p.samplingInfo_ = ps.getSamplingInfo();
p.useSamplingInfo_ = true;
}
- p.goals(ps.goals());
if (ps.cusp().size() > 0) {
p.goal(ps.getMidd());
p.slot_cusp(ps.cusp().front()); // use first found solution
+ p.goals(ps.goals());
jvo["midd"][0] = p.goal()->x();
jvo["midd"][1] = p.goal()->y();
jvo["midd"][2] = p.goal()->h();
p.next();
p.tend();
if (p.opt_path()) {
- if (ps.cusp().size() > 0)
- p.tlog(p.findt(p.slot_cusp().back()));
- else
- p.tlog(p.findt());
+ p.tlog(p.findt());
}
}
#elif defined USE_PTHREAD