HRICS_rrt.hpp

#ifndef HRICS_RRT_H
#define HRICS_RRT_H

#include "../../Diffusion/RRT.hpp"
#include "../Grid/HRICS_Grid.hpp"

class HRICS_RRT : public RRT
{
public:
    HRICS_RRT(Robot* R, Graph* G);

    void setGrid(HRICS::Grid* G);

    void setCellPath(std::vector<API::ThreeDCell*> cellPath);

    virtual unsigned init();

    bool connectNodeToCompco(Node* node, Node* compNode);

    Node* nearestNeighbourInCell(Node* node, std::vector<Node*> neigbour);

    API::ThreeDCell* getCellFromNode(Node* node);

 private:
    HRICS::Grid* _Grid;

};

#endif // HRICS_RRT_H