From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 23 Mar 2023 13:22:53 +0000 (+0100)
Subject: Ouput cost in json only if path found
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar2.git/commitdiff_plain/41afde61c4a85d0eb68521a232c43a012330b4aa

Ouput cost in json only if path found
---

diff --git a/rrts/src/rrts.cc b/rrts/src/rrts.cc
index 5a14217..1520d61 100644
--- a/rrts/src/rrts.cc
+++ b/rrts/src/rrts.cc
@@ -492,7 +492,9 @@ RRTS::json(void) const
 	jvo["path"][i - 1][3] = jvo["path"][i - 2][3];
 	jvo["path"][i - 1][4] = jvo["path"][i - 2][4];
 	// --
-	jvo["costs"][j] = this->_path.back()->cc();
+	if (this->_path.size() > 0) {
+		jvo["costs"][j] = this->_path.back()->cc();
+	}
 	jvo["goal_cc"] = this->_goal.cc(); // TODO remove, use the following
 	jvo["cost"] = this->path_cost();
 	jvo["time"] = this->scnt();