Add indexing getters to RRTBase

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 41197b301a6732c0632f8ac67fccb8c47fe8dec5..9b7450d689974a19b4f5023210dc02f67b476411 100644 (file)
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -1034,6 +1034,16 @@ std::vector<RRTNode *> RRTBase::findt(RRTNode *n)
         return nodes;
 }
 
+float RRTBase::XI(RRTNode *n)
+{
+       return n->x();
+}
+
+float RRTBase::YI(RRTNode *n)
+{
+       return n->y();
+}
+
 // RRT Framework
 void RRTBase::setSamplingInfo(SamplingInfo si)
 {

diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 501a024866e514eb9b264b48c51bfd79a9a9c6bf..d8337e1e7cbdd7242d8afa6d65faafab6540490f 100644 (file)
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -159,6 +159,8 @@ class RRTBase {
                 bool rebase(RRTNode *nr);
                 std::vector<RRTNode *> findt();
                 std::vector<RRTNode *> findt(RRTNode *n);
+                float XI(RRTNode *n);
+                float YI(RRTNode *n);
 
                 // RRT Framework
                 void setSamplingInfo(SamplingInfo si);