Add nodes tree affinity

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

diff --git a/base/rrtnode.cc b/base/rrtnode.cc
index f721cc87b45a4555c92136e28efca615762dfb95..f77e543837fab1910946436bf28dc98665304225 100644 (file)
--- a/base/rrtnode.cc
+++ b/base/rrtnode.cc
@@ -99,6 +99,11 @@ float RRTNode::ocost() const
         return this->ocost_;
 }
 
+char RRTNode::tree() const
+{
+        return this->tree_;
+}
+
 std::vector<RRTNode *> &RRTNode::children()
 {
         return this->children_;
@@ -173,6 +178,11 @@ float RRTNode::ocost(float cost)
         return this->ocost_ = cost;
 }
 
+char RRTNode::tree(char t)
+{
+        return this->tree_ = t;
+}
+
 bool RRTNode::remove_parent()
 {
         this->parent_ = nullptr;