Implement anytime rrt

[hubacji1/rrts.git] / incl / rrts.hh

diff --git a/incl/rrts.hh b/incl/rrts.hh
index 0e12a5c4dc52ce82295ddcdea3a312ac68525b41..a9ef93c7351a233aea7b288a48c22104f9705ae1 100644 (file)
--- a/incl/rrts.hh
+++ b/incl/rrts.hh
@@ -70,6 +70,7 @@ protected:
        double cost_ = 0.0;
        double eta_ = 0.5;
        double time_ = 0.0;
+       double last_goal_cc_ = 0.0;
        double min_gamma_eta() const;
        bool should_continue() const;
        void join_steered(RRTNode* f);