Merge branch 'feature/new-json-scenario-format'

[hubacji1/iamcar.git] / base / main.cc

diff --git a/base/main.cc b/base/main.cc
index 115fa095dfbf748cdbabfd5c471cfb4ef7489454..aad156185eb4f3c9e10f7bf62918aeb3c92fbbbe 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -277,6 +277,8 @@ int main()
                         p.tlog(p.findt());
                 }
         }
+        p.tend();
+        jvo["time"] = p.elapsed();
 #elif defined USE_PTHREAD
         bool gf = false;
         RRTNode *ron = nullptr;
@@ -413,8 +415,9 @@ escapeloop:
         jvo["nodo"][0] = nodo;
 #endif
         // log cost
-        for (j = 0; j < p.clog().size(); j++)
-                jvo["cost"][j] = p.clog()[j];
+        //for (j = 0; j < p.clog().size(); j++)
+        //        jvo["cost"][j] = p.clog()[j];
+        jvo["cost"] = p.tlog()[p.tlog().size() - 1].front()->ccost();
         // log #nodes
         for (j = 0; j < p.nlog().size(); j++)
                 jvo["node"][j] = p.nlog()[j];