From 934048808800cbe898830f7ff050491ca6c160ab Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Fri, 7 Dec 2018 15:41:31 +0100
Subject: [PATCH] Add goal found setter

---
 base/rrtbase.cc | 6 ++++++
 incl/rrtbase.h  | 1 +
 2 files changed, 7 insertions(+)

diff --git a/base/rrtbase.cc b/base/rrtbase.cc
index 5fb97ae..a9daa9a 100644
--- a/base/rrtbase.cc
+++ b/base/rrtbase.cc
@@ -231,6 +231,12 @@ bool RRTBase::add_iy(RRTNode *n)
         return true;
 }
 
+bool RRTBase::goal_found(bool f)
+{
+        this->goal_found_ = f;
+        return f;
+}
+
 bool RRTBase::glplot()
 {
         glClear(GL_COLOR_BUFFER_BIT);
diff --git a/incl/rrtbase.h b/incl/rrtbase.h
index 37183e5..287b7cc 100644
--- a/incl/rrtbase.h
+++ b/incl/rrtbase.h
@@ -87,6 +87,7 @@ class RRTBase {
                                 std::vector<CircleObstacle> *cobstacles,
                                 std::vector<SegmentObstacle> *sobstacles);
                 bool add_iy(RRTNode *n);
+                bool goal_found(bool f);
 
                 // other
                 bool glplot();
-- 
2.39.2