Include path segment type in pose

[hubacji1/rrts.git] / src / rrts.cc

diff --git a/src/rrts.cc b/src/rrts.cc
index 03787b133d2c2d139dc985541debe5c1d8e5481a..485ee6c9d4fbf998cc8f7b020205f64654fd586f 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -347,6 +347,8 @@ RRTS::json() const
                jvo["path"][i][0] = n->x();
                jvo["path"][i][1] = n->y();
                jvo["path"][i][2] = n->h();
+               jvo["path"][i][3] = n->sp();
+               jvo["path"][i][4] = n->segment_type;
                i++;
        }
        jvo["goal_cc"] = this->goal_.cc();