From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 6 Dec 2018 07:47:31 +0000 (+0100)
Subject: Fix Klemm2015 constructor
X-Git-Tag: v0.4.0~16^2~5
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/5da924c1520e10aba67a3a70860a680a452a5dad

Fix Klemm2015 constructor
---

diff --git a/decision_control/rrtplanner.cc b/decision_control/rrtplanner.cc
index d390a82..4213504 100644
--- 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()