YourPlanner.cpp

#include "YourPlanner.h"
#include <rl/plan/SimpleModel.h>

YourPlanner::YourPlanner() :
    RrtConConBase()
{
}

YourPlanner::~YourPlanner()
{
}

::std::string
YourPlanner::getName() const
{
    return "Your Planner";
}

void
YourPlanner::choose(::rl::math::Vector& chosen)
{
    this->model->getDof();
    //your modifications here
    RrtConConBase::choose(chosen);
}

RrtConConBase::Vertex
YourPlanner::connect(Tree& tree, const Neighbor& nearest, const ::rl::math::Vector& chosen)
{
    //your modifications here
    return RrtConConBase::connect(tree, nearest, chosen);
}

RrtConConBase::Vertex
YourPlanner::extend(Tree& tree, const Neighbor& nearest, const ::rl::math::Vector& chosen)
{
    //your modifications here
    return RrtConConBase::extend(tree, nearest, chosen);
}

bool
YourPlanner::solve()
{
    //your modifications here
    return RrtConConBase::solve();
}