From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 28 Aug 2019 14:26:36 +0000 (+0200)
Subject: Output JSON goals as RRT found goal
X-Git-Tag: v0.7.0~1^2~5
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar.git/commitdiff_plain/cb8e990a0d463e7326c074b0cf7a084753641d40

Output JSON goals as RRT found goal
---

diff --git a/base/main.cc b/base/main.cc
index f65d560..77ab2e1 100644
--- a/base/main.cc
+++ b/base/main.cc
@@ -444,6 +444,9 @@ escapeloop:
                 }
                 j++;
         }
+        jvo["goals"][0][0] = p.tlog()[p.tlog().size() - 1].front()->x();
+        jvo["goals"][0][1] = p.tlog()[p.tlog().size() - 1].front()->y();
+        jvo["goals"][0][2] = p.tlog()[p.tlog().size() - 1].front()->h();
 #ifdef JSONLOGEDGES
         i = 0;
         j = 0;