Fix ut

diff --git a/ut/rrtext.t.cc b/ut/rrtext.t.cc
index a60fc7f4a41ee6d01fea3906fed149c160890f2c..4e01c4f0f47a6e8232423ba423fbfdf51afb3384 100644 (file)
--- a/ut/rrtext.t.cc
+++ b/ut/rrtext.t.cc
@@ -9,15 +9,16 @@ WVTEST_MAIN("RRT extensions")
         RRTNode n1;
         RRTNode n2;
         RRTExt1 e1;
+        BicycleCar bc;
         e1.goals().push_back(RRTNode());
         // Test Matej's heuristics.
         n2.h(M_PI);
         e1.next();
-        WVPASSEQ_DOUBLE(e1.cost_search(n1, n2), M_PI * n1.mtr(), 0.00001);
+        WVPASSEQ_DOUBLE(e1.cost_search(n1, n2), M_PI * bc.mtr(), 0.00001);
         // Test Reeds and Shepp path length.
         n2.h(0.3);
         double q0[] = {n1.x(), n1.y(), n1.h()};
         double q1[] = {n2.x(), n2.y(), n2.h()};
-        ReedsSheppStateSpace rsss(n1.mtr());
+        ReedsSheppStateSpace rsss(bc.mtr());
         WVPASSEQ_DOUBLE(e1.cost_build(n1, n2), rsss.distance(q0, q1), 0.00001);
 }