From bab8f8a78ddee1c9357cf2517410603fa6d40a3d Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Tue, 24 Aug 2021 10:16:02 +0200
Subject: [PATCH] Add planner 39

---
 incl/rrtsp.hh | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/incl/rrtsp.hh b/incl/rrtsp.hh
index f136449..2b526dc 100644
--- a/incl/rrtsp.hh
+++ b/incl/rrtsp.hh
@@ -14,6 +14,29 @@
 
 namespace rrts {
 
+class P39 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
+		public RRTExt15, public RRTExt16, public RRTExt17,
+		public RRTExt13 {
+public:
+	Json::Value json() const
+	{
+		auto jvo = RRTExt13::json();
+		auto json15 = RRTExt15::json();
+		jvo["log_path_cost"] = json15["log_path_cost"];
+		return jvo;
+	}
+	void json(Json::Value jvi)
+	{
+		RRTExt2::json(jvi);
+	}
+	void reset()
+	{
+		RRTExt8::reset();
+		RRTExt14::reset();
+		RRTExt13::reset();
+	}
+};
+
 class P38 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
 		public RRTExt15, public RRTExt16, public RRTExt18,
 		public RRTExt13 {
-- 
2.39.2