HRICS_rrtPlan.hpp

#ifndef HRICS_RRTPLAN_H
#define HRICS_RRTPLAN_H

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

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

    void setGrid(HRICS::PlanGrid* G);

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

    virtual unsigned init();

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

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

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

 private:
    HRICS::PlanGrid* mGrid;

};

#endif // HRICS_RRT_H