From 28059a01d0a29619a27e3edd0a4f7d601151c545 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 16 Mar 2023 14:55:49 +0100
Subject: [PATCH 1/1] Rename pointer to rrt node member variable

---
 rrts/incl/rrtext.hh  | 6 +++---
 rrts/src/rrtext13.cc | 8 ++++----
 2 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/rrts/incl/rrtext.hh b/rrts/incl/rrtext.hh
index c4ed038..24a206f 100644
--- a/rrts/incl/rrtext.hh
+++ b/rrts/incl/rrtext.hh
@@ -123,7 +123,7 @@ class RRTExt13 : public virtual RRTS {
 private:
 	class DijkstraNode {
 	public:
-		RRTNode* node = nullptr;
+		RRTNode* p_rrtnode = nullptr;
 		unsigned int i = 0;
 		bool v = false;
 		double d = 0.0;
@@ -135,13 +135,13 @@ private:
 			this->v = true;
 			return false;
 		}
-		DijkstraNode(RRTNode* n) : node(n) {}
+		DijkstraNode(RRTNode* n) : p_rrtnode(n) {}
 	};
 	class DijkstraNodeComparator {
 	public:
 		int operator() (DijkstraNode const& n1, DijkstraNode const& n2)
 		{
-			return n1.node->cc() > n2.node->cc();
+			return n1.p_rrtnode->cc() > n2.p_rrtnode->cc();
 		}
 	};
 	class DijkstraNodeBackwardComparator {
diff --git a/rrts/src/rrtext13.cc b/rrts/src/rrtext13.cc
index d506e0b..1619d7b 100644
--- a/rrts/src/rrtext13.cc
+++ b/rrts/src/rrtext13.cc
@@ -101,11 +101,11 @@ RRTExt13::dijkstra_forward()
 	pq.push(this->dn_.front());
 	while (!pq.empty()) {
 		DijkstraNode fd = pq.top();
-		RRTNode& f = *fd.node;
+		RRTNode& f = *fd.p_rrtnode;
 		pq.pop();
 		this->set_bc_pose_to(f);
 		for (unsigned int i = fd.i + 1; i < this->dn_.size(); i++) {
-			RRTNode& t = *this->dn_[i].node;
+			RRTNode& t = *this->dn_[i].p_rrtnode;
 			if (!this->_bc.drivable(t)) {
 				continue;
 			}
@@ -143,12 +143,12 @@ RRTExt13::dijkstra_backward()
 	pq.push(this->dn_.front());
 	while (!pq.empty()) {
 		DijkstraNode td = pq.top();
-		RRTNode& t = *td.node;
+		RRTNode& t = *td.p_rrtnode;
 		pq.pop();
 		this->set_bc_pose_to(t);
 		for (unsigned int i = td.i; i > 0; i--) {
 			DijkstraNode& fd = this->dn_[i];
-			RRTNode& f = *this->dn_[i].node;
+			RRTNode& f = *this->dn_[i].p_rrtnode;
 			if (!this->_bc.drivable(f)) {
 				continue;
 			}
-- 
2.39.2