Fix duplicated nodes when steered

[hubacji1/iamcar2.git] / rrts / incl / rrts.hh

diff --git a/rrts/incl/rrts.hh b/rrts/incl/rrts.hh
index 2e85862c529e2e14fd29ca977af035124d367d17..8c578b30ae9a58856d69f18491436a68a6997594 100644 (file)
--- a/rrts/incl/rrts.hh
+++ b/rrts/incl/rrts.hh
@@ -115,6 +115,12 @@ protected:
        virtual void find_nv(RRTNode const& t);
        virtual void compute_path();
 protected:
+       /*! \brief Return nodes from f to t inclusive.
+        *
+        * The "inclusive" means that f is at the same pose (x, y, h) as
+        * this->_steered.front() and t is at the same pose (x, y, h) as
+        * this->_steered.back().
+        */
        virtual void steer(RRTNode const& f, RRTNode const& t) = 0;
        virtual bool collide_steered() = 0;
        virtual RRTNode sample() = 0;