Update steer procedure with step variable

[hubacji1/iamcar.git] / vehicle_platform / steer.cc

diff --git a/vehicle_platform/steer.cc b/vehicle_platform/steer.cc
index 40bb848e38c2f6f6d64382db0bdfd2f9a0c534e0..5f4114ce29730e595e54dd4780d0dbaddfe94fbf 100644 (file)
--- a/vehicle_platform/steer.cc
+++ b/vehicle_platform/steer.cc
@@ -96,12 +96,17 @@ int cb_st3(double q[4], void *user_data)
 }
 
 std::vector<RRTNode *> st3(RRTNode *init, RRTNode *goal)
+{
+        return st3(init, goal, ST3STEP);
+}
+
+std::vector<RRTNode *> st3(RRTNode *init, RRTNode *goal, float step)
 {
         std::vector<RRTNode *> nodes;
         double q0[] = {init->x(), init->y(), init->h()};
         double q1[] = {goal->x(), goal->y(), goal->h()};
         ReedsSheppStateSpace rsss(ST3TURNINGRADIUS);
-        rsss.sample(q0, q1, ST3STEP, cb_st3, &nodes);
+        rsss.sample(q0, q1, step, cb_st3, &nodes);
         return nodes;
 }