gnode_base.h

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#pragma once
 
#include <utility>
 
#include <base/PlannerSettings.h>
#include <base/Primitives.h>
 
// Base class for all the steering functions
class GNode_base {
 public:
  virtual ~GNode_base() = default;
 
  double steer_cost{0};
 
  int nEdges{0};
 
  double *costs{nullptr};
 
  double *orientations{nullptr};
 
  int READ_OR{0};
 
  int CHECK_SUCCESSOR{0};
 
  int goal_x{0};
  int goal_y{0};
 
  int start_x{0};
  int start_y{0};
 
  int x{0}, y{0};
 
  double x_r{0}, y_r{0};
 
  bool steer{false};
 
  double theta{0};
 
  bool hasParent{false};
 
  GNode_base *parent{nullptr};
  GNode_base *child{nullptr};
 
  inline ompl::base::State *toState() const {
    double unit = global::settings.environment->unit();
    return Point(x_r * unit, y_r * unit).toState(theta);
  }
 
  // ============================================================================================
  static bool line(const GNode_base *parent_node, const GNode_base *successor);
 
  //  static bool line(double x0, double y0, double y1, double x1);
 
  // ============================================================================================
  static bool isblock(double x, double y, double theta);
};