Add Connect* procedure

diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc
index 73c84a55315659c1a2891417a37426f9f56736a9..af22b03a14d4fe1422dee5fca980ba7aff981eb0 100644 (file)
--- a/decision_control/rrtplanner.cc
+++ b/decision_control/rrtplanner.cc
@@ -752,9 +752,11 @@ int Klemm2015::extendstar()
         return 0;
 }
 
-int Klemm2015::connectstar()
+int Klemm2015::connectstar(RRTNode *x)
 {
-        return 0;
+        int ret = 0; // 0 - advanced, 1 - reached, 2 - trapped
+        ret = this->extendstarC(x);
+        return ret;
 }
 
 void Klemm2015::swap()

diff --git a/incl/rrtplanner.h b/incl/rrtplanner.h
index bbe019bcae36e14a283bf5f938962fb530f8d297..1b49cedfb3b0b15466272ad35ff4ff029a98866b 100644 (file)
--- a/incl/rrtplanner.h
+++ b/incl/rrtplanner.h
@@ -185,7 +185,7 @@ class Klemm2015: public Karaman2011 {
                 RRTNode *orig_goal_ = nullptr;
         protected:
                 int extendstar();
-                int connectstar();
+                int connectstar(RRTNode *x);
                 void swap();
         public:
                 Klemm2015(RRTNode *init, RRTNode *goal);