From f094e59d501e312347509d99285cd57ee2734b77 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Mon, 24 Jun 2019 16:09:33 +0200
Subject: [PATCH] Add indexing getters to RRTBase

---
 base/rrtbase.cc | 10 ++++++++++
 incl/rrtbase.h  |  2 ++
 2 files changed, 12 insertions(+)

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 41197b3..9b7450d 100644
--- 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 501a024..d8337e1 100644
--- 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);
-- 
2.39.2