Add reset to rrtext 2

[hubacji1/rrts.git] / src / rrtext2.cc

diff --git a/src/rrtext2.cc b/src/rrtext2.cc
index 06caf9fe2f028e6d4b43c0725696633bed5a8be4..8af74221dbe9f2a1386e9009a666cad4c753a58b 100644 (file)
--- a/src/rrtext2.cc
+++ b/src/rrtext2.cc
@@ -53,6 +53,21 @@ RRTExt2::RRTExt2() : RRTS()
        this->c2_bc_.verts[3].y = this->bc_.rfy();
 }
 
+void
+RRTExt2::reset()
+{
+       RRTS::reset();
+       this->c2_bc_.count = 4;
+       this->c2_bc_.verts[0].x = this->bc_.lfx();
+       this->c2_bc_.verts[0].y = this->bc_.lfy();
+       this->c2_bc_.verts[1].x = this->bc_.lrx();
+       this->c2_bc_.verts[1].y = this->bc_.lry();
+       this->c2_bc_.verts[2].x = this->bc_.rrx();
+       this->c2_bc_.verts[2].y = this->bc_.rry();
+       this->c2_bc_.verts[3].x = this->bc_.rfx();
+       this->c2_bc_.verts[3].y = this->bc_.rfy();
+}
+
 Json::Value
 RRTExt2::json() const
 {