+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();
+}
+