std::vector<RRTNode *> &dnodes();
std::vector<RRTNode *> &samples();
std::vector<RRTNode *> iy_[IYSIZE];
std::vector<RRTNode *> &dnodes();
std::vector<RRTNode *> &samples();
std::vector<RRTNode *> iy_[IYSIZE];
std::vector<CircleObstacle> *co();
std::vector<SegmentObstacle> *so();
std::vector<float> &clog();
std::vector<CircleObstacle> *co();
std::vector<SegmentObstacle> *so();
std::vector<float> &clog();
std::vector<CircleObstacle> *cobstacles,
std::vector<SegmentObstacle> *sobstacles);
bool add_iy(RRTNode *n);
std::vector<CircleObstacle> *cobstacles,
std::vector<SegmentObstacle> *sobstacles);
bool add_iy(RRTNode *n);