When reset, reset bc, too

[hubacji1/rrts.git] / src / rrts.cc

diff --git a/src/rrts.cc b/src/rrts.cc
index 1d66b3cda5e04e66b2125c9c127244790887b089..03787b133d2c2d139dc985541debe5c1d8e5481a 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -326,6 +326,18 @@ RRTS::scnt() const
        return this->ter_.scnt();
 }
 
+double
+RRTS::eta() const
+{
+       return this->eta_;
+}
+
+void
+RRTS::eta(double e)
+{
+       this->eta_ = e;
+}
+
 Json::Value
 RRTS::json() const
 {
@@ -446,6 +458,9 @@ RRTS::reset()
        this->nodes_.erase(this->nodes_.begin() + 1, this->nodes_.end());
        this->nv_.clear();
        this->nn_ = nullptr;
+       this->bc_.x(0);
+       this->bc_.y(0);
+       this->bc_.h(0);
 }
 
 } // namespace rrts