From 3b549043aedf831596b13f83f577e940eb561d10 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 8 Jul 2020 17:08:34 +0200
Subject: [PATCH] Fix ext1

---
 src/rrtext1.cc | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/rrtext1.cc b/src/rrtext1.cc
index d3d915b..bb55ac9 100644
--- a/src/rrtext1.cc
+++ b/src/rrtext1.cc
@@ -5,7 +5,7 @@ double RRTExt1::cost_build(RRTNode &f, RRTNode &t)
 {
         double q0[] = {f.x(), f.y(), f.h()};
         double q1[] = {t.x(), t.y(), t.h()};
-        ReedsSheppStateSpace rsss(f.mtr());
+        ReedsSheppStateSpace rsss(this->bc.mtr());
         return rsss.distance(q0, q1);
 }
 
@@ -17,7 +17,7 @@ double RRTExt1::cost_search(RRTNode &f, RRTNode &t)
                 std::abs(t.h() - f.h()),
                 2 * M_PI - std::abs(t.h() - f.h())
         );
-        heur *= f.mtr();
+        heur *= this->bc.mtr();
         cost = std::max(cost, heur);
         return cost;
 }
-- 
2.39.2