+ // Initial point is part of the first segment.
+ jvo["path"][0][3] = jvo["path"][1][3];
+ jvo["path"][0][4] = jvo["path"][1][4];
+ // Goal point is part of the last segment.
+ jvo["path"][i - 1][3] = jvo["path"][i - 2][3];
+ jvo["path"][i - 1][4] = jvo["path"][i - 2][4];
+ // --
+ if (this->_path.size() > 0) {
+ jvo["costs"][j] = this->_path.back()->cc();
+ }