std::vector<RRTNode> goals_;
std::vector<RRTNode> nodes_;
std::vector<RRTNode> samples_;
+ std::vector<RRTNode> steered_;
// RRT procedures
bool collide();
public:
/*! \brief Return path found by RRT*.
*/
- std::vector<std::reference_wrapper<RRTNode>> path();
+ std::vector<RRTNode *> path();
/*! \brief Run next RRT* iteration.
*/
bool next();
std::vector<RRTNode> &goals() { return this->goals_; }
std::vector<RRTNode> &nodes() { return this->nodes_; }
std::vector<RRTNode> &samples() { return this->samples_; }
+ std::vector<RRTNode> &steered() { return this->steered_; }
RRTS();
};