Use normal distribution in sampling

[hubacji1/iamcar.git] / incl / rrtbase.h

diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 4ece3a7ab98358e2f9f94c6f86ef93c28a4d0815..f83be79cfaa4751a91145969a047bdf1906d1fe1 100644 (file)
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -80,8 +80,11 @@ class RRTBase {
                 std::vector<float> slog_; // seconds of trajectories
                 std::vector<std::vector<RRTNode *>> tlog_; // trajectories
                 std::vector<RRTNode *> slot_cusp_; // cusp nodes in slot
-
+        protected:
                 std::default_random_engine gen_;
+                std::normal_distribution<float> ndx_;
+                std::normal_distribution<float> ndy_;
+                std::normal_distribution<float> ndh_;
         public:
                 const float GOAL_FOUND_DISTANCE = 0.2;
                 const float GOAL_FOUND_ANGLE = M_PI / 32;