is inside the frame given by the car pose and the
 + * car size.
   *
   * \ingroup ext-col
   */