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RRT Connect #2

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RRT Connect #2

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58 changes: 48 additions & 10 deletions include/RRT.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,19 +19,19 @@ namespace rrt
double stepLength;
std::vector<Utils::Point<T> > pathPoints;
int maxIterations;
std::vector< std::pair< Utils::Point<T>, Utils::Point<T> > > tree;
std::vector< std::pair< Utils::Point<T>, Utils::Point<T> > > tree;
unsigned int biasParameter;

public:

RRT(){};
RRT(Utils::Point<T> start,Utils::Point<T> end)
{
//srand(time(NULL));
//srand(time(NULL));
startPoint=start;
endPoint=end;
}

virtual bool plan();
virtual std::vector<Utils::Point<T> > getPointsOnPath();

Expand Down Expand Up @@ -59,13 +59,51 @@ namespace rrt
void generatePath(Utils::Point<T> first,Utils::Point<T> last);
double dist(Utils::Point<T> a,Utils::Point<T> b);
};

template <class T>
class RRTConnect: public RRT<T>{

public:
bool plan();
std::vector<Utils::Point<T> > getPointsOnPath();

void setEndPoints(Utils::Point<T> start, Utils::Point<T> end);
void setCheckPointFunction(bool (*f)(Utils::Point<T>));
void setStepLength(double value);
void setOrigin(Utils::Point<T> origin);
void setHalfDimensions(double x,double y);
void setBiasParameter(unsigned int);
void setMaxIterations(int);
private:
double halfDimensionX;
double halfDimensionY;
Utils::Point<T> origin;
Utils::Point<T> connectA;
Utils::Point<T> connectB;
Utils::Point<T> startPoint;
Utils::Point<T> endPoint;
double stepLength;
std::vector<Utils::Point<T> > pathPoints;
int maxIterations;
std::vector< std::pair< Utils::Point<T>, Utils::Point<T> > > treeA;
std::vector< std::pair< Utils::Point<T>, Utils::Point<T> > > treeB;
std::vector< std::pair< Utils::Point<T>, Utils::Point<T> > > mainTree;
std::vector< std::pair< Utils::Point<T>, Utils::Point<T> > > supportTree;

unsigned int biasParameter;
bool (*userCheck)(Utils::Point<T>);
bool checkPoint(Utils::Point<T> pt);
Utils::Point<T> generatePoint(std::vector< std::pair< Utils::Point<T>, Utils::Point<T> > >);
Utils::Point<T> generateBiasedPoint(Utils::Point<T> ,std::vector< std::pair< Utils::Point<T>, Utils::Point<T> > >);
Utils::Point<T> findClosestNode(Utils::Point<T>,std::vector< std::pair< Utils::Point<T>, Utils::Point<T> > > tree);
void growTree(Utils::Point<T>);
Utils::Point<T> getParent(Utils::Point<T>,std::vector< std::pair< Utils::Point<T>, Utils::Point<T> > > tree);
bool treeComplete();
void generatePath(Utils::Point<T> first,Utils::Point<T> last);
double dist(Utils::Point<T> a,Utils::Point<T> b);
};
}

//************* ToDo *************
// Implement derived classes for variants of RRT
// Optimize the generate path and other
// Tweak with the parameters to check their effects on runtime and path
// Implement Pruning function to keep a check on size of tree


#endif
#endif
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