X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/blobdiff_plain/dea0da28157be7c03db223bc78d773cb43f56c47..284e28ec3499cb782b0099f1f98c4d4df1aee4f4:/src/rrtext3.cc

diff --git a/src/rrtext3.cc b/src/rrtext3.cc
index 8077b7e..f2d342e 100644
--- a/src/rrtext3.cc
+++ b/src/rrtext3.cc
@@ -1,6 +1,15 @@
 #include <queue>
 #include "rrtext.h"
 
+void RRTExt3::reset()
+{
+        RRTS::reset();
+        this->orig_path().clear();
+        this->first_optimized_path().clear();
+        this->orig_path_cost_ = 9999.9;
+        this->first_optimized_path_cost_ = 9999.9;
+}
+
 void RRTExt3::first_path_optimization()
 {
         if (this->orig_path().size() == 0) {