Fix car dimension settings in test template

diff --git a/rrts/incl/rrts.hh b/rrts/incl/rrts.hh
index 6f66e7a679a721546d09665d5f47c346d4aa0c34..2e85862c529e2e14fd29ca977af035124d367d17 100644 (file)
--- a/rrts/incl/rrts.hh
+++ b/rrts/incl/rrts.hh
@@ -125,6 +125,9 @@ public:
        /*! Set pose of the bicycle car used in the planner. */
        void set_bc_pose_to(Pose const& p);
 
+       /*! Set bicycle car dimensions. */
+       void set_bc_to_become(std::string what);
+
        /*! Get goal. */
        RRTGoal const& goal(void) const;
 

diff --git a/rrts/src/rrts.cc b/rrts/src/rrts.cc
index 2c58e49c9e29efb7d61cfb7ad241cdd359da6747..7cd4684deadee7ab413b97553309b178becd3678 100644 (file)
--- a/rrts/src/rrts.cc
+++ b/rrts/src/rrts.cc
@@ -279,6 +279,12 @@ RRTS::set_bc_pose_to(Pose const& p)
        this->_bc.set_pose_to(p);
 }
 
+void
+RRTS::set_bc_to_become(std::string what)
+{
+       this->_bc.become(what);
+}
+
 RRTGoal const&
 RRTS::goal(void) const
 {

diff --git a/src/template-with-reset.cc b/src/template-with-reset.cc
index bd9d97288c3bb7e07de603fc11b7046550906b56..c1ac6d968f3ebfa5b6834e2e562936cbe598825b 100644 (file)
--- a/src/template-with-reset.cc
+++ b/src/template-with-reset.cc
@@ -124,7 +124,7 @@ int main()
        //p.bc().df(2.895 + 0.9); // this is guess
        //p.bc().len(4.918);
        //p.eta(0.1);
-       c.become("porsche cayenne");
+       p.set_bc_to_become("porsche cayenne");
 
        p.json(jvi);
        unsigned int icnt = 0;