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Commit 27366f2

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onlytaileionlytailei
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add rrt_start & style control
1 parent 307e175 commit 27366f2

26 files changed

+263
-181
lines changed

‎CMakeLists.txt‎

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@@ -44,6 +44,9 @@ target_link_libraries(astar ${OpenCV_LIBS} )
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add_executable(rrt src/rrt.cpp)
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target_link_libraries(rrt ${OpenCV_LIBS} )
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add_executable(rrtstar src/rrt_star.cpp)
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target_link_libraries(rrtstar ${OpenCV_LIBS} )
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add_executable(dwa src/dynamic_window_approach.cpp)
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target_link_libraries(dwa ${OpenCV_LIBS} )
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‎include/cpprobotics_types.h‎

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#ifndef _CPPROBOTICS_TYPES_H
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#define _CPPROBOTICS_TYPES_H
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#include <iterator>
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#include <vector>
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#include <array>
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#include <string>
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#include <iostream>
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#include<iterator>
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#include<vector>
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#include<array>
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#include<string>
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#include<iostream>
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namespace cpprobotics{
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‎include/csv_reader.h‎

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@@ -9,12 +9,12 @@
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#ifndef _CSV_READER_H
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#define _CSV_READER_H
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#include <iterator>
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#include <iostream>
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#include <fstream>
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#include <sstream>
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#include <vector>
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#include <string>
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#include<iterator>
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#include<iostream>
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#include<fstream>
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#include<sstream>
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#include<vector>
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#include<string>
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class CSVRow{
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public:

‎include/cubic_spline.h‎

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@@ -8,13 +8,13 @@
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#ifndef _CUBIC_SPLINE_H
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#define _CUBIC_SPLINE_H
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#include <iostream>
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#include <vector>
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#include <array>
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#include <string>
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#include <Eigen/Eigen>
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#include <stdexcept>
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#include "cpprobotics_types.h"
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#include<iostream>
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#include<vector>
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#include<array>
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#include<string>
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#include<Eigen/Eigen>
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#include<stdexcept>
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#include"cpprobotics_types.h"
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namespace cpprobotics{
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‎include/frenet_path.h‎

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@@ -8,11 +8,11 @@
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#ifndef _FRENET_PATH_H
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#define _FRENET_PATH_H
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#include <iostream>
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#include <vector>
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#include <array>
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#include <string>
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#include "cpprobotics_types.h"
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#include<iostream>
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#include<vector>
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#include<array>
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#include<string>
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#include"cpprobotics_types.h"
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namespace cpprobotics{
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‎include/motion_model.h‎

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#ifndef _MOTION_MODEL_H
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#define _MOTION_MODEL_H
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#include <iostream>
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#include <vector>
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#include <array>
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#include <cmath>
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#include <cfenv>
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#include <Eigen/Eigen>
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#include<iostream>
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#include<vector>
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#include<array>
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#include<cmath>
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#include<cfenv>
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#include<Eigen/Eigen>
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#define YAW_P2P(angle) std::fmod((angle+M_PI), 2*M_PI)-M_PI
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‎include/quartic_polynomial.h‎

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#ifndef _QUARTIC_POLYNOMIAL_H
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#define _QUARTIC_POLYNOMIAL_H
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#include <iostream>
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#include <vector>
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#include <array>
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#include <string>
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#include <cmath>
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#include <Eigen/Eigen>
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#include<iostream>
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#include<vector>
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#include<array>
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#include<string>
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#include<cmath>
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#include<Eigen/Eigen>
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namespace cpprobotics{

‎include/quintic_polynomial.h‎

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#ifndef _QUINTIC_POLYNOMIAL_H
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#define _QUINTIC_POLYNOMIAL_H
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#include <iostream>
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#include <vector>
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#include <array>
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#include <string>
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#include <cmath>
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#include <Eigen/Eigen>
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#include<iostream>
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#include<vector>
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#include<array>
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#include<string>
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#include<cmath>
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#include<Eigen/Eigen>
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namespace cpprobotics{
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‎include/rrt.h‎

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@@ -13,9 +13,9 @@
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#include<random>
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#include<vector>
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#include<cmath>
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#include <opencv2/opencv.hpp>
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#include <opencv2/core/core.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include<opencv2/opencv.hpp>
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#include<opencv2/core/core.hpp>
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#include<opencv2/highgui/highgui.hpp>
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namespace cpprobotics{
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‎include/rrt_star.h‎

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/*************************************************************************
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> File Name: rrt.h
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> Author: TAI Lei
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> Mail: ltai@ust.hk
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> Created Time: Sat Jul 27 16:46:44 2019
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************************************************************************/
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#ifndef _RRT_STAR_H
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#define _RRT_STAR_H
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#include<iostream>
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#include<limits>
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#include<random>
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#include<vector>
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#include<cmath>
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#include<opencv2/opencv.hpp>
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#include<opencv2/core/core.hpp>
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#include<opencv2/highgui/highgui.hpp>
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#include"rrt.h"
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namespace cpprobotics{
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class RRTStar_Node : public Node{
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public:
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float cost;
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RRTStar_Node(float x_, float y_): Node(x_, y_), cost(0){};
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};
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class RRTStar: public RRT{
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public:
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RRTStar(Node*, Node*, std::vector<std::vector<float> >, std::vector<float>, float, int, int, float);
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private:
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float connect_circle_dist;
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};
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RRTStar::RRTStar(Node* start_, Node* end_, std::vector<std::vector<float> > ob_list_, std::vector<float> rand_area_, float expand_dis_, int goal_sample_rate_, int max_iter_, float connect_circle_dist_): RRT(start_, end_, ob_list_, rand_area_, expand_dis_, goal_sample_rate_, max_iter_), connect_circle_dist(connect_circle_dist_){};
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}
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#endif

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