Add random sample getter/setter to RRTNode

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

diff --git a/base/rrtnode.cc b/base/rrtnode.cc
index 8127f3d4cfd9d9194985f2b3e366fa1873544ab7..59d5d4a07852ae225c5e2babb976b41efa135a4a 100644 (file)
--- a/base/rrtnode.cc
+++ b/base/rrtnode.cc
@@ -89,6 +89,11 @@ float RRTNode::s() const
         return this->s_;
 }
 
+RRTNode *RRTNode::rs() const
+{
+        return this->rs_;
+}
+
 float RRTNode::ccost() const
 {
         return this->ccost_;
@@ -140,6 +145,11 @@ void RRTNode::s(float cs)
         this->s_ = cs;
 }
 
+void RRTNode::rs(RRTNode *rs)
+{
+        this->rs_ = rs;
+}
+
 bool RRTNode::add_child(RRTNode *node, float cost)
 {
         return this->add_child(node, cost, 1);