Use sampling info for setting up the sampling

[hubacji1/iamcar.git] / base / main.cc

diff --git a/base/main.cc b/base/main.cc
index 8c544c198ec498930ace88e3fac16a0d7935e75f..3b1751d88e3a0ce7b324209cb2a4575cd5767be3 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -183,6 +183,8 @@ int main()
                                 xy[1].asFloat()
                         ));
                 }
+                for (auto e: ps.slot().frame())
+                        so.push_back(SegmentObstacle(e->init(), e->goal()));
         }
 #ifdef USE_SLOTPLANNER
         TSTART();
@@ -194,8 +196,7 @@ int main()
 #endif
         if (ps.slot().bnodes().size() > 0) {
                 ps.setAll();
-                p.samplingInfo_ = ps.getSamplingInfo();
-                p.useSamplingInfo_ = true;
+                //p.setSamplingInfo(ps.getSamplingInfo());
         }
         if (ps.cusp().size() > 0) {
                 p.goal(ps.getMidd());