Store computed path in class variable

[hubacji1/rrts.git] / api / rrtext.h

diff --git a/api/rrtext.h b/api/rrtext.h
index f70d8a284c316a8c461500d2ae0a7b18db563d09..406afbb31cdbac6535d524ace860836bec80a025 100644 (file)
--- a/api/rrtext.h
+++ b/api/rrtext.h
@@ -24,9 +24,9 @@ class RRTExt13 : public virtual RRTS {
                 double orig_path_cost_ = 9999;
                 std::vector<RRTNode *> first_optimized_path_;
                 double first_optimized_path_cost_ = 9999;
-                std::vector<RRTNode *> first_path_optimization();
-                std::vector<RRTNode *> second_path_optimization();
-                std::vector<RRTNode *> path();
+                void first_path_optimization();
+                void second_path_optimization();
+                void compute_path();
                 Json::Value json();
                 void json(Json::Value jvi);
 
@@ -291,9 +291,9 @@ class RRTExt3 : public virtual RRTS {
                 double orig_path_cost_ = 9999;
                 std::vector<RRTNode *> first_optimized_path_;
                 double first_optimized_path_cost_ = 9999;
-                std::vector<RRTNode *> first_path_optimization();
-                std::vector<RRTNode *> second_path_optimization();
-                std::vector<RRTNode *> path();
+                void first_path_optimization();
+                void second_path_optimization();
+                void compute_path();
                 Json::Value json();
                 void json(Json::Value jvi);