Rename set parent of rrt node method argument

Name "can be too close" makes more sense.

diff --git a/rrts/incl/rrts.hh b/rrts/incl/rrts.hh
index cccdc44ecb2e97582438aa2d99237a79dcb834fb..9c79420c961cab71a427ec03b56cfafedf78c5b0 100644 (file)
--- a/rrts/incl/rrts.hh
+++ b/rrts/incl/rrts.hh
@@ -53,7 +53,7 @@ public:
        RRTNode* p() const;
 
        /*! Set parent node. */
-       void p(RRTNode& p, bool connecting_goal);
+       void p(RRTNode& p, bool can_be_too_close);
        void p(RRTNode& p);
 
        /*! Get number of backward-forward direction changes.

diff --git a/rrts/src/rrts.cc b/rrts/src/rrts.cc
index 39b351687cb0a3d70b24c308ce867dd70a64ed01..bc87c7f1ada2bab0417d07d7fb028f97d86f3060 100644 (file)
--- a/rrts/src/rrts.cc
+++ b/rrts/src/rrts.cc
@@ -55,10 +55,10 @@ RRTNode::p() const
 }
 
 void
-RRTNode::p(RRTNode& p, bool connecting_goal)
+RRTNode::p(RRTNode& p, bool can_be_too_close)
 {
        assert(this != &p);
-       if (!connecting_goal) {
+       if (!can_be_too_close) {
                assert(!(std::abs(p.x() - this->x()) < 1e-3
                        && std::abs(p.y() - this->y()) < 1e-3
                        && std::abs(p.h() - this->h()) < 1e-3));