From ec79ce8bf46ebedeac36e7f38a7a735040670f53 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Thu, 16 Mar 2023 14:42:25 +0100
Subject: [PATCH] Fix car dimension settings in test template

---
 rrts/incl/rrts.hh          | 3 +++
 rrts/src/rrts.cc           | 6 ++++++
 src/template-with-reset.cc | 2 +-
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/rrts/incl/rrts.hh b/rrts/incl/rrts.hh
index 6f66e7a..2e85862 100644
--- a/rrts/incl/rrts.hh
+++ b/rrts/incl/rrts.hh
@@ -125,6 +125,9 @@ public:
 	/*! Set pose of the bicycle car used in the planner. */
 	void set_bc_pose_to(Pose const& p);
 
+	/*! Set bicycle car dimensions. */
+	void set_bc_to_become(std::string what);
+
 	/*! Get goal. */
 	RRTGoal const& goal(void) const;
 
diff --git a/rrts/src/rrts.cc b/rrts/src/rrts.cc
index 2c58e49..7cd4684 100644
--- a/rrts/src/rrts.cc
+++ b/rrts/src/rrts.cc
@@ -279,6 +279,12 @@ RRTS::set_bc_pose_to(Pose const& p)
 	this->_bc.set_pose_to(p);
 }
 
+void
+RRTS::set_bc_to_become(std::string what)
+{
+	this->_bc.become(what);
+}
+
 RRTGoal const&
 RRTS::goal(void) const
 {
diff --git a/src/template-with-reset.cc b/src/template-with-reset.cc
index bd9d972..c1ac6d9 100644
--- a/src/template-with-reset.cc
+++ b/src/template-with-reset.cc
@@ -124,7 +124,7 @@ int main()
 	//p.bc().df(2.895 + 0.9); // this is guess
 	//p.bc().len(4.918);
 	//p.eta(0.1);
-	c.become("porsche cayenne");
+	p.set_bc_to_become("porsche cayenne");
 
 	p.json(jvi);
 	unsigned int icnt = 0;
-- 
2.39.2