From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 12 Nov 2020 10:17:12 +0000 (+0100)
Subject: Output goal and entry in json
X-Git-Tag: v0.6.0~5^2~1
X-Git-Url: http://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/commitdiff_plain/caafaf1b24c860836dd2534065706477ab1b6d0e

Output goal and entry in json
---

diff --git a/src/rrts.cc b/src/rrts.cc
index 066fc12..e5f0334 100644
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -487,9 +487,12 @@ Json::Value RRTS::json()
         {
                 if (this->path().size() > 0) {
                         jvo["cost"] = cc(*this->path().back());
-                        jvo["goal"][0] = this->path().back()->x();
-                        jvo["goal"][1] = this->path().back()->y();
-                        jvo["goal"][2] = this->path().back()->h();
+                        jvo["entry"][0] = this->goals().front().x();
+                        jvo["entry"][1] = this->goals().front().y();
+                        jvo["entry"][2] = this->goals().front().h();
+                        jvo["goal"][0] = this->goals().back().x();
+                        jvo["goal"][1] = this->goals().back().y();
+                        jvo["goal"][2] = this->goals().back().h();
                 }
         }
         {