X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/blobdiff_plain/3a4bf1e1d923594cb2a24e79a864544cf298f688..1bb72bb7ef47a143ce507e982730a08e0cbdd638:/src/rrts.cc

diff --git a/src/rrts.cc b/src/rrts.cc
index 8e175a2..46f289e 100644
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -278,6 +278,20 @@ RRTS::set_imax_reset(unsigned int i)
 	this->_imax = i;
 }
 
+void
+RRTS::set_goal(double x, double y, double b, double e)
+{
+	this->goal_ = RRTGoal(x, y, b, e);
+}
+
+void
+RRTS::set_start(double x, double y, double h)
+{
+	this->nodes_.front().x(x);
+	this->nodes_.front().y(y);
+	this->nodes_.front().h(h);
+}
+
 unsigned int
 RRTS::icnt() const
 {