Fix backward dijkstra optimization

[hubacji1/rrts.git] / incl / rrtext.hh

diff --git a/incl/rrtext.hh b/incl/rrtext.hh
index 038677f7638132fceb34d64216274bd34d410dd3..6842312a2a32a31338d47fbd66b172ac4659d39a 100644 (file)
--- a/incl/rrtext.hh
+++ b/incl/rrtext.hh
@@ -104,6 +104,7 @@ private:
                RRTNode* node = nullptr;
                unsigned int i = 0;
                bool v = false;
+               double d = 0.0;
                bool vi();
                DijkstraNode(RRTNode* n);
        };
@@ -111,6 +112,10 @@ private:
        public:
                int operator() (DijkstraNode const& n1, DijkstraNode const& n2);
        };
+       class DijkstraNodeBackwardComparator {
+       public:
+               int operator() (DijkstraNode const& n1, DijkstraNode const& n2);
+       };
        std::vector<RRTNode*> opath_;
        double ogoal_cc_ = 0.0;
        double otime_ = 0.0;