xy[1].asFloat()
));
}
+ for (auto e: ps.slot().frame())
+ so.push_back(SegmentObstacle(e->init(), e->goal()));
}
#ifdef USE_SLOTPLANNER
TSTART();
#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());
p.tlog(p.findt());
}
}
+ if (ps.slotType() == PARALLEL)
+ p.tlog(p.findt(p.slot_cusp().back()));
#elif defined USE_PTHREAD
bool gf = false;
RRTNode *ron = nullptr;