From 1bb72bb7ef47a143ce507e982730a08e0cbdd638 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <jiri.vlasak.2@cvut.cz>
Date: Tue, 31 May 2022 17:02:00 +0200
Subject: [PATCH] Add start and goal setters

---
 incl/rrts.hh |  6 ++++++
 src/rrts.cc  | 14 ++++++++++++++
 2 files changed, 20 insertions(+)

diff --git a/incl/rrts.hh b/incl/rrts.hh
index d4f4719..7b730c1 100644
--- a/incl/rrts.hh
+++ b/incl/rrts.hh
@@ -114,6 +114,12 @@ public:
 	/*! Set maximum number of iterations before reset. */
 	void set_imax_reset(unsigned int i);
 
+	/*! Set goal. */
+	void set_goal(double x, double y, double b, double e);
+
+	/*! Set start. */
+	void set_start(double x, double y, double h);
+
 	/*! Get iterations counter. */
 	unsigned int icnt() const;
 
diff --git a/src/rrts.cc b/src/rrts.cc
index 8e175a2..46f289e 100644
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -278,6 +278,20 @@ RRTS::set_imax_reset(unsigned int i)
 	this->_imax = i;
 }
 
+void
+RRTS::set_goal(double x, double y, double b, double e)
+{
+	this->goal_ = RRTGoal(x, y, b, e);
+}
+
+void
+RRTS::set_start(double x, double y, double h)
+{
+	this->nodes_.front().x(x);
+	this->nodes_.front().y(y);
+	this->nodes_.front().h(h);
+}
+
 unsigned int
 RRTS::icnt() const
 {
-- 
2.39.2