Add SamplingInfo to RRTBase

diff --git a/base/main.cc b/base/main.cc
index 4499ac688d35f5ea17260de57fdd1c2fe2fb50d8..122ba4174f1776f7e0005c5c7b85e90c05836c72 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -167,6 +167,7 @@ int main()
                         xy[1].asFloat()
                 ));
         }
+        p.samplingInfo_ = ps.getSamplingInfo();
         if (ps.slot().bnodes().size() > 0)
                 ps.fpose();
                 //ps.fipr(new BicycleCar(

diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 0402afaf8b51de13fb3e3903bf7147614a660ef7..347fbb997acb7e693ac918c9d12ae7d45043e1c1 100644 (file)
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -25,6 +25,7 @@ along with I am car. If not, see <http://www.gnu.org/licenses/>.
 #include "obstacle.h"
 #include "rrtnode.h"
 #include "sample.h"
+#include "slotplanner.h"
 
 #define NOFNODES 20000
 
@@ -140,6 +141,7 @@ class RRTBase {
                 std::vector<RRTNode *> findt(RRTNode *n);
 
                 // RRT Framework
+                SamplingInfo samplingInfo_;
                 RRTNode *sample();
                 float cost(RRTNode *init, RRTNode *goal);
                 RRTNode *nn(RRTNode *rs);