AddRrtConCon.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_PLAN_ADDRRTCONCON_H
#define RL_PLAN_ADDRRTCONCON_H
 
#include "RrtConCon.h"
 
namespace rl
{
    namespace plan
    {
        class AddRrtConCon : public RrtConCon
        {
        public:
            AddRrtConCon();
            
            virtual ~AddRrtConCon();
            
            virtual ::std::string getName() const;
            
            bool solve();
            
            ::rl::math::Real alpha;
            
            ::rl::math::Real lower;
            
            ::rl::math::Real radius;
            
        protected:
            struct VertexBundle : Rrt::VertexBundle
            {
                ::rl::math::Real radius;
            };
            
            Vertex addVertex(Tree& tree, const VectorPtr& q);
            
            static VertexBundle* get(const Tree& tree, const Vertex& v);
            
        private:
            
        };
    }
}
 
#endif //_RL_PLAN_ADDRRTCONCON_H