Fix Klemm2015 constructor

diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc
index d390a825046a5261c5b6f633d656b350c13985a8..421350458790000a22378b7febb1eca01264e44b 100644 (file)
--- a/decision_control/rrtplanner.cc
+++ b/decision_control/rrtplanner.cc
@@ -712,12 +712,18 @@ bool T3::overlaptrees(RRTNode **ron, RRTNode **gon)
 
 Klemm2015::Klemm2015(RRTNode *init, RRTNode *goal):
         Karaman2011(init, goal),
+        nn(NN),
+        nv(NV),
+        sample(SA),
+        steer(ST),
+        cost(CO),
         orig_root_(init),
         orig_goal_(goal)
 {
         srand(static_cast<unsigned>(time(0)));
         this->root()->tree('R');
         this->goal()->tree('G');
+        this->add_iy(this->goal());
 }
 
 bool Klemm2015::next()