Rename set parent of rrt node method argument

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

diff --git a/rrts/incl/rrts.hh b/rrts/incl/rrts.hh
index 8503e0c79ea0e61ee2e1e6bd5538f5990d602352..9c79420c961cab71a427ec03b56cfafedf78c5b0 100644 (file)
--- a/rrts/incl/rrts.hh
+++ b/rrts/incl/rrts.hh
@@ -53,6 +53,7 @@ public:
        RRTNode* p() const;
 
        /*! Set parent node. */
+       void p(RRTNode& p, bool can_be_too_close);
        void p(RRTNode& p);
 
        /*! Get number of backward-forward direction changes.
@@ -84,6 +85,9 @@ public:
        /*! Set if the parent node is cusp (direction changed from parent). */
        void p_is_cusp(bool isit);
 
+       /*! Return true if p would be cusp if set as parent of this. */
+       bool would_be_cusp_if_parent(RRTNode const& p) const;
+
        bool operator==(RRTNode const& n);
 };