Use polygon argument for RRT* collide method

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

diff --git a/src/rrts.cc b/src/rrts.cc
index 66fe9dbca71ff6eeb6e0769d05ba83e2383019d0..e1314c224621c889f44305ba9283e2cb0e3f83a8 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -16,10 +16,9 @@ Obstacle::Obstacle()
 }
 
 // RRT procedures
-bool RRTS::collide()
+bool RRTS::collide(std::vector<std::tuple<double, double>> &poly)
 {
-        bool collide = false;
-        return collide;
+        return false;
 }
 
 double RRTS::cost(RRTNode &f, RRTNode &t)