From ae4311d28ea3261ce5647097daa0eae67922a150 Mon Sep 17 00:00:00 2001
From: Jiri Vlasak <hubacji1@fel.cvut.cz>
Date: Wed, 11 Sep 2019 07:44:25 +0200
Subject: [PATCH] Split cost to build and search

---
 api/rrts.h  | 1 -
 src/rrts.cc | 9 ++++++++-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/api/rrts.h b/api/rrts.h
index 47e6ea5..58f6ad8 100644
--- a/api/rrts.h
+++ b/api/rrts.h
@@ -69,7 +69,6 @@ class RRTS {
                 collide_steered_from(RRTNode &f);
                 std::tuple<bool, unsigned int, unsigned int>
                 collide_two_nodes(RRTNode &f, RRTNode &t);
-                double cost(RRTNode &f, RRTNode &t);
                 double cost_build(RRTNode &f, RRTNode &t);
                 double cost_search(RRTNode &f, RRTNode &t);
                 void sample();
diff --git a/src/rrts.cc b/src/rrts.cc
index c486742..5c24608 100644
--- a/src/rrts.cc
+++ b/src/rrts.cc
@@ -68,7 +68,14 @@ RRTS::collide_two_nodes(RRTNode &f, RRTNode &t)
         return this->collide(p);
 }
 
-double RRTS::cost(RRTNode &f, RRTNode &t)
+double RRTS::cost_build(RRTNode &f, RRTNode &t)
+{
+        double cost = 0;
+        cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
+        return cost;
+}
+
+double RRTS::cost_search(RRTNode &f, RRTNode &t)
 {
         double cost = 0;
         cost = sqrt(pow(t.y() - f.y(), 2) + pow(t.x() - f.x(), 2));
-- 
2.39.2