From 93402123b9e2a3772f3ce5c7b9ad18d9a5d1dedd Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 8 Jul 2020 16:48:55 +0200
Subject: [PATCH] Make rrtnode bicycle car independent

I mean in the sense of subclassing.
---
 api/rrts.h  | 40 +++++++++++++++++++++++++++++++++++++++-
 src/rrts.cc |  7 ++++++-
 2 files changed, 45 insertions(+), 2 deletions(-)

diff --git a/api/rrts.h b/api/rrts.h
index 8f53d6d..dad93f4 100644
--- a/api/rrts.h
+++ b/api/rrts.h
@@ -30,12 +30,26 @@ class RRTNodeType {
 \param c Cumulative cost from RRT data structure root.
 \param p Pointer to parent RRT node.
 \param t Type of the RRT node (RRTNodeType).
+// -- from BicycleCar
+\param x Horizontal coordinate of rear axle center.
+\param y Vertical coordinate of rear axle center.
+\param h Heading of the car in the interval [-pi,+pi] radians.
+\param sp Speed of the car.
+\param st Steering of the car.
 */
-class RRTNode : public BicycleCar {
+class RRTNode {
         private:
                 double c_ = 0;
                 RRTNode *p_ = nullptr;
                 unsigned int t_ = 0;
+                // -- from BicycleCar
+                // coordinates
+                double x_ = 0;
+                double y_ = 0;
+                double h_ = 0;
+                // moving
+                double sp_ = 0;
+                double st_ = 0;
         public:
                 // getters, setters
                 double c() const { return this->c_; }
@@ -48,6 +62,30 @@ class RRTNode : public BicycleCar {
                 void set_t(unsigned int flag) { this->t_ |= flag; }
                 void clear_t(unsigned int flag) { this->t_ &= ~flag; }
 
+                // -- from BicycleCar
+                // getters, setters
+                double x() const { return this->x_; }
+                void x(double x) { this->x_ = x; }
+
+                double y() const { return this->y_; }
+                void y(double y) { this->y_ = y; }
+
+                double h() const { return this->h_; }
+                void h(double h)
+                {
+                        while (h < -M_PI)
+                                h += 2 * M_PI;
+                        while (h > +M_PI)
+                                h -= 2 * M_PI;
+                        this->h_ = h;
+                }
+
+                double sp() const { return this->sp_; }
+                void sp(double sp) { this->sp_ = sp; }
+
+                double st() const { return this->st_; }
+                void st(double st) { this->st_ = st; }
+
                 RRTNode();
                 RRTNode(const BicycleCar &bc);
                 bool operator==(const RRTNode& n);
diff --git a/src/rrts.cc b/src/rrts.cc
index ce0c322..214d1e9 100644
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -11,8 +11,13 @@ RRTNode::RRTNode()
 {
 }
 
-RRTNode::RRTNode(const BicycleCar &bc) : BicycleCar(bc)
+RRTNode::RRTNode(const BicycleCar &bc)
 {
+    this->x(bc.x());
+    this->y(bc.y());
+    this->h(bc.h());
+    this->sp(bc.sp());
+    this->st(bc.st());
 }
 
 bool RRTNode::operator==(const RRTNode& n)
-- 
2.39.2