Add reset method, remove debug print

[hubacji1/rrts.git] / api / rrtext.h

diff --git a/api/rrtext.h b/api/rrtext.h
index f70d8a284c316a8c461500d2ae0a7b18db563d09..4e1f825cbef208dfc7488f04e7f6fc7ba4831db5 100644 (file)
--- a/api/rrtext.h
+++ b/api/rrtext.h
@@ -20,13 +20,14 @@
 class RRTExt13 : public virtual RRTS {
         private:
         public:
+                void reset();
                 std::vector<RRTNode *> orig_path_;
                 double orig_path_cost_ = 9999;
                 std::vector<RRTNode *> first_optimized_path_;
                 double first_optimized_path_cost_ = 9999;
-                std::vector<RRTNode *> first_path_optimization();
-                std::vector<RRTNode *> second_path_optimization();
-                std::vector<RRTNode *> path();
+                void first_path_optimization();
+                void second_path_optimization();
+                void compute_path();
                 Json::Value json();
                 void json(Json::Value jvi);
 
@@ -173,6 +174,7 @@ class RRTExt8 : public virtual RRTS {
                     this->kdroot_ = nullptr;
                 }
                 void init();
+                void reset();
                 void deinit();
                 void store_node(RRTNode n);
                 RRTNode *nn(RRTNode &t);
@@ -287,13 +289,14 @@ class RRTExt4 : public virtual RRTS {
 class RRTExt3 : public virtual RRTS {
         private:
         public:
+                void reset();
                 std::vector<RRTNode *> orig_path_;
                 double orig_path_cost_ = 9999;
                 std::vector<RRTNode *> first_optimized_path_;
                 double first_optimized_path_cost_ = 9999;
-                std::vector<RRTNode *> first_path_optimization();
-                std::vector<RRTNode *> second_path_optimization();
-                std::vector<RRTNode *> path();
+                void first_path_optimization();
+                void second_path_optimization();
+                void compute_path();
                 Json::Value json();
                 void json(Json::Value jvi);