Add obstacle getter

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 70dff3588a7e7d5ac2bd595a41ed514e528496b0..fef0440fa52d1be01e0c57c202ebb5578d51f887 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -49,6 +49,16 @@ std::vector<RRTNode *> &RRTBase::samples()
         return this->samples_;
 }
 
+std::vector<CircleObstacle> *RRTBase::cos()
+{
+        return this->cobstacles_;
+}
+
+std::vector<SegmentObstacle> *RRTBase::sos()
+{
+        return this->sobstacles_;
+}
+
 std::vector<std::vector<RRTNode *>> &RRTBase::tlog()
 {
         return this->tlog_;

diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 0b815ed02425e050dff91213f266f0c8d9816e5e..94e7d4874fd083a495d54b384b6c77e7dacf091d 100644 (file)
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -52,6 +52,8 @@ class RRTBase {
                 RRTNode *goal();
                 std::vector<RRTNode *> &nodes();
                 std::vector<RRTNode *> &samples();
+                std::vector<CircleObstacle> *cos();
+                std::vector<SegmentObstacle> *sos();
                 std::vector<std::vector<RRTNode *>> &tlog();
                 bool goal_found();
                 float elapsed();