Mark cusp points in json output

diff --git a/rrts/src/rrts.cc b/rrts/src/rrts.cc
index 0c1a663e0f7e5e5beaa9d16404bddd090240f33b..dcf8dedd35ae43c32052eb11a985f14d55e8a1a5 100644 (file)
--- a/rrts/src/rrts.cc
+++ b/rrts/src/rrts.cc
@@ -450,7 +450,11 @@ RRTS::json(void) const
                        jvo["paths"][j][i][2] = n.h();
                        jvo["paths"][j][i][3] = n.sp();
                        jvo["paths"][j][i][4] = n.st();
-                       jvo["paths"][j][i][5] = n.p_is_cusp();
+                       jvo["paths"][j][i][5] = false;
+                       if (n.p_is_cusp()) {
+                               assert(i > 0);
+                               jvo["paths"][j][i - 1][5] = true;
+                       }
                        i++;
                }
                jvo["costs"][j] = path.back().cc();
@@ -469,7 +473,11 @@ RRTS::json(void) const
                jvo["path"][i][2] = n->h();
                jvo["path"][i][3] = n->sp();
                jvo["path"][i][4] = n->st();
-               jvo["path"][i][5] = n->p_is_cusp();
+               jvo["path"][i][5] = false;
+               if (n->p_is_cusp()) {
+                       assert(i > 0);
+                       jvo["path"][i - 1][5] = true;
+               }
                i++;
        }
        jvo["costs"][j] = this->_path.back()->cc();