From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 16 Mar 2023 13:32:49 +0000 (+0100)
Subject: Rename set init pose to  method
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar2.git/commitdiff_plain/113598e3b327a0849065cbc3fd30f6c5b24cb548

Rename set init pose to  method
---

diff --git a/rrts/incl/rrts.hh b/rrts/incl/rrts.hh
index 6bab6ae..6f66e7a 100644
--- 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;
diff --git a/rrts/src/rrts.cc b/rrts/src/rrts.cc
index 4f13114..2c58e49 100644
--- a/rrts/src/rrts.cc
+++ b/rrts/src/rrts.cc
@@ -328,11 +328,11 @@ RRTS::scnt() const
 }
 
 void
-RRTS::start(double x, double y, double h)
+RRTS::set_init_pose_to(Pose const& p)
 {
-	this->_nodes.front().x(x);
-	this->_nodes.front().y(y);
-	this->_nodes.front().h(h);
+	this->_nodes.front().x(p.x());
+	this->_nodes.front().y(p.y());
+	this->_nodes.front().h(p.h());
 }
 
 std::vector<Pose>
@@ -418,10 +418,10 @@ RRTS::json(Json::Value jvi)
 {
 	assert(jvi["init"] != Json::nullValue);
 	assert(jvi["goal"] != Json::nullValue);
-	this->start(
+	this->set_init_pose_to(Pose(
 		jvi["init"][0].asDouble(),
 		jvi["init"][1].asDouble(),
-		jvi["init"][2].asDouble());
+		jvi["init"][2].asDouble()));
 	if (jvi["goal"].size() == 4) {
 		this->goal(
 			jvi["goal"][0].asDouble(),