Add recompute cc method

[hubacji1/rrts.git] / src / rrtext13.cc

diff --git a/src/rrtext13.cc b/src/rrtext13.cc
index f6dd77473d014baa673fe3042ad1ab4222bdd634..33e97318b121245ce4ba46683ecb1f35274a64c2 100644 (file)
--- a/src/rrtext13.cc
+++ b/src/rrtext13.cc
@@ -192,13 +192,14 @@ RRTExt13::dijkstra_backward()
                                this->join_steered(&f);
                                t.p(this->nodes_.back());
                                t.c(this->cost_build(this->nodes_.back(), t));
-                               this->recompute_path_cc();
+                               this->recompute_cc(&t);
                                if (!this->dn_[i].vi()) {
                                        pq.push(this->dn_[i]);
                                }
                        }
                }
        }
+       this->recompute_path_cc();
 }
 
 void