X-Git-Url: https://rtime.felk.cvut.cz/gitweb/hubacji1/rrts.git/blobdiff_plain/8ea481ad5931ed9e87fee78aec600ce2b1b26a99..142b2aed1f72664c33590343c2e28f37a7ec107b:/incl/rrtsp.hh

diff --git a/incl/rrtsp.hh b/incl/rrtsp.hh
index 24f329f..ed2da64 100644
--- a/incl/rrtsp.hh
+++ b/incl/rrtsp.hh
@@ -22,12 +22,10 @@
 namespace rrts {
 
 /*! \brief Planner for F1/10.
- *
- * TODO: change RRTExt2 to cost grid
  *
  * \ingroup planners
  */
-class P40 : public RRTExt2, public RRTExt8, public RRTExt10, public RRTExt14,
+class P40 : public RRTExt20, public RRTExt8, public RRTExt10, public RRTExt14,
 		public RRTExt15, public RRTExt19, public RRTExt17,
 		public RRTExt13 {
 public:
@@ -38,16 +36,11 @@ public:
 		jvo["log_path_cost"] = json15["log_path_cost"];
 		return jvo;
 	}
-	void json(Json::Value jvi)
-	{
-		RRTExt2::json(jvi);
-	}
 	void reset()
 	{
 		RRTExt8::reset();
 		RRTExt14::reset();
 		RRTExt13::reset();
-		RRTExt2::reset();
 	}
 };