From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Fri, 25 Oct 2019 09:05:18 +0000 (+0200)
Subject: Output final path
X-Git-Tag: v0.2.0~8^2~3
X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/iamcar2.git/commitdiff_plain/750525ad9a9afda3ca4b1a981ff00de7d776312b

Output final path
---

diff --git a/src/test7.cc b/src/test7.cc
index c544a35..3086532 100644
--- a/src/test7.cc
+++ b/src/test7.cc
@@ -208,6 +208,17 @@ for (int i = 1; i < 5; i++) {
         std::cerr << std::endl;
         jvo[rcnt++] = rrts2.json();
 }
+        {
+                jvo[rcnt]["obst"] = jvo[rcnt - 1]["obst"];
+                jvo[rcnt]["cost"] = final_path_cost;
+                unsigned int ncnt = 0;
+                for (auto n: final_path) {
+                        jvo[rcnt]["path"][ncnt][0] = n.x();
+                        jvo[rcnt]["path"][ncnt][1] = n.y();
+                        jvo[rcnt]["path"][ncnt][2] = n.h();
+                        ncnt++;
+                }
+        }
         std::cout << jvo << std::endl;
         return 0;
 }