fix issue: assign return-code in m_data.ret_code
@@ -13,17 +13,16 @@ PathParametrizationAlgorithm::PathParametrizationAlgorithm(
ReturnCode PathParametrizationAlgorithm::computePathParametrization(value_type vel_start,
value_type vel_end) {
- ReturnCode ret;
initialize();
m_solver->setupSolver();
Bound vel_ends;
vel_ends.setConstant(vel_end);
- ret = computeControllableSets(vel_ends);
- if ((int)ret > 0) {
- return ret;
+ m_data.ret_code = computeControllableSets(vel_ends);
+ if ((int)m_data.ret_code > 0) {
+ return m_data.ret_code;
}
- ret = computeForwardPass(vel_start);
- return ret;
+ m_data.ret_code = computeForwardPass(vel_start);
+ return m_data.ret_code;
};
ReturnCode PathParametrizationAlgorithm::computeControllableSets(
