Output elapsed time

[hubacji1/iamcar.git] / base / main.cc

diff --git a/base/main.cc b/base/main.cc
index f65d560762c6f3c0273512ed9143c2d5ed090c4b..5a6d4f4193d2cba7d9104b3f1c7da2eaa31edeaa 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -162,6 +162,7 @@ int main()
                         jvi["goal"][2].asFloat()
                 )
         );
+        p.firsts().push(p.goal());
         jvo["init"][0] = p.root()->x();
         jvo["init"][1] = p.root()->y();
         jvo["init"][2] = p.root()->h();
@@ -276,6 +277,8 @@ int main()
                         p.tlog(p.findt());
                 }
         }
+        p.tend();
+        jvo["time"] = p.elapsed();
 #elif defined USE_PTHREAD
         bool gf = false;
         RRTNode *ron = nullptr;
@@ -444,6 +447,9 @@ escapeloop:
                 }
                 j++;
         }
+        jvo["goals"][0][0] = p.tlog()[p.tlog().size() - 1].front()->x();
+        jvo["goals"][0][1] = p.tlog()[p.tlog().size() - 1].front()->y();
+        jvo["goals"][0][2] = p.tlog()[p.tlog().size() - 1].front()->h();
 #ifdef JSONLOGEDGES
         i = 0;
         j = 0;