this->_imax = i;
}
+void
+RRTS::set_goal(double x, double y, double b, double e)
+{
+ this->goal_ = RRTGoal(x, y, b, e);
+}
+
+void
+RRTS::set_start(double x, double y, double h)
+{
+ this->nodes_.front().x(x);
+ this->nodes_.front().y(y);
+ this->nodes_.front().h(h);
+}
+
unsigned int
RRTS::icnt() const
{