Rename Dijkstra-based path optimization procedure

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index b9a575d8237504805c0b2f8675763d373eb7c297..3b7cc8f5e997292750a6cf34a296a3aebef31279 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -521,7 +521,7 @@ class RRTNodeDijkstraComparator {
                 }
 };
 
-bool RRTBase::opt_path()
+bool RRTBase::optp_dijkstra()
 {
         if (this->tlog().size() == 0)
                 return false;
@@ -629,6 +629,11 @@ bool RRTBase::opt_path()
         return false;
 }
 
+bool RRTBase::opt_path()
+{
+        return this->optp_dijkstra();
+}
+
 bool RRTBase::rebase(RRTNode *nr)
 {
         if (!nr || this->goal_ == nr || this->root_ == nr)

diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 961b62633afd4f6634e576866d11a57c97e2d1cb..5c713b452305807452115850e10740be96c24851 100644 (file)
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -95,6 +95,7 @@ class RRTBase {
                                 RRTNode *node,
                                 float (*cost)(RRTNode *, RRTNode *));
                 bool collide(RRTNode *init, RRTNode *goal);
+                bool optp_dijkstra();
                 bool opt_path();
                 bool rebase(RRTNode *nr);
                 std::vector<RRTNode *> findt();