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1ab700f27f
- Reorganize repo so docker stuff is a folder within fast_rrt_ros ROS package - Update filepaths in README - Update `build_and_run_docker.bash` to use main folder as build context, but use Dockerfile inside docker folder - Update filepaths in Dockerfile
97 lines
3.2 KiB
C++
97 lines
3.2 KiB
C++
#ifndef FAST_RRT_STAR_NODE_H
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#define FAST_RRT_STAR_NODE_H
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/**
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* Create type alias for world coordinates
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*/
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using world_coords = double;
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namespace fast_rrt_star_planner
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{
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/**
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* @brief Fast_RRTStarNode class used to track nodes of path planning tree.
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*/
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class Fast_RRTStarNode
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{
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public:
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/**
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* @brief Public Variables
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*/
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world_coords x; ///< x coordinate of node
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world_coords y; ///< y coordinate of node
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world_coords path_cost; ///< Cumulative cost from node_start to current node
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Fast_RRTStarNode *parent; ///< Pointer to parent of current node
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/**
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* @brief Construct a new Fast_RRTStarNode object with default values
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*/
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Fast_RRTStarNode();
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/**
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* @brief Construct a new Fast_RRTStarNode object with given position
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*
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* @param x_in X component of node in world coordinates
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* @param y_in Y component of node in world coordinates
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*/
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Fast_RRTStarNode(world_coords x_in, world_coords y_in);
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/**
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* @brief Construct a new Fast_RRTStarNode object as a deep copy of pointer to input node
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*
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* @param node Pointer to input node to deep copy
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*/
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Fast_RRTStarNode(Fast_RRTStarNode *node);
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/**
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* @brief Construct a new Fast_RRTStarNode object as a deep copy of constant pointer to constant input node
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*
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* @param node Constant pointer to constant input node to deep copy
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*/
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Fast_RRTStarNode(const Fast_RRTStarNode *const node);
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/**
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* @brief "Connects" node to node_parent by updating parent pointer and path_cost
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*
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* @param node_parent Desired node being assigned as parent
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*/
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void updateParentAndCost(Fast_RRTStarNode *node_parent);
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/**
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* @brief "Connects" this node to node_parent by updating parent pointer and path_cost
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* without computing distance between node and node_parent internally,
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* just uses the provided cost (reason: saves re-computation)
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*
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* @param node_parent Desired node being assigned as parent
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* @param path_cost Path cost (i.e. distance) between current node and node_parent
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*/
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void updateParentAndCost(Fast_RRTStarNode *node_parent, world_coords path_cost);
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/**
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* @brief Compute cost of connecting this node to node_connect (hypothetical parent)
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*
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* @param node_connect Node chosen to calculate cost to
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* @return world_coords Cost of path between the two nodes
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*/
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world_coords getConnectionCost(Fast_RRTStarNode *node_connect);
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/**
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* @brief Overloaded equality operator to compare two Fast_RRTStarNodes
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*
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* @param node Node to compare to current node for equality
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* @return true If properties of current and input node are the same
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* @return false If properties of current and input node are not the same
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*/
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bool operator==(const Fast_RRTStarNode node);
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/**
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* @brief Overloaded inequality operator to compare two Fast_RRTStarNodes
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*
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* @param node Node to compare to current node for inequality
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* @return true If properties of current and input node are not the same
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* @return false If properties of current and input node are the same
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*/
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bool operator!=(const Fast_RRTStarNode node);
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};
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}
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#endif /* FAST_RRT_STAR_NODE_H */ |