Robotics/YourPlanner.h at main · MeoPBK/Robotics · GitHub

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#ifndef _YOUR_PLANNER_H_
#define _YOUR_PLANNER_H_

#ifndef M_PI
#define M_PI           3.14159265358979323846
#endif

#include "RrtConConBase.h"

using namespace ::rl::plan;

/**
*	The implementation of your planner.
*	modify any of the existing methods to improve planning performance.
*/
class YourPlanner : public RrtConConBase
{
public:
	YourPlanner();

	virtual ~YourPlanner();

	virtual ::std::string getName() const;

	bool solve();

protected:
	void choose(::rl::math::Vector& chosen);

	RrtConConBase::Vertex connect(Tree& tree, const Neighbor& nearest, const ::rl::math::Vector& chosen);

	RrtConConBase::Vertex extend(Tree& tree, const Neighbor& nearest, const ::rl::math::Vector& chosen);

private:

};

#endif // _YOUR_PLANNER_H_