Add recompute cc method

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

diff --git a/incl/rrts.hh b/incl/rrts.hh
index 9c847ed0b075addf807dd06ce9b571eae6a4935b..a61558d10a2874bb3cb79c124c4a276e8b8f971f 100644 (file)
--- a/incl/rrts.hh
+++ b/incl/rrts.hh
@@ -72,6 +72,7 @@ protected:
        double time_ = 0.0;
        double last_goal_cc_ = 0.0;
        std::vector<RRTNode> last_path_;
+       void recompute_cc(RRTNode* g);
        void recompute_path_cc();
        double min_gamma_eta() const;
        bool should_continue() const;