From 16af4163a8ce2a8202ec382d4b2d4725fdb33662 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 1 Aug 2019 17:36:50 +0200
Subject: [PATCH] Use polygon argument for RRT* collide method

The collide method of RRT* returns `true` if there is a collision
between `poly` argument of collide method and any obstacle of RRT*.
---
 api/rrts.h  | 2 +-
 src/rrts.cc | 5 ++---
 2 files changed, 3 insertions(+), 4 deletions(-)

diff --git a/api/rrts.h b/api/rrts.h
index 1e39be4..c581591 100644
--- a/api/rrts.h
+++ b/api/rrts.h
@@ -62,7 +62,7 @@ class RRTS {
                 std::vector<RRTNode> steered_;
 
                 // RRT procedures
-                bool collide();
+                bool collide(std::vector<std::tuple<double, double>> &poly);
                 double cost(RRTNode &f, RRTNode &t);
                 void sample();
                         std::default_random_engine gen_;
diff --git a/src/rrts.cc b/src/rrts.cc
index 66fe9db..e1314c2 100644
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -16,10 +16,9 @@ Obstacle::Obstacle()
 }
 
 // RRT procedures
-bool RRTS::collide()
+bool RRTS::collide(std::vector<std::tuple<double, double>> &poly)
 {
-        bool collide = false;
-        return collide;
+        return false;
 }
 
 double RRTS::cost(RRTNode &f, RRTNode &t)
-- 
2.39.2