Add setters for bc, imax

diff --git a/incl/rrts.hh b/incl/rrts.hh
index 74077df208fb3c0030424e13a8986988c1954a26..d4f4719aca9026f3eb847a121348d44df927040c 100644 (file)
--- a/incl/rrts.hh
+++ b/incl/rrts.hh
@@ -108,6 +108,12 @@ protected:
 public:
        RRTS();
 
+       /*! Set internal bicycle car. */
+       BicycleCar &bc();
+
+       /*! Set maximum number of iterations before reset. */
+       void set_imax_reset(unsigned int i);
+
        /*! Get iterations counter. */
        unsigned int icnt() const;
 

diff --git a/src/rrts.cc b/src/rrts.cc
index e08fed97acef4c9c42a4a861b785fc6a5ffd5a25..2212e597b2eca7e6d32adeb5a8f6f8b175a39443 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -266,6 +266,18 @@ RRTS::RRTS() : gen_(std::random_device{}()), goal_(0.0, 0.0, 0.0, 0.0)
        this->store(RRTNode()); // root
 }
 
+BicycleCar &
+RRTS::bc()
+{
+       return this->bc_;
+}
+
+void
+RRTS::set_imax_reset(unsigned int i)
+{
+       this->_imax = i;
+}
+
 unsigned int
 RRTS::icnt() const
 {