Update anytime improvement with last path

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

diff --git a/incl/rrts.hh b/incl/rrts.hh
index 3bfd07e83460c353a20cd8c2576ca9b096135ef3..9c847ed0b075addf807dd06ce9b571eae6a4935b 100644 (file)
--- a/incl/rrts.hh
+++ b/incl/rrts.hh
@@ -71,6 +71,7 @@ protected:
        double eta_ = 0.5;
        double time_ = 0.0;
        double last_goal_cc_ = 0.0;
+       std::vector<RRTNode> last_path_;
        void recompute_path_cc();
        double min_gamma_eta() const;
        bool should_continue() const;