Start from original goal

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

diff --git a/base/main.cc b/base/main.cc
index 614709ac2eaea262ae89dc2667d8d635d99125d7..9779164f37564762067fa219b8f7c9afca4c0447 100644 (file)
--- a/base/main.cc
+++ b/base/main.cc
@@ -196,8 +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());
@@ -273,6 +272,8 @@ int main()
                         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;