Plot last sample, plot bigger root, goal

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 51018077829978c99a77fdfe7ba03bacf5b360a7..c17bc467cbca3e60ce687ad51d5fea2fc2a5f585 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -230,12 +230,18 @@ bool RRTBase::glplot()
         }
         glEnd();
         // Plot root, goal
-        glPointSize(4);
+        glPointSize(8);
         glBegin(GL_POINTS);
         glColor3f(1, 0, 0);
         glVertex2f(GLVERTEX(this->root_));
         glVertex2f(GLVERTEX(this->goal_));
         glEnd();
+        // Plot last sample
+        glPointSize(8);
+        glBegin(GL_POINTS);
+        glColor3f(0, 1, 0);
+        glVertex2f(GLVERTEX(this->samples_.back()));
+        glEnd();
         // Plot nodes
         std::vector<RRTNode *> s; // DFS stack
         std::vector<RRTNode *> r; // reset visited_