From 39962558a83de7512c50eaef07e2de152d16b6fc Mon Sep 17 00:00:00 2001 From: Jiri Vlasak Date: Wed, 28 Aug 2019 09:10:35 +0200 Subject: [PATCH] Refactor JSON input init, goal (typo) --- base/main.cc | 31 +++++++++++++++++++++++-------- 1 file changed, 23 insertions(+), 8 deletions(-) diff --git a/base/main.cc b/base/main.cc index c327d78..bc3dc8b 100644 --- a/base/main.cc +++ b/base/main.cc @@ -138,15 +138,30 @@ int main() std::cin >> jvi; std::string encoding = jvi.get("encoding", "UTF-8" ).asString(); + if (jvi["init"] == Json::nullValue) { + std::cerr << "I need `init` in JSON input scenario"; + std::cerr << std::endl; + return 1; + } + + if (jvi["goal"] == Json::nullValue) { + std::cerr << "I need `goal` in JSON input scenario"; + std::cerr << std::endl; + return 1; + } + PLANNER p( - new RRTNode( - jvi["init"][0].asFloat(), - jvi["init"][1].asFloat(), - jvi["init"][2].asFloat()), - new RRTNode( - jvi["goal"][0].asFloat(), - jvi["goal"][1].asFloat(), - jvi["goal"][2].asFloat())); + new RRTNode( + jvi["init"][0].asFloat(), + jvi["init"][1].asFloat(), + jvi["init"][2].asFloat() + ), + new RRTNode( + jvi["goal"][0].asFloat(), + jvi["goal"][1].asFloat(), + jvi["goal"][2].asFloat() + ) + ); jvo["init"][0] = p.root()->x(); jvo["init"][1] = p.root()->y(); jvo["init"][2] = p.root()->h(); -- 2.39.2