Rename set init pose to method

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

diff --git a/rrts/incl/rrts.hh b/rrts/incl/rrts.hh
index 97d03bbbed51a81170cdeea73b537ad18c4bf238..6f66e7a679a721546d09665d5f47c346d4aa0c34 100644 (file)
--- a/rrts/incl/rrts.hh
+++ b/rrts/incl/rrts.hh
@@ -149,8 +149,8 @@ public:
        /*! Return elapsed time. */
        double scnt() const;
 
-       /*! Set start. */
-       void start(double x, double y, double h);
+       /*! Set init pose. */
+       void set_init_pose_to(Pose const& p);
 
        /*! Get path. */
        std::vector<Pose> path() const;
@@ -166,13 +166,13 @@ public:
 
        /*! Set eta. */
        void eta(double e);
-
+public:
        /*! Generate JSON output. */
-       Json::Value json() const;
+       virtual Json::Value json(void) const;
 
        /*! Load JSON input. */
-       void json(Json::Value jvi);
-public:
+       virtual void json(Json::Value jvi);
+
        /*! Run next RRT* iteration. Return True if should continue. */
        virtual bool next();