Add recompute cc method

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

diff --git a/src/rrts.cc b/src/rrts.cc
index 191bf7fbfd7f3449c2ea53297946419d4ced6402..d2c93180f99d2000e4c07d156e88520d5cffb910 100644 (file)
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -60,10 +60,9 @@ RRTNode::operator==(RRTNode const& n)
 }
 
 void
-RRTS::recompute_path_cc()
+RRTS::recompute_cc(RRTNode* g)
 {
        this->path_.clear();
-       RRTNode* g = &this->goal_;
        while (g != nullptr) {
                this->path_.push_back(g);
                g = g->p();
@@ -75,6 +74,12 @@ RRTS::recompute_path_cc()
        }
 }
 
+void
+RRTS::recompute_path_cc()
+{
+       this->recompute_cc(&this->goal_);
+}
+
 double
 RRTS::min_gamma_eta() const
 {